SU488223A1 - Tracking system for arctangent function - Google Patents

Description

one

The invention relates to functional counting tracking systems and may find application in airborne and ground-guided sighting systems.

A known tracking system for testing the arctangent function, comprising an electromechanical integrator, whose input is connected to the first input of the system, and the output, via a linear rotary transformer, to the stator winding of the first sinus-cone rotating transformer (SCWT), the rotor winding of which is connected to the stator winding the second ACS, the first executive motor, whose input through the first amplifier is connected to the rotor winding of the second ACS, and the shaft through the first input of the differential to the output shaft st system and the first and second rotors resolver, the first and second current sources are proportional to stress.

The known system has low dynamic and static accuracy.

The proposed system further comprises a third and fourth SSCN, a switching device, an adder, a second amplifier, a second motor, a tachogenerator, a gearbox and a large-scale transformer, and the second motor shaft is connected to the second differential input and the tacho generator shaft, entrance

which is connected to the output of the tachogenerator, the rotor of the fourth SCRT is directly, and the rotor of the third SCRT is connected via a reducer to the output shaft of the system, the input of the large-scale transformer is connected to the first input of the system, and the output is connected to the stator field winding of the third SKVT and through the rotor cosine winding of the third SCRT to one of the inputs of the adder, the other inputs of which are connected to the output of a linear rotary transformer (LVT) and the rotor sinus winding of the fourth SCRT, and the output to the second input of the second amplifier, the outputs of the first and second proportional voltage sources are connected to the inputs of the switching device, the output of which is connected to the stator quadrature winding of the first SCRT, the control input to the second input of the next

system, and the rotor sinus winding of the first SCHWT is connected to the stator field winding of the fourth SCHT.

The presence of additional blocks and connections between them allows to significantly increase the dynamic and static accuracy of the system, as well as to improve the transient processes in the system.

The block diagram of the proposed follow system is shown in the drawing.

The system contains an electromechanical integrator 1, sources of proportional voltages 2 and 3, switching device 4, large-scale transformer 5, SCHWT 6 and 7, amplifier 8, engine 9, tachogenerator 10, LHT 11, SCHWT 12 and 13, gearbox 14, amplifier 15, engine 16, differential 17, adder 18.

The following system works as follows.

The input signal U (t) in the form of an alternating current voltage proportional to the tangent W

line speed of sight

is given from system input Bx 1 to the electromechanical integrator 1 input. At the same time, the same voltage is applied to the primary winding of the large-scale matching transformer 5. The integrator output, turning the motor shaft proportional to the integral from the input action or the tangent of the set value of the reproduced function, is transmitted to LHT I. A linear rotary transformer generates a voltage proportional to the tangent. This voltage is applied to one of the stator windings of a rotating transformer 12, by which the arctangent relationship is solved. One of two functionally connected voltages is supplied to the Other stator winding of this rotating transformer through the switching device 4. These voltages are selected when setting up the builder: one for the mode in which the maximum value of the function does not exceed 78 °; the other is for the mode in which the function changes to 89 °. Both of these modes are typical for certain object altitudes. Therefore, their switching is carried out by the automatic height. Such a partition of the modes or a change in the scale of the builder allows one to obtain a higher accuracy of its operation.

The output signal of the first rotating transformer, removed from the cosine winding, after multiplying by cos fv, carried out using the rotating transformer 13, is fed to the input of an amplifier 15 controlling the motor 16. This motor rotates the load through the mechanical differential and simultaneously develops kinematically associated with There are rotors of rotating transformers. The motor rotates until the voltage at the input of the first amplifier is zero. Using the well-known mathematical relationship realized by a four-winding sine-cosine rotating transformer, according to which a voltage equal to one is induced on one rotor winding

R. Cg (Uc, cos rv -, sin srv), (1) to another

P. /C,(t/c.Sincp, + f / c, COScp,), (2)

where f / ci 1 cr are the stator windings voltages; FV - angle of rotation of the rotor shaft W; / St - transformation ratio of VT, and pr in f / c, f / m / ltgfvz; , with (H), analytically, the error signal arriving at the input of the first amplifier from the cosine winding of the second rotating transformer can be represented in this form

Bx.-KT. (,,,) Kr, cos ,, (3)

where Kt ,, Kt, - the transformation ratios of the corresponding VT; / m is the maximum proportional stress value; / Ci, Kz - proportionality coefficients; PB, FV is the predetermined and output value of the function.

At the moment when Up, 0, the angle of rotation of the motor shaft

: /.

(four)

P,: arctgf /.

u ,, + ul

(five)

From expression (5) it can be seen that a voltage proportional to the secant of the fv angle is simulated on the second rotor winding.

From the expression (3) after the conversion we get

f / bx. / g. sin in, (6)

Where

0 in. - srv; (7)

Aj - / (t, AGtg Aa and

Ish in 11sh "in, - in 0. (8)

- -oo-oc

that

U, K, Q. (9)

The angular velocity of the sighting beam is related to the tangential velocity by the following ratio

Cosv

(W)

The input action U (t) is supplied to the primary winding of a matching main-scale transformer 5 having two secondary windings.

One secondary winding of this transformer is connected in series with the cosine winding of a rotating transformer 7, the rotor of which through a gearbox 14 unfolds by an angle of 2 fv; other - to the stator winding of the same rotating transformer. Such a connection allows you to realize the mathematical dependence of the form

JV (P)

I'm Я2

The output of the cosine winding of a rotating transformer 7 is connected to the output of a summing device 18 having two inputs and a transformer output. One input of the summing device is supplied with a voltage proportional to the function setpoint tangent (tgqjBs) taken from LWT 11, to the other a voltage proportional to the tangent of the current function value, which is obtained by multiplying the value of the secant voltage taken from the rotor winding of the first rotating transformer , by the value of the sinus voltage INR generated by the rotating transformer 6. Analytically, the error signal arriving at the input of the amplifier 8, which controls the executive motor 9 , covered by tachometric feedback, can be represented in this form t / Bx, (/ C. tg in, - / Stz and ,, tg av,) + Мno AtAt where Ktn, Kt3 are the transformation coefficients of LWT and VT. The expression (12) after the corresponding transformations takes the form U, .., K, Q + K ,, (13) Кь Кь - coefficients of proportionality, and; / Ce is the proportionality coefficient. Thus, in the second channel, a signal is formed that is proportional to the error and its derivative. The transfer function of the system error with respect to the input action has the following form in (p) (p) u (p) wi (p) i + wt (p) + k, w (p) () -77) -t w, (p) , -p. After substituting the values of W (p) into the expression (14) and the coefficients, the choice of which is carried out in such a way that with 1 - - Кп, К-п-, s; O get) fr. 1 IlP 1 (1 + 4Ap, ./OR-B / PS + L4A ,, 1) Analysis of expression (15) shows that the proposed device achieves the set goal; the system has almost third-order astatism, which provides high dynamic accuracy, and the relative attenuation coefficient defined by the expression / S .., (.) at any value of the quality factor provides an aperiodic transient process, which guarantees a high quality of regulation. Subject of the Invention A follow-up system for testing the arctangent function containing electromechanical integration a torus whose input is connected to the first system input, and an output through a linear rotary transformer to the stator winding of the first sine-cosine rotary transformer (SCWT), the rotor winding of which is connected to the stator winding of the second SCVT, the first executive motor, which is input through the first the amplifier is connected to the rotor winding of the second SCWT, and the shaft through the first input of the differential to the output shaft of the tracking system and the rotors of the first and second SCRT, the first and second sources of proportional voltages, In order to improve the dynamic and static accuracy, the tracking system contains the third and fourth SSSS, switching device, adder, second amplifier, second motor, tachogenerator, gearbox and large-scale transformer, while the shaft of the second engine is connected to the second the input of the differential and the shaft of the tachogenerator, and the input with the output of the second amplifier, the input of which is connected to the output of the tachogenerator, the rotor of the fourth SCRT directly, and the rotor of the third SCRT are connected to the output shaft of the syst The input of the large-scale transformer is connected to the first input of the system, and the output is connected to the stator field winding of the third SCRT and through the third rotor cosine winding to one of the inputs of the adder, the other inputs of which are connected to the output of the linear rotary transformer and the rotor sinus winding of the fourth SCRT the output to the second input of the second amplifier, the outputs of the first and second proportional voltage sources are connected to the inputs of the switching device, the output of which is connected to the stator quadrature second winding of the first resolver, a control input - to the second input of the servo system, the sine winding and the rotor of the first resolver stator winding is connected to the fourth drive resolver.