Device with improved dynamic characteristics for formation of a signal corresponding to the optimal time diagrams for small movements EXECUTIVE BODY MECHANISM UPRUGOSOEDINENNOGO With DC motors

摘要

The utility model is directed to a device with improved dynamic characteristics for generating a signal corresponding to time-optimal for small displacements diagram executive mechanism resiliently connected to the DC motor and enables in conjunction with an automatic control system actuator rotation angle to achieve a high accuracy of working out a predetermined displacement diagram. The technical result is achieved in a device having improved dynamic performance for generating a signal corresponding to time-optimal for small displacements diagram executive mechanism resiliently connected to the DC motor that has a first setting element, whose output is connected to a first input of the first summing junction, output of the first summing junction connected to the input of the first proportional unit, an output of the first proportional block connected to the input of the first block, limiting the value of its input signal, the output of the first unit, limiting the value of its input connected to the first input of the thirty-third summing unit, an output the thirty-third summing unit connected to the input of the first integral unit, an output of the first integral unit is connected to the input of the second integral unit, an output of the second integral a unit connected to the input of the third integrated unit, an output of the third integral unit connected to the input of the fourth integral unit, fourth output of the integral unit is connected to the input of the fifth integrated unit, an output of the integral of the fifth block is connected to the first input of the summing block thirty-two, a second input coupled to an output of the second set point, the output of the first setpoint is connected to a first input of the second summing unit, a first input of the seventh summing junction, the first input of the eighth adder unit, the first input of the ninth summing unit, the first input of the tenth summing unit with a first eleventh input of the summing unit, a first input of a summing unit of the twelfth, the thirteenth to the first input of the summing block and to the first input of the fourteenth summing unit, an output of the second setter connected to a first input of a summing unit of the fifteenth, sixteenth to the first input of the summing unit, a first input of a summing unit of the seventeenth, eighteenth to the first input of the summing unit, a first input of a summing unit of the nineteenth, twentieth to the first input of the summing unit, the first input of the twenty-first summing unit, a first input of the twenty-second summing unit and the first input of the twenty-third summing unit, an output of the first setpoint is connected to the first input of the twenty-fourth summing junction, the second set point output coupled to a second input of the twenty-fourth summing unit, an output twenty a fourth summing unit connected to an input of the twentieth block, limiting the value of its input signal to the input of the twenty-first block, limiting its value in output signal, and an input unit forming the output absolute value of its input signal, the output of the twentieth block, limiting the value of its input signal is coupled to a second input of the second summing unit, and the second input of the twenty-third summing unit, an output twenty-first block, limiting the value of its input signal is coupled to a second input of the seventh summing unit and the second input of the twenty-second summing block unit output forming the output absolute value of its input connected to the input of the fourth proportional unit, an output of the fourth proportional block connected to the input of the fifth proportional block, with first and second inputs of the fifth work unit and to an input of the first unit forming the algebraic sum of the output values ​​of its input and op polar signal, the third summing unit having a first input coupled to an output proportional to the fifth block, a second input coupled to an output of the fifth product unit, an output of the third summing block connected to the block input, forming the output value of the root of the second power of its input signal, block output forming the output value of the root of the second power of its input signal, connected to the first input of the fourth summing unit and to the first input of the fifth adder unit, an output of the first unit forming the output the algebraic sum of the values ​​of its input and the reference signal, connected to the second input of the fourth summing block and to the second input of the fifth adder unit, the fourth summing junction output connected to the input of the first unit forming the output value of the third power root of its input th signal whose output is connected to the first input of the sixth summing unit, an output of the fifth adder block connected to an input of the second unit, forming the output value of the third power root of its input signal, whose output is connected to the second input of the sixth summing unit, the output of the sixth summing junction coupled to the input of the second unit, forming at the output the algebraic sum of the values ​​of its input and reference signals, whose output is connected to first and second inputs of the sixth work unit, the sixth block out work connected to the first input of the seventh work unit, the second unit output, forming the algebraic sum of the output values ​​of its input and reference signals, is connected to the second input of the seventh work unit, to the input of the twenty-third proportional unit, to the input of the twenty-fifth block proportional, to the input of the twenty-seventh block proportional, to the input of the twenty-ninth block proportional, to the input of the thirty-first proportional block to the input of the thirty-fourth block, and proportional to the input of the thirty-sixth proportional unit, sixth product unit output is connected to the input of the twenty-fourth proportional block to the input twenty sixth proportional block to the input twenty eighth proportional unit, to the input of the thirtieth proportional block with an input the thirty second proportional block with an input the thirty-fifth proportional unit and to the input of the thirty-seventh a proportional block seventh product unit output is connected to the input of the thirty-third proportional unit, an output proportional to the twenty-third unit coupled to the first input of the twenty-fifth summing unit, an output proportional to the twenty-fifth block is connected to the first input of the twenty-sixth summing unit, an output proportional to the twenty-seventh block is connected to the first input of the twenty-seventh summing junction, yield twenty ninth proportional block connected to the first input of the twenty-eighth of the summing unit, an output thirty-first proportional block connected to the first input of the twenty-ninth summing unit, an output of the thirty-proportional block is connected to the first input of the thirtieth of the summing unit, an output thirty-sixth proportional block is connected to a first input thirty-first summing unit, an output proportional to the twenty-fourth block is connected to a second input of the twenty-fifth summation ruyuschego unit, an output proportional to the twenty-sixth block is connected to a second input of the twenty-sixth summing unit, an output proportional to the twenty-eighth block is connected to a second input of the twenty-seventh summing junction, yield thirtieth proportional unit connected to the second input of the twenty-eighth of the summing unit, an output thirty-two proportional unit connected to the second input of the twenty-ninth summing unit, an output thirty-fifth proportional block is connected to the second input of the thirtieth of the summing unit, an output thirty-seventh proportional unit connected to the second input of the thirty- a first summing unit, an output proportional to the thirty-third block connected to the third input of the twenty-fifth summing unit, the third input of the twenty-sixth summing unit, a third input of the twenty-seventh summing unit, a third input of the twenty-eighth summing block and the third input of the twenty-ninth summing block Seventh product unit output is connected to the third input of the thirtieth summing block and the third input of the thirty-first summing unit, an output twenty-fifth summing unit connected to an input of the third block, forming at output the algebraic sum of the values ​​of its input and reference signals, yield twenty sixth summing junction coupled to input of the fourth unit, forming the algebraic sum of the output values ​​of its input and reference signals, yield twenty seventh summing unit connected to WMOs ohm fifth block forming the algebraic sum of the output values ​​of its input and reference signals, yield twenty eighth summing junction connected to the input of the sixth block forming the algebraic sum of the output values ​​of its input and reference signals, yield twenty-ninth summing unit connected to the input of the seventh block, forming at the output the algebraic sum of the values ​​of its input and reference signals output thirtieth summing unit connected to the input of the eighth block, forming at the output the algebraic sum of the values ​​of its input and reference signals output thirty-first summing junction connected to the input of the ninth block forming the algebraic sum of the output values ​​of its input and the reference signal, the third output of the block forming the outlet the algebraic sum of the values ​​of its input and reference signals, is connected to the input of the thirty-eighth proportional unit, fourth output of block forming the algebraic sum of the output values ​​of its input and reference signals connected to an input of proportional thirty-ninth block, the output of the fifth unit, forming the output the algebraic sum of the values ​​of its input and the reference signal, connected to the input of the fortieth proportional block sixth unit output forming the output the algebraic sum of the values ​​of its input and the reference signal, connected to the input forty-first proportional block, the seventh block output forming the algebraic sum of the output values ​​of its input and reference signals connected to an input of proportional forty-second block, the output of the eighth block, forming at output the algebraic sum of the values ​​of its input and reference signals connected to an input proportional to the forty-third block, the ninth block output forming the output values ​​of the algebraic sum of its input and reference signals connected to an input of proportional forty-fourth block, yield thirty-eighth proportional block connected to the first input of the first product unit, an output thirty-ninth proportional block connected to the first input of the second unit of work, yield fortieth proportional block connected to the first input of the third work unit, an output of forty-one proportional unit connected to the first input of the fourth work unit , forty-two output proportional block is connected to the first input of the eighth work unit, an output proportional to the forty-third unit is connected to the first input of the ninth work unit, an output proportional to the forty-fourth block is connected to the first input of the tenth block product, yield twenty fourth summing junction connected to the input signal determination unit mark, output determination unit sign of the signal connected to the second input of the first product unit, the second input of the second unit of work, to the second input of the third work unit, the second input of the fourth work unit, the second input of the eighth work unit, the second input of the ninth work unit and a second tenth entry work unit of the first block output product connected to the second input of the eighth adder block and a second input of the twenty-first summing unit, an output of the second block mfr SIC is connected to the second input of the ninth summing block and to the second input of the summing twentieth block, the third block of output product is coupled to a second input of the tenth summing block and to the second input of the summing block nineteenth, fourth product unit output is connected to the second input of the eleventh summing block and to the second input of the eighteenth summation block eighth product unit output is connected to the second input of the twelfth summation unit and to the second input of the seventeenth summation block ninth product unit output is connected to the second input of the thirteenth adder block and the second input of the summing junction sixteenth, the tenth block product output coupled to a second input of the summing unit and fourteenth a second input of the fifteenth summing unit, an output unit thirty-two adder is coupled to a third input of the second summing unit, a third input of the seventh summing unit, a third input of the summing junction eighth, ninth to the third input of the summing unit, the third input of the tenth summing unit, a third input of the eleventh summing unit, a third input of the twelfth adder block with a third input of the thirteenth adder block with a third input of the fourteenth summation block to a third input of the fifteenth adder block with a third input of the sixteenth adder block, the third input of the summing junction seventeenth, eighteenth to the third input of the summing unit, a third input of the summing junction nineteenth, twentieth to a third input of summation ruyuschego block the third input of the twenty-first summing unit, a third input of summing the twenty-second block and the third input of the twenty-third summing unit, an output of the second summing junction is coupled to the second input of the proportional block the output of the seventh summing junction connected to the input of the sixth proportional unit, an output of the eighth adder block connected to an input of the seventh proportional unit, an output of the ninth summing unit connected to the input of the eighth proportional unit, an output of the tenth summing unit connected to the input of the ninth proportional block eleventh summing junction output is connected to tenth proportional input unit, an output of the twelfth adder block connected to an input of the eleventh proportional block vyho d thirteenth adder block connected to an input of proportional twelfth block, the output of the fourteenth summation unit coupled to the input of the thirteenth proportional unit, an output of the fifteenth adder block connected to an input of proportional fourteenth block, yield sixteenth adder block connected to an input of the fifteenth proportional unit, an output of the seventeenth adder block connected to an input of the sixteenth proportional unit, an output of the eighteenth summation unit coupled to the input of the seventeenth proportional unit, an output of the nineteenth summation unit coupled to the input of the eighteenth proportional unit, an output of the twentieth summation unit coupled to nineteenth proportional input unit, an output twenty-first summation unit coupled to input proportional twentieth block, the twenty-second output of the summing unit is connected to the input of the twenty-first proportional block, the twenty-third output of the summing unit is connected to the input of the twenty-second block of proportional, proportional to the second output unit is connected to the input of the second block, limiting the value of its input signal, the output of the sixth proportional block is connected to the input of the third unit, limiting the value of its input signal, the output of the seventh proportional block is connected to the input of the fourth unit, limiting the value of its input signal, the output of the eighth proportional block connected to the input of the fifth unit, the limiting value its input signal, the output of the ninth proportional block connected to an input unit of the sixth limiting value of its input sig Nala, yield proportional tenth block connected to the input of the seventh unit, limiting the value of its input signal, the output of the eleventh proportional block connected to the input of the eighth unit, limiting the value of its input signal, yield twelfth proportional block connected to the input of the ninth block, limiting the value of its input signal, the output of the thirteenth proportional block connected to the input of the tenth block, the limiting value of its input signal, the output of the fourteenth proportional block connected to the input of the eleventh block, limiting the value of its input signal, the output of the fifteenth proportional unit connected to the input of the twelfth block, limiting the value of its input signal, the output shestnad atogo proportional block connected to the input of the thirteenth block, limiting the value of its input signal, the output proportional seventeenth block connected to the input of the fourteenth block, limiting the value of its input signal, yield eighteenth proportional block connected to the input of the fifteenth block, limiting the value of its input signal, the output of the nineteenth proportional block connected to the input of the sixteenth block, limiting the value of its input signal, the output of the twentieth proportional block connected to the input of the seventeenth block, the limiting value of its input signal, yield twenty first proportional block connected to an input unit of the eighteenth limiting value of its input signal, output proportional to the twenty-second block connected to the input unit nineteenth limiting value of its input signal, a second output unit, limiting the value of its input connected to the second input of the thirty-third summing junction, the output of the third block, limiting the value of its input connected to the third input of the thirty-third summing unit, fourth output of the unit, limiting the value of its input signal is coupled to a fourth input of the thirty-third summing unit, the fifth block output limiting value of its input signal is coupled to a fifth input of the thirty-third Adder block, a sixth block out limiting value of its input connected to a sixth input of the thirty-third summing unit, an output of the seventh bl eye limiting value of its input signal, a seventh input coupled to the thirty-third summing unit, an output of the eighth unit, limiting the value of its input connected to an eighth input of the thirty-third summing junction, the output of the ninth block, limiting the value of its input signal is coupled to a ninth input of the thirty-third summing junction, the tenth block output limiting value of its input connected to a tenth input thirty third summing junction, the eleventh block output limiting value of its input connected to an eleventh input of the thirty-third a summing unit, an output of the twelfth block, the limiting value of its input connected to the input of the thirty-third twelfth adder bl eye, the output of the thirteenth block, limiting the value of its input signal is coupled to a thirteenth input thirty third summing unit, an output of the fourteenth block, limiting the value of its input signal is coupled to a fourteenth input thirty third summing unit, an output of the fifteenth block limiting the value of its input signal is coupled to a fifteenth input thirty third summing unit, an output of the sixteenth block, limiting the value of its input signal is coupled to a sixteenth input thirty third summing unit, an output of the seventeenth block, the limiting value of its input signal is coupled to a seventeenth input of the thirty-third a summing unit, an output unit eighteenth limiting value of its input connected to the input of the eighteenth and thirty treteg of the summing unit, an output unit nineteenth limiting value of its input signal is coupled to a nineteenth input thirty third summing unit, an output of the first integral unit is connected to the third input of the proportional block output of the second integral unit is connected to the input of forty-five proportional unit, an output of the third integral unit is connected to the input of the forty-sixth proportional unit, an output of the fourth integral unit is connected to the input of the forty-seventh proportional unit, an output of the third proportional block connected to the first input of the thirty-fourth summing unit, an output forty-fifth proportional unit connected to the second input of the thirty-fourth summing unit, an output proportional to the forty-sixth block connected to the third input of the thirty-fourth summing unit, an output proportional to the forty-seventh block is connected with fourth input of the thirty-fourth summing unit, an output unit thirty-two adder is coupled to a fifth input of the thirty-fourth summing unit,