SU917290A1 - Master control for electric drive control system - Google Patents

Description

(5)) TARGET DEVICE ELECTRIC DRIVE CONTROL SYSTEM

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The invention relates to electrical engineering, in particular, to a technique for controlling automated electric drives of industrial plants, and is intended to produce time-varying master signals, the magnitude of which reflects the required law of variation of displacement, speed and acceleration, for example, of mine hoists during start-up, acceleration, uniform motion and braking the motor.

A device that generates a voltage setting for drive control systems with limitations imposed on an accelerator is known. a link and a jerk that contains a series-connected integrator with constraint and a second integrator D1.

The lack of the device is impossible-. automatic transition to a slowdown drive.

Closest to the proposed technical entity is the driver of the electric drive control system, which contains a series-connected integrator with a limiter and a second integrator C21.

The drawbacks of the device are: its complexity and the lack of connection between the moment of the beginning of the deceleration and the distance to the end point, which is necessary to obtain the optimal speed chart, i.e. achieving the minimum time of one working cycle with speed limits,

15 speed and jerk.

. The purpose of the invention is to increase reliability and ensure automatic switching to deceleration according to the optimal law.

20

The goal is achieved by the fact that three proportional amplifiers, an output integrator and a successor3 9 but connected input, diode and intermediate limiters are additionally introduced into the device, and the limited integrator is designed as a series-connected limiter and integrator, the output of which is connected to the second input of the limiter and through the first proportional amplifier - with the third input of the intermediate limiter, the second input of which is connected to the output of the second integrator and through the second proportion an on-line amplifier — with a third input limiter input, atoy whose input is connected through a third proportional amplifier to an output integrator output, which is connected to the output of the second integrator; FIG. 1 is a block diagram of a driver; Fig. 2 shows voltage diagrams characterizing the operation of the device. The device contains a successor of NO connected input limiter 1, series-connected limit 3 and integrators -6 with coefficients 2, transmission coefficients equal to one. The output of the integrator f is connected to the second input of limf1Ftel 3 and through proportional amplifier 7 to the third input of limiter 2 The output of integrator 5 is connected to the second input of limiter 2 and through proportional amplifier 8 to the second input of limiter 1. The output of integrator 6 is connected via proportional amplifier 9 to the third input of limiter 1, which is connected to the limiter 2 via a diode limiter 10. In the voltage diagrams (Fig. 2), UL is denoted, is the output voltage of the i-th function block, where U is the voltage proportional to the maximum maximum speed setpoint; Ui is the voltage proportional to the maximum specified acceleration value; Us is the voltage proportional to the specified jerk magnitude; Ui is a voltage proportional to the acceleration; and is a voltage proportional to the speed; Ug is a voltage proportional to displacement; Ugjt is the input action proportional to the specified displacement value. The device works as follows. 0 When the step input is proportional to the specified movement, the input of the limiter 1 is fed to the output signals of the amplifiers 8 and 9, the transfer coefficients of which are selected depending on the ratio of the absolute values of the output, voltages U, U, Ua of nonlinear 3BeHtf4.f type 1, 2 and 3W | during limiter 1, the difference UH Uux-Ufc - Uq Uey-KaUf-K U is formed; a at the input of the limiter 2, the difference AU2 Щ -..., - Us id- - Us At the initial moment of the rc 0 and, therefore, at the output of the censor 1 there will be a constant signal U, at the output of the i element 2 - a constant signal U I the output of the limiter 3 is a constant signal C. At the output of imtigrator A, the signal U / increases linearly until d reaches the value Ug., then U U2. const and at the output of the integrator 5 signal U5. increases linearly. When yy, becomes equal to nucht, under the action of the voltage of the communication voltage U, the sign U changes and the signal U / begins to decrease to zero. In order for the signal id to become zero at that moment, when Us reaches the limited value of U, the coefficient K must be determined from the equation) c - Us - Ug K O at the corresponding time t 1;, d 4 t ;,. Since at this moment should be and - Us | -U2 - U | / 2U3, where, t - Ui / Ua - (1 period of the voltage diagram, then K 2U3. With a uniform motion U4 O, Ug Ux - const and therefore, the signal and, proportional to the displacement, will increase linearly, the coefficient Kq is selected depending on the desired ratio of Ug and Ug. For the process to be optimally constructed, the signal Ug must become equal to x 3 that moment when Us 0. For this, the coefficient Kg must be determined from the equality Ufc-nU -Uo U6.-KiU / t -Ug O at the time t tx-t, Tek4 (Ue.-U9) / U4 Since Ugy, -Ug when nnom jerk ke and t t.4-tg must be equal, then Ka, where tg tsA ta.2 taa. Periods of the voltage diagram Ui / Ua; t32 J) / U2 UH / UU - U2 / Ud. (U / - 2, Ut Ji2 Therefore, tj 2 y - y, a K8 iK9 (U, / U, .U2 / Ua) To eliminate the possibility of oscillations at the end of the operating cycle, the device has a diode limiter 10, transmissive and to limiter 2 only when dtsd O. The device can be implemented using a standard unified block system of regulators (UBSR), which increases its reliability. The device automatically selects the start of the drive deceleration in the optimal control system depending on the specified path, will take The values of speed, acceleration and jerk are limited by the maximum allowable values of technology. I. The proposed device allows receiving a signal not only proportional to speed and acceleration, but also a signal proportional to the path and velocity, which makes it possible to synthesize multichannel systems adjustment., 6 claims An assignment device for an electric drive control system comprising a series-connected integrator with limitation and a second integrator, characterized in that, in order to increase the reliability and provision of automatic switching to deceleration according to the optimal law; three proportional amplifiers, an output integrator and serially connected input, diode and intermediate limiters are additionally introduced in it, and the integrator with the limitation is made in the form of serially connected limiter and integrator, the output of which is connected to the second input the limiter and through the first proportional accelerator - with the third input of the intermediate limiter, the second input of which is connected to the output the second integrator and through the second proportional amplifier - with the third input of the input limiter, the second input of which is connected through the third proportional amplifier to the output of the output integrator, the input of which is connected to the output of the second integrator. Sources of information taken into account during the examination 1. USSR author's certificate No. 606195, cl. H 02 R 5/06, 1978.., 2. Authors certificate of the USSR 5 +1255, cl. H 02 R 5/06, 1975.

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Claims (1)

Claim The driver of the drive control system, containing a sequentially connected integrator with a restriction and a second integrator, characterized in that, in order to increase reliability and ensure automatic switching to deceleration according to the optimal 10 law, three proportional amplifiers, an output integrator and a series-connected input , diode and intermediate limiters, and the integrator with restriction is made in the form of series-connected limiter and integrator, the output of which is connected to the second input of the limiter and through the first proportional amplifier - with the third input of the intermediate limiter, the second input of which is connected to the output of the second integrator and through the second proportional amplifier - with the third input of the input limiter, the second input of which is connected through the third proportional amplifier with the output of the output integrator, the input of which is connected to the output of the second integrator.