SU999013A1 - Device for setting object in predetermined position - Google Patents

Description

The invention relates to automation and can be used in various digital control systems. ..

Devices are known for bringing an object to a predetermined position, comprising an actuating unit and a sensor.

The disadvantages of these devices are circuit design complexity and low reliability, as well as one-speed control of the object movement.

The closest technical solution to the invention is a device for bringing an object to a predetermined one. the position containing the reference device, the output of which through the second converter is the code — the code is connected to the second inputs of the adder, the executioner of the unit ,; kinematically associated with an object and a position sensor, the outputs of which are connected through the first converter code-code to the first inputs of the adder, the first and second inputs of the execution unit are connected respectively to the outputs of the first and second elements 2I-NOT, the first and second inputs of which are connected respectively to inverse and direct transfer outputs of the adder 2.

The disadvantages of this device are:

1. Long installation time of the object in the specified position. Since in this device, a transition from a higher installation rate to a small one occurs when a unit level appears at the output of the element (n-m + 1) I-2IL or there is a unit level in m lower-order bits at the output of the adder, which coincides with the first minor unit level in the code that sets the threshold for the transition to low speed (implemented on the element 2I-2t OR). Consequently, the transition to low speed in the device occurs only at the thresholds set from the next number of samples, relative to the position N J

,

where to 0,1,2,3, ... (m-l). That is, the presence of a unit level in the lower-order code that sets the threshold for transition to a low speed Nj,) corresponds to the transition threshold for the slowest rate () of the lower bits, the presence of the unit level in the higher-order Dov, relative to the position of NS. But in order to minimize the cyNp / inpHoro time (.2} of setting o (1 injecting to a predetermined position, the time is P2time csnn to an object with a large cKopOLTbio (t) should be maximal, and the time to cross the value of an object with a small с: corostia (t) - minimum, + t 2 mi n / where Zini-i m is the minimum necessary time for an object to move at a low rate of exclusion of overshoot and reversal of an object. Since in a known device it is possible to set a threshold for switching to low speed only from a number of samples, then reversing and reversing an object a must be set to more than the minimum required, with respect to Ng. This reduces the time of movement of the object at high speed and increases the time of movement of the object at low speed, And this leads to an increase in the total time of movement of the object from N to Ы compared to the minimum possible 2 The disadvantages of the known device are also the complexity of the circuit design and low reliability. The purpose of the invention is to increase the speed while simplifying the circuit solution and increasing the reliability of the device. The goal is achieved by the fact that in a device for bringing an object to a predetermined position, containing a coordinate setter, the output connected via a first transducer stroke - a code with the first inputs of the adder, exec1; The target unit, kinematically connected with the object and the position sensor, the outputs of which through the second transducer, the code code are connected to the second inputs of the summator, the first and second inputs of the execution unit are connected respectively to the outputs of the first and second elements 2I – NOT, the first inputs of which the first element (n + 1) AND –NE and sequentially connected cohmmutator, second element, n + 1) AND –NE, third element 2I – NOT and element (chapter) are added to the inverse and direct transfer inputs of the adder. And) AND-NOT, the output of connecting with the second input of the first and second elements 2I-NOT, the second inputs of the element (t + 1) are NOT connected to m in the turns of the adder and the first inputs of the switch, the second outputs of which through the first element 1 n + 1) I-IiE are connected to the second input of the third element 2I-NOT, the second inputs of the first element (n +) AND-NOT are connected to the P-yy outputs of the adder, and the third input - with the inverse p output of the summittor, nm outputs of which are connected to the second inputs of the second element ( p 1) AND-NOT, the third turn of the Adder connected to the n output, the output of the third element 2И-NOT connect But with the third input .1 of the complementary block, the second inputs of the switch are connected (SP) to the outputs of the adder. The drawing shows the functional diagram of the proposed device. The device consists of the object 1, the reference setpoint 2, the first converter code - code 3, adder 4, position sensor 5, the second converter code - code 6, the first element 2and-7, the second element 2I-NOT 8, the execution unit 9, the element (t -t- I) AND-NOT 10, switch 11-, first element (n -) - 1) INE 12, second element (n-and. 1) INE 13, third element 2-NOT 14. The device works as follows in a way. The coordinates of object 1, set by setter 2 in some digital code, are converted by converter 3, the code is a code into the standard binary code NJ, the inverse of which Ng is fed to the inputs of the second number cyMT / iaxopa 4, the coordinates of the current position of object 1 are sensed by sensor 5 of the position of object 1 and given in some digital code are converted by the converter b code - code into standard binary code M, arriving at the inputs of the first number of the adder 4. Depending on the ratio of NjH codes Ny at the outputs of the sum 4, five characters are possible Erns: cases: In the case of a mismatch of N coordinates, the mismatch sign and the direction of movement of the object 1 are determined with the unit level of the P or P parry signals coming through the elements 2I – HE 7 and 8 to the executive unit 9, which begins at high speed displacement of object 1, reducing the mismatch to the position N Nj., The threshold value for the transition to a low speed can be set arbitrarily in rods from one to 2 samples, with an accuracy of 1/2 lower digits, by connecting through a co-switch 11 to the inputs of the elements ( 1 AND-NOT 12 and 13 respectively output adder 4 or a constant unit level. Those of the lower order bits of the outputs of the adder 4, which in the code correspond to the unit levels, are connected via switch 11 to the inputs of the elements (n + 1) and -NE 12 and 13, to the remaining inputs of the elements (n + 1) AND-NOT 12 and 13 A constant unit level is connected through the switch 11. The chain of the constant unit of the LEVEL is conventionally not shown. The coincidence of the N and N codes is determined as the coincidence of the unit levels at the inputs of the elements (n + 1) AND-NO 12 or 13 and the appearance of the unit level at the output of the element 2INE 14, the executive unit 9 is transferred at a low speed, continuing to move the object to a given position. When the coordinates Np, determined by the coincidence of the unit levels at the inputs of the elements (n + 1) AND-NO 12 or 13, as well as at the inputs of the element (t + 1) AND-NOT 10, the execution unit 9 is blocked by the inhibitory potential, coming from output of the element (t + 1) AND-NOT 10 to the inputs of elements 2 and-NOT 7 and 8. The cycle of testing the specified position is over. Compared with the known device, the use of the invention allows to increase the speed of the device, i.e. reduce the time of installation of the object in a predetermined position. Since the threshold for the transition to a small speed of movement of an object N can be set arbitrary within the limits of discharges with an accuracy of ± 1/2 least significant bit the minimum threshold required to avoid overshooting and reversing the object. In this case, the total installation time of the object will be minimal, since the condition ImaxV is satisfied. Taking into account the properties of the row (2 -2-), where to 0,1,2,3, ... (t -1), it is obvious that the difference between t2 of the known device and tj of the proposed technical solution will increase with increasing thresholds in turn, at large ratios of velocities, a small value of the least significant bit, the inertia of the object, etc., can be large. Simplification and increase in the reliability of the device is achieved due to the fact that it lacks m external links connecting m output inverse low-order digits of the adder with m inputs of the element (t + 1) AND-2ILI, no two connections connecting the outputs of the adder (P and P) with the inputs of the element (n + 1) AND -2ILE NOT, and there is no trigger in the analysis circuit. Moreover, the device in the analysis scheme contains in comparison with the known device: a) switch (2 tons of inputs and 2 tons of outputs) - a block for setting thresholds of the second speed (2 tons of inputs and 2 tons of outputs), b) two elements (n + 1) AND-NOT and element 2I-NOT (total number of inputs 2p. + 4) -elements (m + l) I-2ILI, (n-m + 1) I-2ILI and element 2I-NOT 1 total number of inputs 2p + 4), c) element ( t + 1) AND-NOT (t + .1 input) - element 2И-2 OR (4t inputs). Invention device for bringing an object to a predetermined position, containing a coordinate setter, output code connected to the first inputs of the adder via the first transducer, executive unit kinematically connected with the object and the position sensor, whose outputs are connected to the second transducer through the second converter the inputs of the adder, the first and second inputs of the Executive unit are connected respectively to the outputs of the first and second elements 2I-NOT, the first inputs of which are connected respectively to the inverse (P) and P) transfer outputs of the adder, which is different from the fact that, in order to increase speed and reliability with simultaneous simplification of the scheme, the first element (n + .1) AND-NOT AND serially connected switch, the second element (n +1) AND-NOT, the third element 2I-NOT and the element (t + 1). I-NOT, the output connected to the second input of the first and second elements 2I-NOT, the second inputs of the element (t + 1) I-NOT connected to the m outputs of the adder and the first inputs of the switch, the second outputs of which through the first element (n + 1) AND - NOT connected to the second input of the third element A-2I-NOT, the second inputs of the first element. (N + 1) AND-NOT connected to the nm outputs of the adder, and the third input - with inverse P output, transfer of the adder, nm outputs of which are connected to the second inputs of the second element (n +1) AND-NOT, the third input of the adder connected to the n output, the second in ode switch soe- dineny with 1.1 + hi) of the adder outputs a third output element 2I is coupled to the third input of the execution unit.

Sources of information taken into account in the examination

1. USSR author's certificate No. 70682Q, cl. G 05 B 11/01, 1978.

2. Author's certificate of the USSR 830297, cl. G 05 V 11/01, 1979 (prototype).

Claims (1)

Claim A device for bringing an object to a predetermined position, containing a coordinate adjuster, an output code connected through the first code converter to the first inputs of the adder, an executive unit kinematically connected to the object and the position sensor, whose outputs through the second code-to-code converter are connected to the second inputs of the adder, the first and the second inputs of the executive unit are connected respectively to the outputs of the first and second elements 2I-NOT, the first inputs of which are connected respectively to the inverse (P) and direct (P) outputs transferring the adder, characterized in that, in order to increase speed and reliability while simplifying the circuit, the first element (n + 1) AND NOT connected to the switch in series, the second element (n + 1) AND, the third element 2 AND-NOT and the element (m + 1) AND NOT connected to the second input of the first and second elements 2I-NOT, the second inputs of the element (m + 1) NOT connected to the m outputs of the adder and the first inputs of the switch, the second outputs of which, through the first element (n + 1), are NOT connected to the second input of the third element 2, NOT, W The other inputs of the first element (n + 1) are NAND connected to the nm outputs of the adder, and the third input is connected to the inverse P output, transferring the adder, the nm output of which is connected to the second inputs of the second element (n +1) AND, the third input connected to the ή output of the adder, the second inputs of the switch are connected * to the (1 + hi) outputs of the adder, the output of the third element 2I-YA is connected to the third input of the executive unit 5.