SU643830A1

SU643830A1 - Follow-up force reflecting system

Info

Publication number: SU643830A1
Application number: SU772533524A
Authority: SU
Inventors: Альберт Петрович Дорохов; Валентин Петрович Дорохов; Николай Андреевич Лакота
Original assignee: Предприятие П/Я А-7631
Priority date: 1977-10-06
Filing date: 1977-10-06
Publication date: 1979-01-25

Description

1one

Изобретение относитс кманнпул - торостроению и может быть использовано при создании систем управлени манипул торами с пасЪивным отражением нагрузки.The invention relates to self-design and can be used to create control systems for manipulators with passive reflection of the load.

Извест1« след щие системы с отражением усили . Система, содержаща датчики положени задающего и исполнительного органов, сумматор, усилите- .ли, исполнительный , датчик момента исполнительного органа и моментный загружатель, не обеспечивает с высокой точностыо ограничени момента исполнительного органа .Known tracking systems with force reflection. The system, which contains position sensors of the setting and executive bodies, the adder, amplifiers, the executive, the torque actuator of the actuator, and the torque loader, does not provide for high precision torque limiting of the actuator.

Наиболее близким техническим решением к изобретению вл етс система содержаща последовательно соединенные датчик положени задающего органа и первый сумматор, второй вход которого подключен к выходу датчика положени исполнительного органа, св занного с исполнительным элементом, датчиком момента исполнительного органа и да1 чиком скорости, выход которого черезThe closest technical solution to the invention is a system comprising a serially connected position sensor of the driver and a first adder, the second input of which is connected to the output of the position sensor of the actuator connected to the actuator, the torque sensor of the actuator and the speed sensor, the output of which

последовательно соединенные второй сумматор и первый усилитель подключен к входу исполнительног.о элемента, и последовательно соединенные второй усилитель , первый нелинейный элемент и моментный загружатель, св занный через второй нелинейный элемент с датчиком положени задающего органа Эта система может с высокой точносчию ограничивать момент исполнительного элемента только при малых значени х скорости, а при повышенной скорости имеет большую моментную ошибку .the second adder and the first amplifier are connected in series to the input of the actuator element, and the second amplifier, the first nonlinear element and the torque loader connected through the second nonlinear element to the master position sensor are connected in series. This system can only limit the moment of the actuator at low speeds, and at higher speeds, has a large torque error.

Целью изобретени вл етс повышение точности системы.The aim of the invention is to improve the accuracy of the system.

Claims

For this, the system contains a third adder and a fourth adder connected in series and a third nonlinear element, the output of which is connected to the input of the second amplifier and the first input of the third accumulator, whose second input is connected to the output of the first adder, and the output to the second Input of the second adder, and the first - the left and the second inputs of the fourth adder, are connected to the outputs of the speed sensor and the time sensor, and then the organ, respectively. The drawing shows 4 functions in the system diagram. It contains the sensor 1 on ndjkeHHSt of the setting body, the first adder 2, the sensor 3 of the provisions of the executive body; sensor 4 moments of a power unit, speed sensor using an element 6, first amplifier 7, second adder 8, second amplifier 9, first nonlinear element 1О, moment load 11, second nonlinear element 12, tripe adder 13j fourth adder 14 and third nonlinear element 15 The system works as follows. When exposed, the operator on the sensor body signal from the sensor, 1 later. The master body through the first clutch 2, the third adder 13, the second sum. 8 and the first amplifier 7 is fed to the actuator 6, which fulfills its / and production: do turn the actuator until the signal from the sexual sensor the actuator does not compare with the signal from the sensor 1 position of the driver. In this case, if the signal in the sensor 4 of the moment of the full organ does not exceed the zone of sensitivity of the Third nonlinear element 15, then the operator does not feel the reflected moment. With an increase in the moment on the executive organ to a level higher than the value specified by the operator, the output signal at the output of the third nonlinear element 15; which, through the second amplifier 9, acts on the modulating amplifier 11 of the master, and the operator senses the reflected moment. At the same time, this link falls on the actuating element as a negative feedback on the moment under which the moment stabilizes on the output shaft of the follow system, which leads to an increase in the accuracy of the system. Claims The following system with a reflection of the force, containing sequentially connected position sensor of the master organ and the first adder, the second input of which is connected to the output of the position sensor of the actuator connected to the actuator, the torque sensor of the actuator and the speed sensor, which output through serially connected the second adder and the first amplifier are connected to the input of the actuator, and the second amplifier connected in series, the first non-linear element ent and torque zagruzhateli coupled via a second non-linear element. with the position sensor of the master orbit 10 oh so that, in order to increase the system’s performance, it contains the third adder and the fourth adder connected in series and the third nonlinear element whose output is connected to the input of the second amplifier and the first input of the third adder, the second input of which is connected to the output of the first adder, and the output to the second input of the second adder, and the first and second inputs of the fourth adder are connected to the outputs of the speed sensor and the torque sensor of the executive body continuously .. infs mation sources, the received note in the examination :, 1.Kuleshov B, C, Lakotah H, A, dynamics control systems manipulation tori. M., Energie, 1971, p. 18 & 190.

2. USSR author's certificate No. 317039, M, cl. B on B11 / 01, 1070,