SU999016A1 - Servo system - Google Patents

Description

1 (54) FOLLOWING SYSTEM

The invention relates to automation and can be used in automatic and remote control systems, in program-controlled machines, in robot manipulators, etc.

A known tracking system comprising a selsyn master, a selsyn receiver incorporated in a transformer mode, an electronic amplifier, a motor-amplifier, an executive motor, a gearbox, and the oscillator rotor of the mining axis is a source of voltage supplied to the input of the electronic amplifier. The executive engine of such a follow-up sisteui stops only when the voltage at the input of the electronic amplifier vanishes, i.e. when the selsyn rotor of the mining axis is set to a position perpendicular to the stator field direction, and which is called matched Cl 3. A disadvantage of the known system is the impossibility of quickly changing the transmission coefficient and, consequently, the limited functionality and application area.

Closest to the invention in its technical essence is a tracking system comprising a serially connected master oscillator, a first power supply unit, a selsyn control unit, a first pulse shaper, a variable pulse selector, a linear voltage generator, a peak detector, a power amplifier, a switch and an actuator whose shaft is connected to the control object and the rosin of the receiver, whose input through the second power supply unit is connected to the output of the master oscillator, and the input through The second pulse shaper is connected to the second inputs of the error pulse selector and the error sign trigger, the first input of which is connected to the output of the first pulse shaper, and the output to the control input of switch 2 J.

A disadvantage of the known system is its narrow scope.

The purpose of the invention is to expand the scope of the system.

This goal is achieved by the fact that, in a tracking system containing a master oscillator, the first power supply unit is sequentially connected, selsyn; the ad unit, the first pulse shaper, the second power supply unit sequentially connected, the selsyn receiver and the second pulse shaper, the successively connected error collector, the linearly varying voltage generator, the peak detector, the power amplifier, the switch and the actuator whose Baj is connected to the control object of the injection and the rosin of the selsyn-receiver, and the trigger of the rassog sign; 1 asp, connected by the output to the control input of the switch, are additionally equipped with four dividers oy, four multiplexers, a multiplexer control unit, an operator’s console and a control sensor unit, the output of the master oscillator through a sequence 5) But the connected first frequency divider and multiplexer are connected to the input of the first power supply unit, and through series-connected second divider hours, totes and multiplexer with the input of the second power supply unit, the output of the first pulse generator through the serially connected third frequency divider and multiplexer is connected to the first inputs of the pulse selector mismatch trigger and trigger, the output of the second pulse generator via serially connected fourth frequency divider and multiplexer is connected to the second inputs of the mismatch pulse selector and the error sign trigger, the control sensor block inputs are connected to the outputs of the control object, and the outputs are connected to the corresponding search inputs of the multiplexer control block, The remaining inputs of which are connected to the outputs of the operator’s console, and the outputs to the control inputs of the multiplexers.

The drawing shows a block diagram of the system.

The trailing system contains the signal generator generator 1, the first and second frequency dividers 2 and 3, the first and second multiplexers 4 and 5, the first power supply unit 6, the control unit 7, the operator console 8, the second power supply unit 9, the selsyn setting unit 10, the selnsinHeN. HHK 11, first and second pulse formers 12 and 13, third and fourth frequency dividers 14 and 15, third and fourth ultiplaxors 16 and 17, mismatch pulse selector 18, trigger, mismatch sign 19, linear voltage generator 20, peak detector 21, power amplifier 22, switch 23, ispol itelny mechanism 24, trees sensor control 25, the control object 26,

The system works as follows.

The power units b and 9 of the stators of the selsyn 10 and 11 convert the pulses coming from the generator; through the generator 1 through frequency dividers 2 and 3 and multiplexers 4 and 5 into three-phase symmetric voltages of small amplitude (2.5-5 volts) that feed the synchronization windings (stators) selsins 10 and 11, respectively. With this method of feeding for voltages produced on the windings of the rotors of the selsyns, with the number of pole pairs with a sufficiently high accuracy

I d

the ratio of DG® is fair.

d - phase change of the output voltage 1 dot - change in the angular coordinates of the selsyn rotors.

The phase change of the output signals of the selsyn is equal to the change in the angular coordinates of the rotors.

The output voltages of selsins 10 and 11 are converted by pulse makers 12 and 13 into rectangular pulses and through frequency dividers 14 and 15, multiplexers 16 and 17 are fed to the input of the error pulse selector 18.

A necessary condition for the system to work is that the paired products of the frequency divisor factors of divisors 2, 14 and 3, 15 are equal, choosing Nsjx during the operation of the system using multiplexers 4, 16–5, 17 according to commands from the multiplexer control unit, depending on the situation At the Control Object 26, it is monitored by the sensor control unit 25, and so; 1;: КЕ installed at the request of the operator using the operator console 8. When this condition is fulfilled, the frequencies of the signals at the outputs of multiplexers 16 and 17 will be equal.

The selection of the operation mode of the multiplexer control unit 7 is made by the command Mode selection, which is supplied by the operator from the operator's console 8 and takes the value of, for example, logical 1 if necessary, set the multiplexer control unit 7 to the automatic transmission coefficient control system and logical O - if necessary, manual control transfer ratio. In the automatic mode, the multiplexer control unit 7 converts the signals from the control sensor block 25 of the control object state 26 to the control codes of the multiplexers 4, 5, 16 and 17. The cnn signals entering the multiplexer control block 7 from the control sensor block 25 change Its output fields (log.1, O) are dependent on the situation on the control object 26, for example, when one of the control parameters of the 1x parameters is set beforehand. In the manual mode, the multiplexer control unit 7 converts the transmission control commands / commands generated by the operator from the control panel. The adapter 8, the control codes of multiplexers 4, 5, 16, and 17. When the rotor of the selsyn-air sensor and the actuator is matched, the phase difference of the output signals of multiplexers 16 and 17 is zero and the pulses at the output of the pulsation pulsator 18 are missing. Taking in a consistent position for the selsyn unit 10 зад ij O and Vj 0. When the rotor rotates the selsyn gauge 10 by the mismatch angle N. O, at the output of the selector 8, mismatch pulses are formed, the duration of which is determined from the ratio, t., L i Sc c where, ii / i the mismatch pulse intensity, otj, is the rotation angle of the selsin-setting rotor 10,. 3 - phase of the selsyn-pilot signal 10, ujj - angular frequency of the voltage supplying the stator of the selsynadiator 10. The error pulses enter the input of the generator of the linearly varying voltage 20, at the output of which a sawtooth voltage is generated with an amplitude directly proportional to hence the angle of mismatch. This voltage is converted by the peak detector 21 to a constant voltage, which through the power amplifier 22, the switch 23 enters the actuator mechanism 24, the output shaft of which is rigidly connected to the control object 26 and the selsyn-receiver rotor 11. The switch 23 is controlled the trigger of the mismatch sign 19, which is set to state 1, if the phase of the signal at the output of multiplexer 16 is ahead of the phase of the signal at the output of multiplexer 17, and to the state About - if it is lagging behind. The switch 23 establishes the voltage of the actuator mechanism 24 so that it rotates in the direction corresponding to the decrease in the angle of mismatch and, consequently, the duration t ,,. In order to fully align, the output shaft of the actuator 24 must be rotated through an angle.

999016 where the rotation of the output shaft of the actuator 24 ;, foe the selsyn-receiver phase 11, os the angular frequency of the voltage supplied by the stator of the agricultural receiver 11. The transmission ratio of the tracking system ... J V oo V, z a - frequency. APPLICATIONS, where fjjj. and f pitto statues of selsyns 11 and 10, respectively; 2 - frequency division coefficients selected by multiplexers 4 and B; set by multiplexer 4 i set by multiplexer S; pulse frequency of master oscillator 1. The frequency division factors h of dividers 14 and -15 are selected by multiplexers 16 and 17 so that the frequencies of the signals at the inputs of the pulse selector mismatch 18 and the error sign trigger 19 are the same, necessary condition for the functioning of blocks 18 and 19. Thus, by changing the frequency division factors h2, i.e. frequencies of the voltages feeding the stators of the selsyns, provided that the pair products of the frequency division coefficients are equal. the multiplexers 4,5, 16 and 17 selected by the system during operation of the system, the multiplexer control unit 7, the operator’s console 8 can be changed according to the operator’s wishes or depending on the state of the control object 26 monitored by the con unit; transmission coefficient of the system. The use of the invention will provide more extensive functionality compared with the known devices. In the lime devices, the ability to control the gear ratio during the operation of the follow-up system by changing (switching) the parameters of the electrical channels for converting information signals is absent. This disadvantage is significant ear and tehnikogekoeyomicheskie indicators; known trace - shhnh systems.

The proposed technical provides the ability to change the transmission coefficient in a wide range of values by simple technical means - frequency dividers, multiplexers, in the process of the system1 and B depending on the situation on the control object, or at the request of the operator, and thus gives the following system valuable technical features: firstly, the possibility of a stepwise transition in the process of operating the system from the coarse mode to the exact control mode of the object and vice versa; secondly, the possibility has been changed scale displacement transmission control entity, for example when operating in the search mode or copier; thirdly, the ability to control the dynamic properties of the system in the process of its operation, i.e. expands the scope of the proposed system.

Invention Formula

A tracking system comprising a master oscillator, the first power supply unit in series, the selsyn master, the first pulse shaper, the second power supply unit serially connected, the selsyn receiver and the second pulse shaper, the error pulse selector in series, the linearly varying voltage generator, the peak detector, power amplifier, switch actuator, the shaft of which is connected to the control object and the selsyn-receiver rotor, and the error sign trigger any connected output

To control the switch input, characterized in that, in order to expand the scope of the system, it has four frequency dividers, four multiplexers, a multiplexer control unit, an operator console and a control sensor unit, the output of the master oscillator through the serially connected first frequency divider and the multiplexer is connected to the input of the first power supply unit, and through serially connected second frequency divider and multiplexer - to the input of the second power supply unit, the output of the first forkshrovatel imp Through the serially connected third frequency divider and multiplexer is connected to the first inputs of the error pulse selector and the error sign trigger, the output of the second pulse generator through the sequentially connected fourth frequency divider and the multiplexer is connected to the second inputs of the error pulse selector and trigger of the error sign trigger, inputs of the sensor monitor connectors with the outputs of the control object, and the outputs with the corresponding inputs of the multiplex control unit frames, the rest of the inputs of which are connected to the outputs of the operator console, d outputs to the control inputs of the multiplexers.

Sources of information, taken into account in the examination

1. Ginzburg S.A. and others. Fundamentals of automation and remote control. ML, Energie, 1965, p. 282-284.

2.Kolosov S.P. and other elements of automation. M., Mechanical Engineering, 1970, p. 121 (prototype).

Claims (1)

Claim A tracking system comprising a master oscillator, a first power supply, a synchro drive, a first pulse shaper, a second power supply, a synchro receiver and a second pulse shaper, a mismatch pulse selector, a ramp generator, a peak detector, an amplifier, connected in series power, switch Ev actuator, the shaft of which is connected to the control object and the rotor of the selsyn-receiver, and a mismatch sign trigger I, connected by an output to the control input of the switch, characterized in that, in order to expand the scope of the system, it has four frequency dividers, four multiplexers, a multiplexer control unit, an operator console and a control sensor unit, and the output of the master oscillator through the first connected in series the frequency divider and the multiplexer are connected to the input of the first power supply, and through the second frequency divider and the multiplexer connected in series to the input of the second power supply, the output of the first of the first pulse shaper through a third frequency divider and the multiplexer connected in series with the first inputs of the mismatch pulse selector and the mismatch sign trigger, the output of the second pulse shaper through the fourth frequency divider and multiplexer connected in series with the second inputs of the mismatch pulse selector and the mismatch sign trigger, inputs of the sensor unit control connected to the outputs of the control object, and the outputs with the corresponding inputs of the control unit Ia multiplexers, other inputs of which are connected to the outputs of the remote operator, and outputs to the control inputs of multiplexers.