Apparatus for generating programmed control signals

FIELD: information technology.

SUBSTANCE: invention concerns computer engineering. The apparatus for generating programmed control signals has a first signal selector, a first adder, and additionally a nonlinear element, a first integrator, a nonlinear element, a switch, a second signal selector, a divider, a second integrator, a second adder, a navigation system, a first squaring device, a third adder, a second squaring device, a fourth adder, a third squaring, a fifth adder, a first rooting device, a first function generator, a second function generator, a first servo system, a third function generator, a second servo system, a fourth function generator, a third servo system, a fourth squaring device, a sixth adder, a fifth squaring device, a third signal selector and a second rooting device.

EFFECT: ensuring maximum possible speed of a control object on a given space trajectory while maintaining the allowable deviation of that object from the target point.

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The invention relates to the field of automatic control of dynamic objects (UP), which provides precise movement in a predetermined path, in particular aircraft and/or underwater vehicles.

A device for controlling the drive of the robot containing the serially connected first and second adders, the first block multiplication, the third adder, the amplifier and the motor associated with the first speed sensor directly or through a gearbox with a first position sensor, the output of which is connected to the first positive input of the first adder connected to the second input to the input device, connected in series relay unit and the fourth adder, a second positive input connected to the output of the first speed sensor and the input of the relay unit, connected in series, the first setpoint signal and the fifth adder, a second positive input of which is connected to the output of the weight sensor, and output to the second input of the first block multiplication, connected in series, a second speed sensor installed in the third degree of freedom of the robot, the second block multiplication, and the third block multiplication, a second input connected to the output of the first speed sensor and the output of the third negative input of the fourth adder, and a second position sensor, set the IP to a third degree of freedom of the robot, and the second negative input of the second adder connected to the output of the first speed sensor, and the output of the fourth adder connected to the second positive input of the third adder, connected in series to the second unit signal, the sixth adder, the fourth block multiplication, the second input is through the first cosine functional Converter connected to the output of the second position sensor, the seventh adder, a second positive input connected to the output of the third signal generator, and the fifth block multiplication, a second input connected to the output of the first acceleration sensor installed in the third degree of freedom of the robot, and the output is connected to the fourth positive input of the fourth adder, consistently United second sine function Converter, whose input is connected to the input of the first cosine functional Converter, and the sixth block multiplication, the second input is connected to the output of the sixth adder, and the output to the second input of the second block multiplication, fifth negative input of the fourth adder connected to the output of the seventh block multiplication, the first input connected to the output of the second speed sensor, and the second input with the output of the second block multiplication, the third positive input of the fifth adder connected to the output of advertigo block multiplication, the third positive input of the seventh adder connected to the output of the weight sensor and the second positive input of the sixth adder, connected in series eighth adder, the first positive input of which is connected to the output of the second position sensor, and its second positive input to the output of the first position sensor, the third sine function Converter, the eighth block multiplication, the ninth adder and ninth block multiplication, the output of which is connected to the sixth positive input of the fourth adder, and a second acceleration sensor mounted in the first degree of freedom of the robot, and connected in series to the fourth unit of the signal, the tenth adder, the tenth block multiplication, the second input which through the fourth sine function Converter connected to the output of the first position sensor, and its output to the second positive input of the ninth adder, connected in series to the fifth unit of the signal and the eleventh adder, a second positive input of which is connected to the output of the weight sensor and to the second positive input of the tenth adder and its output to the second positive input of the eighth block multiplication, connected in series, the third acceleration sensor, mechanically associated with the output shaft of the engine, and the eleventh block to multiply the Oia, a second input connected to the output of the second block multiplication, and the output from the first negative input of the twelfth adder, a second positive input of which is connected to the output of the third acceleration sensor, and the output to the third positive input of the third adder, connected in series, the first differentiator and the twelfth block multiplication, a second input connected to the output of the seventh adder, and the thirteenth block multiplication, the first input of which is connected to the output of the sixth block multiplication, the second input to the output of the first acceleration sensor and the input of the first differentiator and the output to the first negative input of the thirteenth adder, the output of which connected to the input of the fourteenth block multiplication, a squarer connected in series, the fifteenth block multiplication, a second input connected to the output of the fourth block multiplication, and sixteenth block multiplication, connected in series fourteenth adder, seventeenth block multiplication and eighteenth block multiplication, the second input is connected to the output of the eleventh adder, connected in series fifth cosine functional Converter, whose input is connected to the output of the first position sensor, the nineteenth block multiplication, the second input is connected to the output of the tenth sumata is a, twentieth block multiplication and twenty-first block multiplication, a second input connected to the output of the first speed sensor, the first positive input of the fourteenth adder and a second input of the fourteenth block multiplication, connected in series sixth cosine functional Converter input connected to the output of the eighth adder, and the twenty-second block multiplication, the output of which is connected to a second input of the seventeenth block multiplication, connected in series, a second differentiator connected to the input to output of the second acceleration sensor, and the twenty-third block multiplication, a second input connected to the output of the eighth block multiplication, and twenty-fourth block multiplication, the first input of which connected to the output of the tenth block multiplication, and its second input with the output of the second differentiator and the output of the third positive input of the twelfth adder, the fourth positive input of which is connected to the output of the twenty-third block multiplication, the fifth positive input to the output of the eighteenth block multiplication, sixth positive input to the output of the twenty-first block multiplication, seventh positive input to the output of the fourteenth block multiplication, the eighth negative input to the output of the sixteenth block multiplication, ninth positive log - in to the course of the twelfth unit of the multiplication, and the tenth negative to the output of the twenty-fifth block multiplication, the first input connected to the output of the thirteenth block multiplication, and the second input with the second output speed sensor, input Quad, a second input of the sixteenth block multiplication, and the second positive input of the fourteenth adder, and the second negative input of the thirteenth adder connected to the output of the fifteenth block multiplication, characterized in that it additionally connected in series to the sixth unit of the signal and the fifteenth adder, a second positive input of which is connected to the output of the second acceleration sensor, and the output to the second input of the ninth, twentieth, and twenty-second blocks multiplication (see U.S. Pat. Of the Russian Federation No. 2312007, Bul, 2007).

A disadvantage of this device is that it cannot provide automatic selection of the maximum speed of the actuator, and hence the maximum performance of the device while maintaining a given dynamic precision movement.

Also known actuator with automatic adjustment of the frequency of the input harmonic signal containing sequentially connected to the first adder, the correcting device, amplifier, motor, gearing, position sensor, the output of which is connected to the first input of the first sums the Torah, characterized in that it additionally introduced consistently connected the power calculation module, an input connected to the output of the first adder, the second adder, relay element, a storage device, an information input connected to the output of the computing unit of the module and through a delay device with the second input of the second adder, a third adder, a second input connected to the output of the first signal generator, the first integrator, the low pass filter of the second order, fourth adder, a second input connected to the output of the second setpoint signal, the second integrator, the sine function Converter unit multiplication, a second input connected to the third setpoint signal, and output to the second input of the first adder (see RF patent №2399079, Bul, 2010).

The disadvantage of this device is that it allows you to create only the harmonic software signal, providing the maximum possible speed UP while maintaining an acceptable value, the dynamic error control. The formation of other types of signals in the specified device. In addition, this device generates a software signal for only one degree of freedom, which does not allow it to control the movement of this UNTIL after protrans the public path.

The task, which directed the claimed technical solution is to provide the highest possible speed of movement TO a given spatial trajectory while maintaining an acceptable deviation from the target TO the points on a given trajectory.

The technical result of the proposed solutions is expressed in the formation of a special device to automatically select the highest possible speed UP along a given spatial trajectory and the corresponding signals of this movement (using the obtained values of the maximum possible speed)at which the deviation from the target TO the point located at the specified path does not exceed the allowed value.

The problem is solved in that the forming device software control signals containing connected in series, the first unit of a constant signal, the first adder, the first integrator, additionally entered serially connected non-linear element, an input connected to the output of the first integrator, the key, a second input connected to the output of the second setpoint signal, the block division, the second integrator, a second adder, a second input connected to the first output of the navigation system of the first squarer, one third of the adder, the second input is through the second squarer coupled to the output of the fourth adder, and a third input through the third squarer - the output of the fifth adder, and the first unit root extraction, the output of which is connected with the second input of the first adder, connected in series, the first functional Converter, whose input is connected to the output of the second integrator to the input of the second functional Converter to the input of the first servo system, through the third functional inverter to the first input of the fourth adder, a second input connected to the second output of the navigation system to the input of the second servo system and through the fourth functional inverter to the input of the third tracking system and to the first input of the fifth adder, a second input connected to the third output of the navigation system of the fourth squarer, the sixth adder, the second input is through the fifth squarer coupled to the output of the second functional Converter, and a third input from the output of the third signal generator, and a second unit root extraction, the output of which is connected with the second input of the unit.

Comparative analysis of the essential features of the proposed solution with essential features analog and prototype indicate its compliance with the criterion of "new the EIT".

While the distinctive features of the claims of the invention allow for the maximum possible speed of movement TO a given spatial trajectory without exceeding the maximum permissible value of the dynamic error of the tracking target point moving along a specified path.

The block diagram of the proposed device, the formation of the program control signals are presented in figure 1.

The forming device software control signals includes sequentially connected to the first unit 1 signal, the first adder 2, the first integrator 3, the nonlinear element 4, an input connected to the output of the first integrator 3, the key 5, a second input connected to the output of the second knob 6 signal, block 7 division, second integrator 8, the second adder 9, a second input connected to the first output of the navigation system 10, the first squarer 11, the third adder 12, the second input is through the second squarer 13 is connected to the output of the fourth adder 14, and the third input through the third squarer 15 - the output of the fifth adder 16, and the first block 17 root extraction, the output of which is connected with the second input of the first adder 2, connected in series, the first functional Converter 18, an input connected to the output of the second integrator 8, with the input of the second functional transformations is the user 19, to the input of the first servo system 20, through the third functional Converter 21 with the first input of the fourth adder 14, a second input connected to the second output of the navigation system 10, to the input of the second servo system 22 and through the fourth functional Converter 23 with the input of the third servo system 24 and to the first input of the fifth adder 16, a second input connected to the third output of the navigation system 10, the fourth Quad splitter 25, a sixth adder 26, the second input is through the fifth Quad splitter 27 is connected to the output of the second functional Converter 19, and a third input from the output of the third unit 28 signal, and the second block 29 root extraction, the output of which is connected with the second input unit 7 division.

Figure 1 introduced the following notation: ν* is the desired speed of movement UP along the predetermined trajectory; x*, y*, z* software control signals on respective degrees of freedom; x, y, z are the current values of the spatial coordinates TO the generated his navigation system; S - command signal the start or stop of operation of the system, ε_on- maximum allowable deviation from the target TO the point on the trajectory. Figure 2 shows the scheme of movement UP to 30 sweeps, where ε is the deviation of the current position TO its desired position 31 defined software signals the AMI x*, y*, z* (target point)moving in time along the trajectory 32.

The desired trajectory UP in space is defined smooth functional dependency y*(t)=g_y(x*(t)) and z*(t)=g_z(x*(t)), which are performed by the functional converters 21 and 23, respectively. Functional converters 18 and 19 implement featuresandrespectively. All these functional converters provide a piecewise linear approximation of these smooth functions and configured before operation of the control system. The signal S from the output unit 6 determines the start and end operation of the system, closing or opening the 5 key.

The device operates as follows. In the initial moment of time by using a signal S is closed, the key 5, and the output of the integrator 8 is set to the signal x^*(0)that specifies the initial x-coordinate of the^*the target point 31 on the subsequent trajectory of the movement BEFORE. At the functional outputs of the inverters 21 and 23, respectively, are formed signals y^*(0)=g_y(x^*(0)) and z^*(0)=g_z(x^*(0)), which, together with the coordinate x^*(0) define the initial spatial position of the target point 31 on the given trajectory. If the inequality ν^*>0, then the point moves on the trajectory, since the output of integrator 8 begins to form the signal x^*(t), and the functional outputs of the inverters 21 and 23 signals y^*(0=g_y(x^*(t)) and z^*(t)=g_z(x^*(t)).

This follows from the fact that the output unit 7, a signal is generated:

since all positive inputs of the adder 26 have a unit gain, and the output of generator 28 is formed of a single signal. [Lebedev A.V. Synthesis algorithm and device trajectory of motion of the dynamic object with constraints on the control signals // Mater. IX international. chetaevsky, proc. Analytical mechanics, stability and control of movement." V.4. Irkutsk, 2007. P.137-145.] it is shown that the above mathematical relationships used to generate signals x^*(t), y^*(t) and z^*(t)ensure the constant presence of the target point 31 on the given trajectory and its movement along this trajectory with velocity ν^*.

The generated signals x^*(t), y^*(t) and z^*(t), respectively, are received at the inputs of tracking systems 20, 22 and 24, which provide movement for the relevant degrees of freedom near a given spatial trajectory.

It is known that with increasing ν^*will increase the effects of mutual influence IU the remote control all the degrees of freedom BEFORE and resistance forces in the external environment. This leads to an increase of external perturbations and load all of its actuators and, as consequence, to decrease in the accuracy of control mentioned BEFORE, and also to the input of its Executive devices in saturation. As a result, some parts of the trajectory TO (especially with a large curvature) can be unacceptably large deviations from the desired trajectory. To reduce these deviations where necessary, should reduce the value of ν^*. Accordingly, it will reduce the load on the actuators and to increase the accuracy of their work without logging in the saturation mode.

The proposed device provides automatic adjustment of the speed UP depending on the current values of ε (see figure 2). If you start to satisfy the condition ε>ε_opthe speed UP is automatically reduced, and in case of small deviations increases. As a result, the movement TO the predetermined trajectory 32 is carried out as fast as possible, which is always the condition ε≤ε_opregardless of the type of trajectory, as well as the type and quality of used tracking systems.

The first positive and second negative inputs of the adders 9, 14, 16, as well as all the positive inputs of the adder 12 have a unit gain. In the result, the output of the lock 17 a signal:

The first positive (from unit 1) and the second negative input of the adder 2 have a unit gain. Unit 1 generates a signal e_op>0. As a result, the output of the adder 2, a signal is generated ξ=ε_op-ε. If ξ>0, i.e. the deviation from the target TO the point on the trajectory becomes less valid, then ν^*at the output of the integrator 3 is incremented, otherwise decrease. As a result, according to the expression (1) speed UP to 30 at a given spatial trajectory (32) will respectively increase or decrease.

Nonlinear element 4 with the characteristic

necessary in order to secure the moving target point 31 along the trajectory 32 only in a given direction regardless of the sign of ξ. This is especially important at the initial stage of the movement BEFORE, when his deviation from the starting point of the trajectory can be great. In this case, the value of ξ will have a large initial value with a negative sign, and the integrator 3 will begin to form a negative value ν^*that will lead to the opposite (correct) movement target point 31 along the trajectory 32. After testing the tracking systems 20, 22 and 24 large initial error ε between 30 and target point 31, initial values and y ^*(0)=g_y(x^*(0)) and z^*(0)=g_z(x^*(0)), at the output of the integrator 3 will receive a positive signal, and proposed in this application the forming device software control signals will continuously set the desired law of motion UP to 30 sweep 32.

Thus, by introducing a special circuit configuration of the desired speeds of UP to 30 in a predetermined path 32 is able to automatically generate such software control signals that will ensure the movement of this UP along the path as fast as possible, which, however, its deviation from the target point 31 on the trajectory 32 will not exceed allowable values.

The forming device software control signals containing sequentially connected to the first unit signal, the first adder, the first integrator, characterized in that it additionally introduced serially connected non-linear element, an input connected to the output of the first integrator, the key, a second input connected to the output of the second setpoint signal, the block division, the second integrator, a second adder, a second input connected to the first output of the navigation system of the first squarer, a third adder, a second input through the second squarer connected to the output of the fourth adder is, and the third input through the third squarer - the output of the fifth adder, and the first unit root extraction, the output of which is connected with the second input of the first adder, connected in series, the first functional Converter, whose input is connected to the output of the second integrator to the input of the second functional Converter to the input of the first servo system, through the third functional inverter to the first input of the fourth adder, a second input connected to the second output of the navigation system to the input of the second servo system and through the fourth functional inverter to the input of the third servo system and to the first input of the fifth adder, the second input is connected to the third output of the navigation system of the fourth squarer, the sixth adder, the second input is through the fifth squarer coupled to the output of the second functional Converter, and a third input from the output of the third signal generator, and a second unit root extraction, the output of which is connected with the second input unit.