Forming apparatus is close to the optimal time FIGURES ELECTRIC MOVEMENT WITH ELASTIC shafting with restrictions on current and speed MECHANISM With moments of resistance type of dry friction

摘要

The invention relates to electrical engineering and can be used in industrial plants for forming near-optimal chart displacement actuator with a resilient shafting under restrictions on the current machine speed and a torque of a dry type friction resistance. An apparatus for forming near-optimal chart displacement actuator with a resilient shafting under restrictions on the current and the machine speed from point type dry friction resistance comprises a setting element 1, whose output is connected to a first input of the first summing unit 2, an output of first summing block 2 is connected to the input the first unit forming the output when its input is applied to the positive (negative) value of the signal unit (nil) 27, to the input of the first unit forming the output for n giving at its input a positive (negative) signal value zero (unit) 28 to block entrance and forming at the output of the absolute value of its input signal 25 to a first input of a first proportional block 3, the output of the first proportional block 3 is connected to the input of the first unit that restricts the value of its input signal 4, the first block output limiting value of its input 4 connected to a first input of a second proportional unit 5, the second proportional output unit 5 is connected to a first input of n ervogo unit product 10, a first input of the second unit of work 11, the output of the first unit forming the output when applied to its input the positive (negative) value of the signal unit (zero), 27 is coupled to a second input of the first block of product 10, the first block output, forming at the output when its input is applied to the positive (negative) signal value zero (unit) 28, connected to the second input of the second work unit 11, the first block 10 product output coupled to an input of the second block, limiting vALUE e its input signal 6, second block output limiting value of its input signal 6 is connected to a first input of the fourth proportional block 13, the second output of the block product 11 is connected to the input of the third unit, limiting the value of its input signal 12, a third block output limiting value its input 12 connected to the second input of the fourth proportional block 13, the output of the fourth proportional block 13 is connected to a first input of the third block 14 works with the first input Th tvertogo unit product 15 block output, forming the output absolute value of its input signal 25 is connected to the block input, forming the output the algebraic sum of the values ​​of its input and the reference signal 26, the output of unit forming the output the algebraic sum of the values ​​of its input and reference signals 26, is connected to the input of the second unit, forming at; output when applied to its input is positive (negative) value of the signal unit (nil) 29, to the input of the second unit, forming the outlet when fed to its input is positive (negative) signal value zero (unit) 30, a second output of the block forming the outlet when applied to its input the positive (negative) value of the signal unit (zero), 29 is coupled to a second input of the third unit product 14, the second output of the block forming the output when its input is applied to a positive (negative) value of zero signal (f Diniz) 30, connected to the second input of the fourth unit product 15, a third output of the block product 14 is connected to the input of the fourth unit, limiting the value of its input signal 16, the fourth block output limiting value of its input signal 16 is connected to a first input of the third integral unit 18 fourth block 15 product output coupled to an input of the fifth unit, the limiting value of its input signal 17, the fifth block output limiting value of its input signal 17 is connected to the second in Odom third integral unit 18, the output of the third integrated unit 18 is connected to the input of the fourth integral unit 19, to the input of the fifth proportional unit 20, to the input of the sixth proportional unit 21, to the input of the seventh proportional block 22, the output of the fourth integral unit 19 is connected to the input of the first integral block 7, to the input unit 23 proportional to the eighth, ninth proportional to the input unit 24 to a third input of the fourth proportional block 13, the output of the first integral unit 7 is connected to WMOs th second integral unit 8, with the input of the third proportional unit 9, to a second input of the second proportional unit 5, the output of the second integral unit 8 is connected to a second input of the first summing unit 2, the output of the third proportional unit 9 is connected to a second input of the first proportional block 3, the output fifth proportional block 20 is connected to a third input of the first proportional block 3, the output of the sixth proportional block 21 is connected to a third input of the second proportional unit 5, the output of the seventh etc. proportional block 22 is connected to a fourth input of the fourth proportional block 13, the output of the eighth proportional block 23 is connected to a fourth input of the first proportional block 3, the output of the ninth proportional block 24 is connected to a fourth input of the second proportional unit 5. Thus, the accuracy of the formation close to the optimum displacement diagrams drive shafting with elastic under restrictions on the current and the speed gear to a dry type friction resistance is determined by the linear GOVERNMENTAL blocks: integral, proportional and summing; work units; as well as nonlinear blocks: limiting the value of its input signals forming the output when their input is applied to the positive (negative) value of the signal unit (zero), forming the outlet when applied to; they enter the positive (negative) signal value zero (unit) forming the output absolute values ​​of its input signals and generates at the output of the algebraic sum of the values ​​of its input and reference signals.