Features of the Compensation of Nonlinearities in the Electric Drives Associated with the Failure of the Mechanical Transmission System

Abstract

The features of indemnification of nonlinear dependences in an electric drive, that is conditioned by the errors of the system of mechanical transmission, are presented in the article. It is marked that one of the most widespread operations of modern technological processes is positioning. For providing of functioning of such mechanisms, a high fast acting and exactness of moving of working organ are needed. Therefore, the task of improvement of indexes of control quality remains actual by an electric drive. It is marked that development and synthesis of the position systems of electric drive look effective with compensative principle of control. Such principle of control gives an opportunity to promote a fast acting at the unchanging structure of the system and set exactness of working off moving. It is marked that to non-linearity, that influence on exactness and dynamic descriptions of the digital systems of electric drive, need their account. It was distinguished such from them, that is most influencing. To such factors were taken to non-linearity of executive branches of working mechanisms that is conditioned by the presence of gaps and action of forces of friction, to non-linearity of control system by processes in an electric drive, that is caused by the processes of transformation of electric energy, dependence on the current of anchor of moment of engine(for the engines of direct-current) and magnetic stream(for the engines of successive excitation), and also non-linearity, that is related to digital presentation of information, that is conditioned by a quantum on the level of analog-to-digital and digital-to-analog conversion, limiting to the ordinate of bit net of microsystem. It was marked that the use of microsystems gives large possibilities for programmatic indemnification of influence of many forms of non-linearity on quality indexes. Advantage of microprocessors consists in their comparative simplicity of realization and stabilizing, that allows to inculcate the systems that compensate to non-linearity. The specific of nonlinear dependences in an electric occasion, that is related to the errors of the system of mechanical transmission and educed factors that influence on exactness of adjusting at positioning, was considered. Also in the article the structure of position electric drive was presented with the correction of non-linearity of mechanical transmission. Power part of electric drive contains engine of direct-current and transformer of electric energy. Part of the system of electric drive, that manages, executed on the chart of the inferior adjusting of coordinates. It contains the internal contour of speed, and also contour of adjusting of coordinate of moving of executive branch of control object. For maintenance of necessary fast-acting at working off the set moving at presence of factors that revolt, from the side of executive mechanism, such structure allows to compensate the action of these factors. It was therefore offered on the example of the presented structure principle of indemnification of gaps that is caused by a backlash in mechanical transmissions, and it is considered as possible to compensate the action of forces of friction. It was marked that a necessity to take into account the action of forces of friction is related to that over a friction brings to the additional error and renders additional ant vibration an action, and indemnification of forces of friction complicates a task circumstance that non-linearity of forces of friction in a most degree influences at a task harmonically of small signal on speed with LF and amplitude. The algorithm of indemnification of action of forces of friction is worked out in the mechanical transmissions of electric drive. It is marked that the offered algorithm allows programmatic facilities to compensate kinematics errors systems of mechanical transmission, that is caused by resilient deformation of her parts.Bibl. 11, pic. 2.