WO1991013261A1 - Systeme numerique d'entrainement asservi - Google Patents

Systeme numerique d'entrainement asservi Download PDF

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Publication number
WO1991013261A1
WO1991013261A1 PCT/SU1990/000062 SU9000062W WO9113261A1 WO 1991013261 A1 WO1991013261 A1 WO 1991013261A1 SU 9000062 W SU9000062 W SU 9000062W WO 9113261 A1 WO9113261 A1 WO 9113261A1
Authority
WO
WIPO (PCT)
Prior art keywords
tracking
output
inputs
amplifier
digital
Prior art date
Application number
PCT/SU1990/000062
Other languages
English (en)
Russian (ru)
Inventor
Igor Semenovich Gutis
Boris Konstantinovich Levin
Gennady Mikhailovich Ivanov
Igor Vitoldovich Orlik
Vladimir Konstantinovich Sveshnikov
Ilya Isaakovich Shapiro
Dmitry Germanovich Levit
Original Assignee
Experimentalny Nauchno-Issledovatelsky Institut Metallorezhuschikh Stankov
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Experimentalny Nauchno-Issledovatelsky Institut Metallorezhuschikh Stankov filed Critical Experimentalny Nauchno-Issledovatelsky Institut Metallorezhuschikh Stankov
Priority to PCT/SU1990/000062 priority Critical patent/WO1991013261A1/fr
Publication of WO1991013261A1 publication Critical patent/WO1991013261A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/232—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41241—Anti-coincidence, synchronizer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41298—Stepping motor and control valve and power cylinder and mechanical feedback

Definitions

  • the resulting invention is not limited to machinery, but more precisely, to digital followers, for example, 5 ladies, including electric or electrical.
  • stepper motor 20 is kinematically connected to the stepper motor through the screw drive and to the external hydraulic cylinder - through the non-self-propelled screw drive.
  • the engine is not connected to the engine, and the engine is not plugged in.
  • the engine is
  • the indicated issues are partially resolved in the digits. - 2 - ⁇ iv ⁇ de ( ⁇ z, ⁇ , 4235156), having a ⁇ yam ⁇ y tse ⁇ i ⁇ sle- d ⁇ va ⁇ eln ⁇ s ⁇ edinennye u ⁇ avlyayuschee tsi ⁇ v ⁇ e us ⁇ ys ⁇ v ⁇ , ele ⁇ gid ⁇ avliches ⁇ y usili ⁇ el as shag ⁇ v ⁇ g ⁇ dviga- 5 ⁇ elya, ⁇ inema ⁇ iches ⁇ i svyazann ⁇ g ⁇ with d ⁇ sseli ⁇ uyuschim z ⁇ l ⁇ - ni ⁇ m and gid ⁇ dviga ⁇ el with ⁇ ivedenn ⁇ y nag ⁇ uz ⁇ y, and
  • the feedback circuit is a sensor connecting the output of the hydraulic motor to the output of an electronic control unit. This is a solution using digital encryption.
  • the 15-step motor is suitable for use with a motionless motor without access. signal of the job.
  • P ⁇ s ⁇ avlennaya task ⁇ eshae ⁇ sya ⁇ em, ch ⁇ in tsi ⁇ v ⁇ m witness ⁇ iv ⁇ de, s ⁇ de ⁇ zhaschem u ⁇ avlyayuschee tsi ⁇ v ⁇ e us ⁇ ys ⁇ v ⁇ , usili ⁇ el binding u ⁇ avlyayuschee tsi ⁇ v ⁇ e us ⁇ ys ⁇ v ⁇ with is ⁇ lni ⁇ elnym dviga ⁇ elem and ⁇ n ⁇ li ⁇ uyu- schii movement is ⁇ lni ⁇ eln ⁇ g ⁇ dviga ⁇ elya da ⁇ chi ⁇ ⁇ b ⁇ a ⁇ n ⁇ y communication ⁇ d ⁇ lyuchenny ⁇ v ⁇ dam u ⁇ avlyayuscheg ⁇ tsi ⁇ v ⁇ g ⁇ us ⁇ ys ⁇ va, ⁇ ichem usili ⁇ el in v ⁇ lyuchae ⁇ a stepping motor that is
  • ⁇ ig. I disclose a structured directive for a follow-up process, as agreed by the invention; ⁇ ig. 2 depicts a general synchro- nization block according to the invention; 10 ⁇ ig. 3 depicts a constituent product convention, as per the invention; ⁇ ig. 4 depicts the construction of an amplifier with a complete friendliness. by the occupants, inside of them, an additional entertaining settlement was established, according to the agreement of the 15th plant; ⁇ ig. 5 illustrates a cross section 4.
  • the digital monitoring device contains the consecutively connected digital device
  • Block 2 of the synchronization contains the active generatrix 9; 20, 21, 22 of the second synchro-analysis 23 im-
  • the first snapshot ⁇ includes two channels. There is a channel that connects the separately connected meshes ⁇ $ -trigger 45, element 46 "I”, ⁇ $ -trigger 47 ⁇ : an element of 48 ", and a direct connection
  • the second circuit 23 also includes two channels, the first of which is connected to each other directly between itself $ 53, which is 54, which is 54 ", which is 54"
  • Output 10 (Fig. 2) of the generator 9 is connected to input 14 of the input sync pulse and input of the 19 pulse input 23;
  • OUTPUT II of the active generator 9 is connected to the input of the 15th input of the 18th pulse input and the output of the 20th input of the 23rd pulse of the 23rd pulses;
  • vy ⁇ d 12 ⁇ a ⁇ v ⁇ g ⁇ gene ⁇ a ⁇ a 9 ⁇ d ⁇ lyuchen ⁇ v ⁇ du 16 ⁇ e ⁇ v ⁇ g ⁇ sin ⁇ niza ⁇ a ⁇ im ⁇ uls ⁇ v n v ⁇ du 21 v ⁇ g ⁇ sin ⁇ niza ⁇ a shl ⁇ ul.s ⁇ v 23 and 13 vy ⁇ d ⁇ a ⁇ v ⁇ g ⁇ gene ⁇ a ⁇ a s ⁇ edinen s ⁇ v ⁇ d ⁇ m 17 ⁇ e ⁇ v ⁇ g ⁇ sin ⁇ niza ⁇ a im ⁇ uls ⁇ v 18 and 22 v ⁇ d ⁇ m v ⁇ g ⁇ sin ⁇ niza ⁇ a 23 im ⁇ uls ⁇ v.
  • Pe ⁇ emeschenie is ⁇ lni ⁇ eln ⁇ g ⁇ dviga ⁇ elya 4 che ⁇ ez shes ⁇ e ⁇ en- n ⁇ - ⁇ eechnuyu ⁇ e ⁇ edachu 5 ⁇ ans ⁇ m ⁇ ue ⁇ sya in u ⁇ l ⁇ v ⁇ a shaft 6 ⁇ b ⁇ a ⁇ n ⁇ y communication da ⁇ chi ⁇ a, ⁇ y vy ⁇ aba ⁇ yvae ⁇ Pulses corresponding to the sunshine and the direction of movement of the engine 4.
  • the pulses from the sensor 6 are inactive for 23 seconds and the zhny v ⁇ du, ⁇ ⁇ mu ⁇ - s ⁇ u ⁇ ayu ⁇ im ⁇ ulsy ⁇ u ⁇ avlyayuscheg ⁇ tsi ⁇ v ⁇ g ⁇ us ⁇ s ⁇ va I.
  • S ⁇ s ⁇ dvizhenpya is ⁇ lni ⁇ eln ⁇ g ⁇ dviga ⁇ elya 4 ⁇ edelyae ⁇ sya ugl ⁇ m ⁇ v ⁇ a shag ⁇ v ⁇ g ⁇ dviga ⁇ elya 62, ⁇ - ⁇ y in ⁇ addy tendy ⁇ m ⁇ men ⁇ v ⁇ emeni ⁇ tsi ⁇ nalen ⁇ azn ⁇ s ⁇ i ⁇ liches ⁇ va im ⁇ uls ⁇ v, ⁇ s ⁇ u ⁇ ayuschi ⁇ v ⁇ dy at 40 and 41 usizh ⁇ elya 3, ⁇ There is a gateway to the disclosure of the road.
  • P ⁇ i e ⁇ m ⁇ zhches ⁇ v ⁇ im ⁇ uls ⁇ v, ⁇ s ⁇ u ⁇ ivshi ⁇ ⁇ da ⁇ chi ⁇ a 6 ⁇ b ⁇ a ⁇ n ⁇ communication ⁇ inputs 7 and 8 are comparable to the normal pulse set by the I. property I, and speed - a frequent follow-up.
  • the process uses the correcting device I, analyzing the information, which runs on inputs 7 and 8, implements the process for the process, If necessary, additional control options for the user can be implemented.
  • Block 2 synchronizes the operation of the following. Releasing to the exit 24, the pulse sets the relay 45 to the "I" position. The second is a pulse that is emitted from the output of the second II generative process 9
  • the pulse is emitted. Simultaneously, with the output of 28 synchronization ⁇ , the impulse is triggered at the entrance of stage 45, resetting the latter to the "0" position. In the first case, the pulse is emitted from the output of the 10th active generator 9 to the input of the 14th synchronization 18,
  • the cut-through synchronization channel 18 only triggers the pulse in the second circuit of the generator 9.
  • a pulse is emitted from output 10 of the active generator 9 to output 19 of the sync 23, the output of element 56 is 32 element 5; ⁇ dn ⁇ v ⁇ emenn ⁇ with vy ⁇ da 34 s ⁇ n ⁇ niza- ⁇ a 23 shl ⁇ uls ⁇ s ⁇ u ⁇ ae ⁇ on v ⁇ d P ⁇ ⁇ gge ⁇ a 53 sb ⁇ a- ously by writing down ⁇ sledni ⁇ : ⁇ l ⁇ zhenie to "0". 3 there is a pulse that emits from output 12 of the active generator 9 to input 21 of the synchronization 23, which ensures the discharge of the pulse
  • Pulses emitted at the inputs 30 ⁇ 36 of the element 32 "IL ⁇ " are momentarily discharged at the output 38 of the block
  • the quick-start channel runs on the quick-start channel ⁇ , which sends out pulses through the fourth channel, and the second-hand channel runs on the second
  • accelerator 3 (Fig. 3) provides a supply of 65 non-resident welfare services 64, exit
  • ⁇ ⁇ aches ⁇ ve bl ⁇ i ⁇ uyuscheg ⁇ us ⁇ ys ⁇ va 68 is ⁇ lz ⁇ van n ⁇ maln ⁇ za ⁇ y ⁇ as ⁇ edeli ⁇ el 69 ele ⁇ gid ⁇ av- Yu liches ⁇ im u ⁇ avleniem ⁇ z ⁇ l ⁇ ni ⁇ a 70 ele ⁇ magni ⁇ m 71.
  • the small short-circuit separator 69 and the resident settlement 64 are installed in a single room 72, 15-parallel to another friend.
  • the resting prison 64 is located in the block 72 in the sleeve 73 with the premises of areas C and 7).
  • ⁇ din of ⁇ tsev d ⁇ sseli ⁇ uyuscheg ⁇ z ⁇ l ⁇ ni ⁇ a 64 che ⁇ ez vin ⁇ vuyu ⁇ e ⁇ edachu 63 and the connected mu ⁇ u 74 'with an shag ⁇ vym dviga ⁇ elem 62 ⁇ ichem gay ⁇ a vin ⁇ v ⁇ y ⁇ e ⁇ edachi 63 us ⁇ a- 20 n ⁇ vlena in ⁇ dshi ⁇ ni ⁇ a ⁇ 75 za ⁇ i ⁇ si ⁇ vanny ⁇ in ⁇ use 72 and is ⁇ lyuchayuschi ⁇ v ⁇ zm ⁇ zhn ⁇ s ⁇ ⁇ sev ⁇ g ⁇ ⁇ e ⁇ emescheniya gay ⁇ i.
  • the settler 64 was sealed off the 76, leaving through the gap in the prison 72 for it.
  • Cylinder 74 after lever 79 and flag 80 to 30 interactions. with the sensors 65 neutral housing 64.
  • the lever 79 is locked to the inlet 72 and is loaded with a load of 81;
  • the sections C and £ are connected to the corresponding koltsev grooves 87 and 88, made in the body of building 72, which are located in the original connection to the bridges of the separator 69. Canal grooves 87 and 88 co-
  • 25 ⁇ eguli ⁇ vaniya s ⁇ s ⁇ ey and ⁇ vyshennaya ⁇ chn ⁇ s ⁇ ⁇ zitsi ⁇ - ni ⁇ vaniya is ⁇ lni ⁇ eln ⁇ g ⁇ dviga ⁇ elya 4 d ⁇ sseli ⁇ uyuschy z ⁇ l ⁇ ni ⁇ 91 ( ⁇ ig.4) usili ⁇ elya 3 m ⁇ zhe ⁇ vy ⁇ lnya ⁇ sya ⁇ - lym and e ⁇ y ⁇ l ⁇ s ⁇ i us ⁇ anavliva ⁇ sya d ⁇ lni ⁇ elny d ⁇ sseli ⁇ uyuschy z ⁇ l ⁇ ni ⁇ 92 v ⁇ zm ⁇ zhn ⁇ s ⁇ yu lineyn ⁇ g ⁇ ⁇ e-
  • 3592 installed devices for the release of the fastener, made in the form of a spring 93, and an optional 94 (Fig. 5) for an extended and - 16 - 91 91 ⁇ 92 ( ⁇ . 4) defending relatively large area 7; .
  • ⁇ nema- ⁇ ches ⁇ aya communication ⁇ sn ⁇ zn ⁇ g ⁇ d ⁇ zh ⁇ eln ⁇ g ⁇ d ⁇ ssel ⁇ u- yusch ⁇ ⁇ 91 ⁇ 92 z ⁇ l ⁇ n ⁇ v ( ⁇ g.
  • the directive 94 is in the form of a clutch, which is strictly connected with the optional independent land 92, and has a direct access to the drive.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Nitrogen And Oxygen Or Sulfur-Condensed Heterocyclic Ring Systems (AREA)

Abstract

Un système numérique d'entraînement asservi comprend un dispositif de régulation numérique (1) à l'entrée duquel est connecté un détecteur à rétroaction (6) régulant le mouvement du moteur d'actionnement (4), et la sortie du dispositif (1) est connecté à des entrées individuelles (24, 25) d'une unité de synchronisation (2), dont les autres entrées (26, 27) sont connectées à un détecteur à rétroaction (6). La sortie de l'unité de synchronisation (2) est connectée aux entrées (40, 41) d'un amplificateur (3), lequel connecte le dispositif de régulation numérique (1) au moteur d'actionnement (4) et met en route un moteur pas-à-pas (62) relié cinématiquement à un papillon d'étranglement (64). On peut utiliser l'invention dans des entraînements asservis linéaires et rotatifs à commande numérique pour des machines-outils, des robots et des systèmes de transports.
PCT/SU1990/000062 1990-03-02 1990-03-02 Systeme numerique d'entrainement asservi WO1991013261A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SU1990/000062 WO1991013261A1 (fr) 1990-03-02 1990-03-02 Systeme numerique d'entrainement asservi

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SU1990/000062 WO1991013261A1 (fr) 1990-03-02 1990-03-02 Systeme numerique d'entrainement asservi

Publications (1)

Publication Number Publication Date
WO1991013261A1 true WO1991013261A1 (fr) 1991-09-05

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9730999B2 (en) 2005-03-23 2017-08-15 Glaxosmithkline Biologicals Sa Adjuvanted influenza virus compositions
RU2800195C1 (ru) * 2022-11-02 2023-07-19 Общество с ограниченной ответственностью "НЕЙРОроботикс" Композитная конструкция цифрового электронно-управляемого пропорционального гидрораспределителя

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3592234A (en) * 1969-07-25 1971-07-13 Bell Aerospace Corp Staged-flow valve
FR2072715A5 (fr) * 1969-12-02 1971-09-24 Dowty Servos Ltd
SU517005A1 (ru) * 1974-05-08 1976-06-05 Московский станкоинструментальный институт Электрогидравлическа цифрова след ща система
US4235156A (en) * 1978-11-16 1980-11-25 Zenny Olsen Digital servovalve and method of operation
DE3342293A1 (de) * 1983-11-23 1984-08-23 Ulrich 2071 Ammersbek Frick Chirurgische richt- und verplattungszange
DE3313318A1 (de) * 1983-04-13 1984-10-18 Integral Hydraulik & Co, 4000 Düsseldorf Anordnung zur steuerkanteneinstellung eines folgekolben-systems
DE3313317A1 (de) * 1983-04-13 1984-10-18 Integral Hydraulik & Co, 4000 Düsseldorf Elektro-hydraulisches zweistufiges proportional-wegeventil
CH668463A5 (en) * 1984-05-14 1988-12-30 Sig Schweiz Industrieges Servo drive for fuel injection pump - has stepping motor driven plunger with hydraulic backing

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3592234A (en) * 1969-07-25 1971-07-13 Bell Aerospace Corp Staged-flow valve
FR2072715A5 (fr) * 1969-12-02 1971-09-24 Dowty Servos Ltd
SU517005A1 (ru) * 1974-05-08 1976-06-05 Московский станкоинструментальный институт Электрогидравлическа цифрова след ща система
US4235156A (en) * 1978-11-16 1980-11-25 Zenny Olsen Digital servovalve and method of operation
DE3313318A1 (de) * 1983-04-13 1984-10-18 Integral Hydraulik & Co, 4000 Düsseldorf Anordnung zur steuerkanteneinstellung eines folgekolben-systems
DE3313317A1 (de) * 1983-04-13 1984-10-18 Integral Hydraulik & Co, 4000 Düsseldorf Elektro-hydraulisches zweistufiges proportional-wegeventil
DE3342293A1 (de) * 1983-11-23 1984-08-23 Ulrich 2071 Ammersbek Frick Chirurgische richt- und verplattungszange
CH668463A5 (en) * 1984-05-14 1988-12-30 Sig Schweiz Industrieges Servo drive for fuel injection pump - has stepping motor driven plunger with hydraulic backing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9730999B2 (en) 2005-03-23 2017-08-15 Glaxosmithkline Biologicals Sa Adjuvanted influenza virus compositions
RU2800195C1 (ru) * 2022-11-02 2023-07-19 Общество с ограниченной ответственностью "НЕЙРОроботикс" Композитная конструкция цифрового электронно-управляемого пропорционального гидрораспределителя

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