SU970312A1

SU970312A1 - Combined servo drive

Info

Publication number: SU970312A1
Application number: SU813270200A
Authority: SU
Inventors: Василий Васильевич Яворский; Сергей Викторович Сизов
Original assignee: Предприятие П/Я Р-6896
Priority date: 1981-04-09
Filing date: 1981-04-09
Publication date: 1982-10-30

Description

(54) КОМБИНИРОВАННЫЙ СЛЕДЯЩИП ПРИВОД(54) COMBINED DRIVE TRACK

Изобретение относитс к системам автоматического регулировани , в частности к след щим приводам, и может быть использовано дл построени высокоточных след щих приводов антенн и телескопов. The invention relates to automatic control systems, in particular to tracking drives, and can be used to build highly accurate tracking drives of antennas and telescopes.

Известна система управлени , в которой переходный процесс коррек (тируетс автоматической регулировкой времени воздействи тормоз щего сигнала скоростной обратной св зи в зависимости от величины скачкообразного изменени ошибки и от скорости его изменени С 11 A control system is known in which the transition process of corrections (automatically controlled by the time of the impact of the decelerating signal of the speed feedback, depending on the magnitude of the abrupt change in error and on the rate of its change

Така система устран ет перерегулирование при скачкообразном изменении ошибки, однако может иметь недостаточную точность слежени в установившемс режиме.Such a system eliminates overshoot with an abrupt change in error, however, it may have insufficient tracking accuracy in steady state.

Наиболее близким техническим решением к предлагаемому вл етс комбинированный след щий привод, содержащий блок задержки времени,. блок дифференцировани и последовательно соединенные переключат ель режимов, задатчик,сравнивающий элемент, сумг.1атор, блок слежени и датчик, подключенный выходом к второму входу сравнивающего элемента , первый вход которого соединен .The closest technical solution to the proposed is a combined follow-up drive containing a block of time delay. a differentiation unit and serially connected mode switches, a setting device comparing the element, a controller, a tracking unit and a sensor connected by an output to the second input of the comparing element, the first input of which is connected.

с входом блока дифференцировани , вход блока задержки времени соединен с вторым выходом перек.пючател режимов t2.with the input of the differentiation unit, the input of the time delay unit is connected to the second output of the switching mode t2.

Недостатки описанного привода состо т в его сложности, и следовательно , малой надежности, а также в том, что он имеет перерегулирование в переходном процессе не мень10 ше, чем перерегулирование аналогичного некомбинированного след щего привода.The drawbacks of the described drive are its complexity, and therefore, low reliability, as well as the fact that it has an overshoot in the transition process no less than the overshoot of a similar non-combined follow-up drive.

Цель изобретени - улучшение качества переходного процесса и на15 дежности привода.The purpose of the invention is to improve the quality of the transient process and the reliability of the drive.

Указанна цель достигаетс тем, что привод содержит переключатель пол рности, подключенный первым . входом к выходу блока задержки This goal is achieved by the fact that the drive contains a polarity switch connected first. input to the output of the delay unit

20 времени, вторым входом - к выходу блока дифференцировани , а выходом - к второму входу сумматора.20 times, the second input to the output of the differentiation unit, and the output to the second input of the adder.

На чертеже изображена блок-схема комбинировайного след щего при25 вода .The drawing shows a block diagram of a combined tracking water.

Claims

The drive contains comparing element 1, adder 2, tracking unit 3 (controller, actuator and object), sensor 4, 5 modes switch, time delay block b, polarity switch 7, differentiation unit 8, sensor 9. Combined trace The main drive operates as follows. The drive in the semi-automatic mode is set to the initial position corresponding to the expected tracking starting point using one of the setpoint channels 9. Next, one of the following drive operation modes (autoresistance or software guidance) is switched on using the 5 mode switch. In this case, as a rule, there is a jump in the signal from the output of the setting device 9. The differentiation unit .8 produces derivatives of this signal. From the output of the differentiation unit 8, the polar with the minus sign of the polarity switch 7 goes to the second input of the adder 2. In the adder 2, the signal containing the delta functions obtained by the differentiation unit 8 from the signal containing the delta functions subtracts neither the numerator of the transfer function of the tracking unit 3 and those contained in the sensor 4 signal. Then, through a short delay produced by the time delay unit b, the polarity switch 7 changes the polarity of the signal supplied from the block 8 to the differential Charge to adder 2, after which the combined follow-up drive operates without switching until the next hop occurs. The delay duration is not less than the duration of the formation of the leading edge of a step change in the input action. The proposed combined follow-up drive is simpler; and, consequently, more reliable than the known devices. In addition, it allows to eliminate overshoot in a transient process despite the fact that it was present in a transient process of a similar follower drive without a combined circuit, regulation, and provides a tracking error, close to zero, in the established mode as a normal combined follower drive. These properties are particularly important in high-precision drives of elastic control objects, such as radar, antennas, telescopes, radio telescopes, and others. Formula of the invention Combined tracking actuator containing a time delay unit, a differentiation unit and a series-connected mode switch, setting unit, comparing element, adder, the tracking unit and the sensor connected by the output to the second input of the comparison element, the first input of which is connected to the input of the differentiation unit, the input of the time delay unit with of the connections to the second output of the switch modes of t lichayuschiys in that, in order to improve the quality of the transient and drive reliability, it comprises a switch the polarity, connecting the first input to the output of delay block vreyeni, the second input - to the output of differentiation block and yield. - to the second input of the adder. Sources of information taken into account in the examination 1. USSR author's certificate №714350, cl. G05 B 11/01, .1978,

2. USSR author's certificate No. 634227, class, G05 B 11/01, 1977 (prototype).