SU868814A1 - Device for synchronous control of drives - Google Patents

Description

(54) DEVICE FOR SYNCHRONOUS CONTROL

one

The invention relates to automatic mathematics and telemechanics and can be used to provide synchronous movement or rotation of mechanically controlling actuators that are not mechanically connected to each other.

The closest to the proposed device is a multi-bypass angle sensor — a sine-cosine rotating transformer, an angular displacement receiver with an executive motor on shaft 1. The stator windings of the transforming sensor transformers are connected by a three-wire cross-link of the control channels, and their field windings are connected to a network voltages, and quadrature windings unrolled relative to the excitation windings by 90 to the first inputs of the respective comparison units. The sync signals in the known device are the angle sensors themselves, and the direct sources of the sync signals are their quadrature windings. The clock signal in each control channel is proportional to the sine of the error angle between the angle sensor of this channel and the average angular position of the DRIVES

sensors of all other channels.

By combining in each angle sensor also the function of the clock signal generator, by utilizing the design features of sine-cosine rotary transformers, the known device has the utmost simplicity. However, in most of the known multipurpose angle sensors (rheostatic, capacitive, pneumohydraulic, photoelectric, and.), Combining the above functions is not feasible, which limits the scope of

15 devices.

Another drawback of the device is the impossibility of promptly changing the mutual arrangement of synchronously controlled servo drives (associated with it executive bodies) in it, which limits the functionality of the device as an element of the multiple control system. The need to correct the position of the servos or their position sensors arises nj; replacing one of the listed elements with a reserve one, as a rule, is not completely identical to the one being replaced even in a device with a fixed ot30

shift of synchronously controlled executive bodies.

The purpose of the invention is to expand the functional capabilities and scope.

This goal is achieved by the fact that in a known device containing in each control channel serially connected multiple angle sensors, a phase shifter, a clock generator and a comparison unit, the second input of which is connected to the control signal source, three adders are added, three comparison elements and each control channel two vents, with three outputs of phase shifters connected to the first, second, and third inputs of the clock signal drivers and to the inputs of the first, second, and third, respectively adders, the output of the first adder is connected to the first inputs of the first and third comparison element, and to the fourth inputs of the sync drivers, the output of the second adder to the first input of the second and to the second input of the first comparison elements and to the fifth inputs of the sync drivers, the output of the third adder to the second inputs of the second and third elements of the comparison and the sixth inputs of the drivers of the sync signals, the seventh, eighth and ninth inputs of which are connected to the outputs of the corresponding elements of the comparison, and in each to the control channel, the output of the sync driver is connected via the first valve to the control input of the phase shifter, and the output of the comparator unit through the second valve is connected to the corresponding drive.

In addition, the sync driver consists of the fourth, fifth and sixth comparison elements, three multipliers, outputs connected to the fourth adder, the output of which is connected to the clock generator, the first inputs of the comparison elements are connected to the first, second and third synchro generator inputs, the fourth , the fifth and the sixth, the inputs of which are connected to the second inputs of the comparison elements, the outputs of which are connected respectively to the first inputs of the multiplication units, the second inputs of which are connected Eny to the seventh, eighth and ninth inputs of the sync driver.

The device is operational when used in servo drives of multi-pass sensors of any known type, but in the industrial automation devices, the most used as angle sensors are selsyns. The phase shifter can be made in the form of a differential selsyn.

The drawing shows the proposed device.

Each control channel (only two channels are shown in the drawing) contains a servo drive 1 with a multipass sensor 2 of the angular position of its 5 working shaft — a selsyn, a phase shifter 3 output signals of the sensor, made on a differential selsyn 4 and a reversible motor 5 connected to it, form 0. a sync signal generator, executed on comparison elements 7.8 and 9, multiplier 10.11 and 12 and adder 13, comparison unit 14 and two valves

15 and 16. Common to all channels of the cross-link chain are made on

adders 17, 18 and 19, and comparison elements 20.21 and 22.

The excitation winding of the selsyn sensor 2 is connected to the AC mains.

Q opmt voltage, and the synchronization winding - to the primary winding of the differential selsyn 4. The synchronization winding of the selsyn 2, as well as the primary and secondary windings of the differential selsyn 4 have three terminals each - according to the number of spatially modulated sensor parameters. The first inputs of elements 7,8,9 are connected respectively to the first, second and third conclusions of the secondary winding of selsyn 4, and the outputs to the first inputs of elements 10,11,12, respectively. The inputs of the adder 13 are connected to the outputs of elements 10,11,12, and the output is connected to the signal input of the valve 16 and to the first input of the unit 14, the second input of which is connected to the source of the control signal Ug. The output of the valve 16 is connected to the input of the reversing motor 5. The input of the TIL 15 is connected to the output of the unit 14, and the output is connected to the input of the servo drive 1. The locking inputs of the valves 15 and 16 are connected to the signal source Up, which determines the operating mode of the device. When the proposed device is in the mode of synchronous control of the servos by the signal Ug, tbgda all the valves 15 are open and the valves 16 are closed. When the device enters the mode of automatic tuning and individual control of servos (circuit of individual control of servos are not shown), then the valves

16 are open and valves 15 are closed. 5 The inputs of the adder 17 are connected to

the first pins of all selsins 4, and the output to the first input of element 20 and to the second input of element 22. The inputs of the adder 18 are connected to the second pins of all the selsins 4, and

Claims (2)

the output is to the first input of the element 21 and to the second input of the element 20. The inputs of the adder 19 are connected to the third outputs of all selsins, and the output to the first input of the element 22 and to the second input of the element 21. The outputs of the adders 17,18 and 19 are also connected to the second inputs of elements 7.8 and 9, respectively, of all control channels, and outputs of elements 20, 21 and 22 to the second inputs of elements 12, 10 and 11, respectively, of all control channels. The device works the next time. - At the moment of switching on, the servo drives are in some arbitrary state, in which the selsyns sensors 2 occupy the angular position d and the differential selsyns 4 -, 2 ... is the sequence number of the control channel. In this case, if the signal Up 0, the valves 16 are open, the valves 15 are closed and the actuators 1 remain stationary (their inputs are closed). The voltage at the first, second, and third outputs of the j-ro (any) sat blue sensor 2 is written as, Unsind .: u5j Uosin (d.j + 120); (1 U UoSin ((i .., + 240); a of the same voltage at the outputs of differential selsyn 4 as U KUosin (cl.j -Pj); U /, j- KUoSin (oLj + 120); (2 Oaj KUosin (clj - (bj + 240), where Uo is the amplitude of the curvature voltage on the phases of the winding of sensor 2 synchronous, and K is the transform coefficient between the primary and secondary windings of the selsyn 4. In accordance with the logic of the device, we write the expressions for voltages at the outputs of the adders 17.18 and 19: - pr.Ui P5. / ZG p 2,3,4 ... - the number of control channels; expressions for the voltages at the outputs of the elements of comparison 20, 21 and 22: and - ua ; 24 ua - and; from - and. Expressions for the voltages at the outputs of the elements of comparison 7.8 and 9: Il) -; U2i-Uj, Ufj Uftj- from the Expression for the voltages at the output of the multipliers 10.11 and 12: 1MI1Д1 Uij 0%; uTu and 43 (6) -, 161 The expression for the output voltage, the adder 13 of the j-ro channel: and, u-. Out of 7 (7) After successively substituting the values of the variables fUjj / Ujj (2) in the expressions (3) - (7), the next signal Ucj is obtained : Uoj Kc.Uosinaj, (8) where Kji is the coefficient of proportionality, and UJ is the difference between the angle value (d ,; -1b), the distant-os selsyns 2 and 4 of this (j-ro) Canada, and the average of the angles of the same kind, related to the selsins 2 and 4 pairs of all control channels as a whole. The voltage in the keocdom (jth) control channel of the device in question is a clock signal and has the same shape as the clock signal in a known device. The essential difference is that in the proposed device this clock signal is received from multiple angle angle sensors of any type. Thus, it was found that when the device is turned on in the auto-tuning mode (Up 0) j, the sync signals of the form (8) appear at the outputs of the drivers 6 of all control channels. Since the valves 16 are open in this mode, the sync signals go to the inputs of the reversing motors 5. The motors are set in motion by turning the rotors of the selsyn 4 until each of them is set to a position where the equality is valid ....) n- From the moment equality (9) is fulfilled, the sync-signs at the outputs of the formers 6 become equal to zero and the movement of the reversing motors 5 stops. The device is ready to go into synchronous control of servo drives 1. When the mode signal changes to Up 1, gates 16 are closed, gates 15 are opened and the inputs of servo actuators 1 are connected to the outputs of the respective comparison blocks 14 The signal at the output of each of these blocks is equal to or the algebraic sum of the Uj signal and or is some non-linear function of these signals depending on the logic of operation of blocks 14. Practically, with an increase in the modulus U, a certain threshold value is reached, the entire servo group is set into motion ./ Due to some similarity of servos or different loads, the instantaneous speeds of their movement are different. Equality (9) is violated, and sync signals appear at the outputs of shaper 6. At the same time, their polarity is such that the resulting signals at the inputs of the lagging servo drives increase, at the inputs I anticipate decrease, the speeds are gray. The drives are aligned and their movement, on average, occurs synchronously. When the control signal decreases below the threshold value, the servo drives stop. The mutual arrangement of synchronously controlled servo drives in the accompanying drawing can be relatively quickly changed within any limits. For this, the device is switched to the auto-tuning mode, and the servos — according to individual control circuits (not shown) —are set to the required position. At the same time, reversible motors 5 almost instantly process the imbalance in pairs in the sensor — differential selsyn until equality is achieved (9 Thus, after the device is switched to the synchronous control mode, the movement of the servo drives occurs with their newly established mutual arrangement. Receivers of angular displacements of 3 sensor output signals made entirely on the elements of the electronics. Elements 7, 8 and 9 are made on the voltage transformers, with the first output of the primary winding The transformer is the first input of the corresponding comparison element, and the secondary winding leads are its output. The second terminals of the primary windings of the formatters — the second inputs of all the one named comparison elements — are electrically combined. The proposed invention expands the functionality of the device by more quickly changing the relative position controlled servo drives, provides the ability to obtain sync signals from rheostatic, capacitive, pneumohydraulic photoelectric angle sensors, which wide area of application of the device. Claim 1. Device for synchronous drive control, containing in each control channel serially connected multiple-pass sensor, phase shifter, forma- tion. Synchronous signal generator and comparison unit, the second input of which is connected to the control signal source, characterized in that In order to expand the functionality and application area of the device, three adders are introduced into it, three comparison elements and two valves in each control channel, with three outputs of phase shifters connected to the first, second and third inputs of the drivers of the sync signals and with the inputs of the first, second and third adders, respectively, the output of the first adder is connected to the first inputs of the first and third comparison element, and to the fourth inputs of the synchronizing drivers, the output of the second summator to the first input of the second and to the second input of the first reference element and to the fifth inputs of the for- mate. the leds of the sync signals, the output of the third adder to the second inputs of the second and third comparison elements and to the sixth inputs of the sync drivers, the seventh, eighth and ninth inputs of which are connected to the outputs of the corresponding comparison elements, and in each control channel the output of the sync signals are connected via the first gate to the control input of the phase shifter, and the output of the comparator unit through the second valve with the corresponding drive. 2. The device according to claim 1, so far as the driver of the clock signals consists of the fourth, fifth and sixth elements of the comparison, three multipliers, the outputs connected to the fourth adder, the output of which is connected to the output of the clock driver, the first inputs of the comparison elements are connected to the first, second and third inputs of the sync signal generator, the fourth, fifth and sixth inputs of which are connected to the second inputs of the comparison elements whose outputs are connected respectively to the first inputs of the blocks multiplied and, the second inputs of which are connected to the seventh, eighth and ninth inputs of the sync signal generator. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 441581, cl. G 08 C 19/44, 1972.