SU1482553A1 - Self-adjusting arrangement for automatic steering of a vehicle - Google Patents

Abstract

This invention relates to vehicle directional control systems. The purpose of the invention is to increase the efficiency and accuracy of control. The device contains a main control loop and an additional control circuit. The main control loop includes the sensing element 1 of the sensor 2 of the deviation of the vehicle 6 from the baseline. Sensor 2 is connected via pulse element 3 and delay link 4 with servo 5. The additional control circuit includes differentiating link 7, electronic switch 8 and voltage converter 9 to pulse signal. If the vehicle 6 deviates from the baseline, the signal from the sensing element 1 of the sensor 2 goes to the differentiating element 7 and the pulse element 3. At a certain moment, the key 8 gives permission for the signal from the link 7 to the converter 9. The delay element forms a signal summing ми ₃ + Τ ₉ . The intrinsic time delay of the delay element is negligible and is neglected during the control process. The device provides adjustment of each control pulse depending on the angular velocity of the vehicle. 5 il.

Description

FIG. one

The invention relates to agricultural production, in particular, to devices of an automatic vehicle, and can be used in various fields of technology to provide self-tuning of regulators.

The purpose of the invention is to increase the efficiency and accuracy of control.

FIG. 1 shows a block diagram of a device for one controlled bead of a vehicle (for another controlled bead, the scheme is similar); in fig. 2 - time diagrams of the operation of elements and units of the device; in fig. 3 - schematic diagram of the / C-circuits of element 9; in fig. 4 is a diagram of charge C at different voltage values in FIG. 5 - the same, for С%.

The self-adjusting vehicle's automatic control device consists of a control loop including a sensor element 1 connected in series, a sensor 2, a pulse element 3, a delay link 4, a servo drive 5, a vehicle 6 with feedback between the tractor and the sensor element 1, and an additional control circuit including a differentiating element 7, a control key 8 and a voltage-to-voltage converter 9 connected in series. The input of the differentiating link 7 is connected to the output of the sensor 2, another input of the controlled switch 8 is connected to another output of the pulse element 3, the output of the voltage converter 9 to the pulse signal is connected to the input of the link 4 delays.

A mechanical copier or any other device is used as the sensing element 1. Element 1 is intended to record the deviation of the tractor from the baseline, for example, the grooves.

Sensor 2 is made in the form of a linear-proportional element: a potentiometer, induction, transformer or other devices. In systems without a mechanical connection to the baseline (groove, a row of plants, etc.), for example, induction with driving along a wire with current or other similar devices, elements 1 and 2 are combined into one element — a sensor that directly converts the measured deviation in the electrical signal. The deviation from the baseline is defined as the value of the output signal that exceeds the set level — the deadband. The sensor registers the sum of the signals of the angular and linear deviation of the object from the baseline.

Pulse element 3 produces a pulse 1 of a constant duration when a deviation signal is received from sensor 2. Element 3 is made on the basis of multivibrators or other similar devices. The pulse duration of the element 3 does not change during the operation of the device, but it can be adjusted during adjustment and repair. The duration of the PS is assumed such that with any combination of the dynamic characteristics of the vehicle 6 as an object of control, the rotation of the vehicle does not exceed the required value. The duration is approximately 0.05-0.15 s.

Link 4 delay acts as an adder of the durations of the pulse TZ and the pulse coming from the Converter 9 (-TD). The delay time T4 of the link 4 is approximately equal to 0.001 s and is much shorter than the TZ. Therefore, T4 does not have a significant value for the duration of the pulse ts after it passes through the link 4 delays to the servo drive 5.

As a servo drive 5, a hydraulic drive with a hydro-electrosollen device is used. As servo 5, any kind of drive can be used. A servo drive 5 is coupled to the rotation mechanism of the vehicle 6 and provides for its controlled turn.

Differentiating element 7 is based on / C-chains. At the output of this link, the signal is proportional to the rate of change of the output signal of sensor 2. Since during the controlled rotation the component of the output of sensor 2 from the angular velocity of rotation of an object many times exceeds the component of the speed of change of the linear coordinate, then at the output of differentiator 7 a certain point in time, the signal is predominantly proportional to the angular velocity of the vehicle. At a certain point in time, this signal is used to appropriately increase (lengthen) Tz.

Control key 8 is a time relay that, if there is an input signal from element 3 for a period of time of about 0.001 seconds, passes the signal from link 7 to converter 9. As an input signal for key 8 from element 3 , the moment of the end of the pulse of the element 3 (the beginning of the pause of the element 3) is used.

Converter 9 voltage into a pulse signal converts the voltage of the signal coming from the output of element 8 into a pulse signal td, the duration of which is the smaller, the larger the voltage supplied to the input of the converter 9, and with decreasing voltage at the input of the converter 9 the duration of the pulse signal at its output increases. Converter 9 is executed on YS-chains (Fig 3) or on the basis of computing devices.

When implementing a converter on / C-circuits, the ratio between the capacitors of the capacitors should be.

The device works as follows.

When the tractor is automatically driven, the sensor element 1 registers the deviation of the vehicle from the baseline, which is converted by the sensor 2 into an electrical signal. Upon receipt of the error signal from sensor 2 to element 3, the value of which is greater than the dead zone, element 3 generates a control impulse ts, which through link 4 delays to the servo drive 5 driving the vehicle 6. The servo drive 5 receives an intermittent signal of duration ts + so on Under the action of the vehicle, a rotation of the vehicle 6 takes place. This rotation, in the form of a limitation in the vehicle, never exceeds the required value. At the end of the pulse tz, key 8 receives a signal from element 3 to turn on key 8. The latter transmits a signal from differentiating link 7 to converter 9 during the time Tg, which converts the magnitude of the input voltage to a pulse signal td, the duration of which depends on the input voltage. wives The signal from the transducer 9 is supplied as te to the input of link 4, where the pulse durations tz and te are summed up, since immediately after the ts at the output of link 4, delays follow the signal td.

The total duration of the signal coming from the link 4 delays on the servo drive 5 is: T5 tz + T4 + td + T4, and since the value of T4 is small, then tz tz + te. Thus, the adaptation chain makes it possible to increase Tz by the value of te. In turn, td is greater, the smaller the angular speed of the turn of the tractor and vice versa. Consequently, the adaptation of the auto-driving system occurs due to the fact that the duration tz is adjusted each time depending on the angular speed of the tractor, and consequently, on the dynamic characteristics of the object.

The voltage converter 9 to the pulse signal of the self-tuning device in the embodiment shown in FIG. 3, works as follows.

When a signal is received from the output of the electronic key 8 to the input of the converter 9 (Ј / in | |) C, it is instantly charged, since

There is no resistance in the Ci circuit. The voltage Uc depends also in the adopted circuit and is equal to the voltage level t / dvx (Fig. 4).

The voltage Uci at GV varies exponentially. The more b dvx, the steeper UC2 curve passes (Fig. 3).

If a threshold device is connected to Ci, then it will be triggered later, the lower the t / d.

The start time td is determined by the feed time t / wx to the input of the converter 9. The end time td is determined by a threshold device connected to Cz (Fig. 3).

Thus, the greater the t / dvx, the lower the Td, therefore, the greater the level of voltage coming from the switch 8 to the input of the converter 9, the greater the etc.

The self-adjusting device provides adjustment of each control pulse depending on the angular velocity of the vehicle during controlled steering, which eliminates the delay in the tuning process, and consequently, improves the speed and accuracy of driving control.

In a similar way, a wide variety of controllers can be made, which can be used in various fields of technology.

Claims (1)

Invention Formula A self-adjusting device automatically controlling the direction of movement of the vehicle, comprising a closed control loop consisting of a series-connected sensor element, a sensor, a pulse element, a delay link, a servo drive and a vehicle, characterized in that, in order to improve the speed and accuracy of control, the device is equipped an additional control circuit containing a series-connected differentiating link, a controllable key and a converter A voltage to the impulse signal, the output of which is connected to the corresponding input of the delay level, while the input of the differentiating element and the control input of the control key are connected to the additional outputs of the corresponding sensor and pulse element. C2 FIG. 3 - I - //, c ls 1s ls Editor M. Petrova Order 2722/1 Compiled by L. Panteleeva, Tehred And VeresKorrektor E. Lonchakova Circulation 621 Subscription VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and publishing combine “Patent, Uzhgorod, ul. Gagarin, 101 Ucr 4 5