SU798719A1 - Apparatus for controlling positional discrete drive - Google Patents

Description

The invention relates to automatic systems for processing the mechanical movements of HHJJ, which are specified in digital form, as well as for information retrieval systems on a tape carrier according to a given coordinate of the location of this information. A control device for a positional discrete electric actuator is known, which contains a displacement pulse counter, a comparator, a variable frequency pulse generator, a counter for the braking distance and a switchboard. This alternator pulse causes the change in the positional coordinate of the electric drive by a single step. The comparator compares the digitized movement with the number of the pulse pulse generator and switches the generator from the mode of increasing the frequency to the mode of its decrease using a switch. All impulses of the generator go to the pulse counter of the movement, and the counter of the braking path and the drive control, through one Equal of the numbers compared by KOMnapiaTopOM, comes when the half of the specified displacement is worked out. The oscillator frequency decreases after the switch re-keying occurs before zeroing from the path of the switch - deceleration i. However, this device is suitable for making only relatively small movements with a triangular law of velocity change during positioning. The closest technical solution to the invention is a device for positional software control, comprising a pulse generator, the first output of which is connected to the first input of the pulse setter, the second input of which is connected to the comparator output and to the first input of the switch, and the output to the second input of the switch the second outputs of which are connected to the corresponding inputs of the pulse counter 2. The disadvantage of the device is a large positioning time due to. linear law of speed increase during acceleration, which limits its speed. The purpose of the invention is to increase the speed of the device. The goal is achieved by the fact that 4TQ is additionally introduced into the device by a frequency modulator, divider

frequencies and serially connected first decoder, first AND element, pulse generator former, second decoder, second AND element, first pulse separation unit, scale divider and second pulse separation unit, the output of which is connected to the first input of the comparator, and the second output to the device output and the output of the frequency modulator, the first input of which is connected to the output of the pulse counter, to the input of the first decoder and to the second input of the pulse generator, and the second input to the first output of the impu generator It divides frequency through the third input of the pulse generator, the second output of the pulse generator is connected to the second input of the second element I, the output of the pulse generator is connected to the second input of the first pulse separation unit, and the first output of the switch to the second input of the first element I.

FIG. 1 shows a block diagram of the device; in fig. 2 - the time of his work-uvttj his work.

The device contains a modulator 1 frequency, 2 pulses, switch-3, unit 4 pulses, comparator 5, driver 6 packs, pulses, the first element And 7, the first decoder 8, the generator 9 pulses, the divider frequency 10, the second element And 11, the second a decoder 12, a first pulse separation unit 13, a scale divider 14, and a second block 15 of pulse separation.

The device works as follows.

The motion task is entered numerically at the input of the comparator 5 and is recorded in it as the number 16 at the moment when the starting pulse is sent to the Comparators 5, the Number 16 from the output of the comparator 5 sets the setting device 4 pulses to the position at which the frequency 17 of the pulses at its output, previously fixed at the level determined by the synchronization from the pulse generator 9, begins to decrease exponentially. At the same time, the same number 16 from the output of the comparator 5 sets the switch 3 to a position in which the pulses of the setter 4 of the pulses arrive at the first input of the counter 2, i, as a result of which its contents, the number 18 begins to increase exponentially, which determines the corresponding increase in the frequency of 19 pulses at the output modulator 1 frequency, coming further to drive control,

During razon, the drive control pulses go through the pulse separation unit 1 to the input of the comparator 5, as units of information about the change in the positional coordinates of the drive, and reduce its content according to the amount of movement of the drive 20. In addition, each pulse of the setting device 4 arrives at the first input of the driver b bursts of pulses, it writes the number 18 of the counter 2 pulses, equal to the value of the current frequency

.19 drive control pulses. The pulses of the generator 9, entering through the frequency divider 10 to the third input of the driver 6, will null it for a time interval proportional to the number 19 recorded in counter 2. The signal that the information is available at the output of the driver through the decoder 12 unlocks the element 11 of vfepe3 which the pulses of the generator 9 bursts 21 proportional to the number 18, together with the pulse 17 from the setting device 4, arrive through the first pulse separation unit 13 and the divider 14, the second pulse separation unit 15 also to the input of the comparator 5, with the number of pulses arriving from the generator 9 pulses twice the number 18, recorded in the pulse counter 2.

The input of the comparator 5 is the sum of the 22 number of pulses of displacement 19 equal to the change of 21 positional coordinates 20 with the number of pulses proportional to the square of the current

speed 23 and therefore equal to a certain stopping distance for a linear law of decreasing drive speed. That is, the reset of the comparator 5 occurs at a time instant corresponding to the condition for the start of deceleration for the linear law of deceleration of the drive.

When the comparator 5 is zeroed, the zero signal from its output switches the switch 3 to the state in which the pulses 19 of the setpoint 4 arrive at the second input of the counter 2 pulses. At the same time, this signal switches Ssschatchik 4 to synchronization from the generator 9 pulses. The number 18 recorded in the counter 2 is thus linearly reduced, which determines the drive braking with the exact deceleration value until it stops completely.

Due to the combination of exponential for acceleration and linear for deceleration of the laws of change in the frequency of the drive-controlled pulses, the positioning time is reduced compared with positioning 24 with linear acceleration in a large number of cases by 1.5-2 times.

This leads to a certain technical and economic effect if the proposed device is used in information retrieval systems on a tape carrier,

Claims (2)

 1. US patent 3582751, CL. 318-696, publ. 1971. 2. USSR author's certificate No. 550622, class, G 05 B 19/18, 1975 (prototype). The task . To drive ...-. , |; .vi.,),; ..; - 798719 1 IS 19 Ljlli