RU2161365C1 - Electric drive - Google Patents

Abstract

FIELD: electrical engineering. SUBSTANCE: system for regulating angular velocity of electric drive is built around phase synchronization circuit. Electric drive has photoelectric pulse transducer responding to shaft speed and position as well as transducer output signal conversion circuit that functions to raise frequency of transducer output signal. EFFECT: improved precision of maintaining controlled positions, enlarged functional capabilities of drive. 6 dwg

Description

 The invention relates to electrical engineering and can be used in angular velocity control systems, in particular an electric drive, based on the principles of phase synchronization.

 A number of electric drives are known [1], built on the basis of digital speed meters, the main element of which are photo-pulse sensors 12.3]. In most digital speed meters, its value is determined by counting the number of sensor pulses for a fixed period of time or by measuring the duration of one or more periods of the signal of the photopulse sensor [1,3]. The first method of constructing digital speed meters is characterized by a low measurement error in the region of large angular velocity values. In the second method, as the measured speed increases, the accuracy of its measurement decreases. In the zone of low and infralow angular velocities, even when measuring transducers with high resolution are used, the quantization period of their output signal reaches such large values that providing a small error in the stabilization of the adjustable coordinates by counting the number of pulses or measuring the period of the sensor signal becomes practically impossible. Therefore, precision electric drive systems use selsyn, sine-cosine rotary transformers or photoelectric raster interpolators.

 Closest to the proposed device is a DC drive [4], a functional diagram of which is shown in FIG. 1.

 The electric drive contains a motor 1, with a shaft of which a speed sensor 2 is connected. The output of the sensor 2 is connected to the first input of the frequency-phase discriminator 3, to the second input of which the generator 4 of the driving frequency is connected. The outputs of the frequency-phase discriminator 3 are connected to the modulating and reversing inputs of the power converter 5, made on transistors 6-9 according to a bridge circuit, the diagonal of which is connected to the motor 1. The frequency-phase discriminator 3 consists of triggers 10-13, OR elements 14 and 15 and elements And 16 and 17. The counting inputs of the triggers 10 and 12, which are the second input of the discriminator 3, are connected to the output of the generator 4 of the driving frequency. The output of the trigger 10 is connected to the information input of the trigger 13 and the first input of the OR element 15, the second input of which is connected to the output of the trigger 13 and the first input of the element 17. The output of the OR element 15 is connected to the information input of the trigger 11, the counting input of which is connected to the counting input trigger 13, is the first input of the frequency-phase discriminator 3. The installation inputs of the triggers 12 and 13 are connected to the output of the element And 17. The output of the trigger 11 is connected to the information input of the trigger 12 and the first input of the element OR 14, the second input of which is connected is connected to the output of the trigger 12 and the second input of the AND element 17. The output of the OR element 14 is connected to the information input of the trigger 10. The reset inputs of the triggers 10 and 11 are connected to the output of the And 16. The inputs of the And 16 element are connected to the outputs of the triggers 10 and 11. The outputs of the triggers 12 and 13 are the first and second outputs of the frequency-phase discriminator 3.

 Such an electric drive provides a wide range of angular velocity control and a relatively small error in its stabilization. Using selsyn as a feedback sensor does not allow to obtain high accuracy of stabilization of the current shaft position. In wide-range electric drives, it is convenient to use SCRT, but their accuracy in measuring the position of the shaft is significantly inferior to the accuracy of measurements using photo-impulse sensors with high resolution. A significant drawback of the latter is the limitation of their use at low speeds.

 The technical result of the invention is to increase the accuracy of stabilization of the current position of the motor shaft by reducing the error of its measurement and expanding the scope of the device in wide-range electric drives. This is achieved by using a high-resolution photo-pulse sensor and a conversion circuit for its output signals.

 To do this, the first frequency divider is introduced into the known device, and a photo-pulse sensor and a conversion circuit for its output signals containing two frequency dividers, four triggers and a multiplexer are used as a speed meter (Fig. 2). The first frequency divider is connected between the output of the master frequency generator and the first input of the frequency-phase discriminator. The outputs of the photopulse sensor are connected to the information and counting inputs of the first (T5) of the new triggers. Its counting input is connected to the counting input of the second (T6) trigger, the reset input of which is connected to the first address input of the multiplexer and the output of the third (T7) trigger, the counting input of which is combined with the output of the fourth (T8) trigger and the second and fourth information inputs of the multiplexer. The information input of the third (T7) trigger is connected to the output of the second (T6) trigger. The output of the first (T5) trigger is connected to the second address input of the multiplexer, at the first information input of which a logic zero signal is supplied, and at the third - a logical unit. The counting input of the fourth (T8) trigger is connected to the control input of the multiplexer, the output of which through the second frequency divider is connected to the second input of the frequency-phase discriminator. The input of the fourth (T8) trigger through the third frequency divider is connected to the output of the master frequency generator.

 In FIG. 2 shows a functional diagram of an electric drive.

 The electric drive contains a motor 1, a speed meter 2 is connected to its shaft. Anchor winding of the motor 1 is included in the diagonal of the bridge of the power converter 5, made on transistors 6-9. The modulating and reversing inputs of the power converter 5 are connected to the first and second outputs of the frequency-phase discriminator 3. A frequency generator 4 is connected to the first input of the frequency-phase discriminator 3 through the first frequency divider 19. The frequency-phase discriminator 3 contains four triggers (10-13 ), two OR elements (14, 15) and two AND elements (16, 17). The counting inputs of the first 10 and second 11 triggers are connected to the first input of the frequency-phase discriminator 3, the second input of which is connected with the counting inputs of the third 12 and fourth 13 triggers. The information inputs of the first 10 and third 12 triggers are associated with the outputs of the elements OR 14 and 15, respectively. The reset inputs of the triggers 10 and 12 are connected to the output of the first element And 16, the second input of which is connected to the output of the trigger 12, the information input of the trigger 11 and the second input of the element OR 14, The first input of the last connected to the first output of the frequency-phase discriminator 3, the output of the trigger 11 and the first input of the element And 17. The second input of the element And 17 is connected with the second output of the frequency-phase discriminator 3, the output of the trigger 13 and the second input of the element OR 15, the first input of which is connected to the first input of the element And 18, the output of the trigger 10 and information trigger input 13, the reset inputs of the triggers 11 and 13 are connected to the output of the element And 17. The speed meter 2 contains a photopulse speed sensor 20, the second 26 and third 27 frequency dividers, four triggers (21-24) and multiplexer 25. Multiplexer 25 output through the second frequency divider 26 is connected to the second input of the frequency-phase discriminator 3. The first address input of the multiplexer 25 is connected to the reset input of the trigger 22 and the output of the trigger 24. The second address input of the multiplexer 20 is connected to the output of the trigger 21, the information and counting inputs of which the second are connected to the first and second outputs of the photo-pulse speed sensor 20. The information input of the trigger 24 is connected to the output of the trigger 22. Its counter input is connected to the second output of the photo-pulse speed sensor 20. The counting input of the trigger 24, the second and fourth information inputs of the multiplexer 25 are connected to the output of the trigger 23. The trigger input 23 is connected to the output of the third frequency divider 27 and the control input of the multiplexer 25. A logical zero signal is supplied to the first information input of the multiplexer 25, and a logical one is supplied to the third. The input of the third frequency divider 27 is connected to the generator 4 of the driving frequency.

 In FIG. 3-6 are timing diagrams explaining the operation of the electric drive, where the numbers indicate the signals at the outputs of the corresponding elements of the device.

 The device operates as follows.

где γ_3.1 и γ_3.2 _ относительные длительности широтноимпульсных сигналов на первом и втором выходах частотно-фазового дискриминатора 3 соответственно.The electric drive is a phase synchronization system in which the speed of the motor 1 is controlled as a function of the phase mismatch of the frequency signals of the reference and feedback. The magnitude of the phase mismatch is detected by means of a frequency-phase discriminator 3. The frequency pulses of the reference from the divider 19 - f ₁₉ and the feedback from the engine speed meter - f ₂₆ are received at its inputs. In the mode of stabilization of the speed of engine 1, when the frequencies of the reference and feedback signals are approximately equal, the pulse duration at the first or second outputs of the frequency-phase discriminator 3 is determined by the phase difference of these signals. If f ₁₉ > f ₂₆ , the pulse-width signal appears at the first output of the frequency-phase discriminator 3 connected to the modulating input of the power converter 5. Otherwise, the pulse-width signal appears at the second output of the frequency-phase discriminator 3 connected to the reversing input power converter 5. In case of an inequality of the input frequencies, the discriminator 3 switches to the mode of frequency comparison of signals, characterized by the following relationships:

where γ _3.1 and γ _{3.2 are the} relative durations of pulse-width signals at the first and second outputs of the frequency-phase discriminator 3, respectively.

где Ω - угловая скорость вала двигателя 1;
p - число меток фотоимпульсного датчика 20.In all modes of operation of the electric drive, the rotation of the shaft of the motor 1 and the photo-pulse sensor 20 mechanically connected to it leads to the appearance on its first and second outputs of signals shifted in spatial phase by π / 2 relative to each other, that is, squared [2]. The frequency of their change f ₂₀ is defined as

where Ω is the angular velocity of the motor shaft 1;
p is the number of marks of the photopulse sensor 20.

 When the direction of rotation of the shaft of the engine 1 changes, the mutual position of these pulses in the spatial phase by an angle π changes. Therefore, the edges of the pulses at the second output of the photopulse sensor 20 correspond to signals of different levels (high or low) at the first output and, accordingly, different levels of the output signal of the trigger 21. Let us assume that the rotation of the motor shaft 1 clockwise corresponds to a high level signal at the output trigger 21. With the opposite direction of rotation of the shaft of the engine 1 at the output of the trigger 21 appears a low signal. Thus, the trigger 21 detects the sign of the direction of rotation in the form of logical signals of high and low levels.

где Q₂₄[i] и D₂₄[i] - сигналы на выходе и информационном входе триггера 24;
Q₂₃[i] и Q₂₃[i-τ ] - выходные сигналы триггера 23 в моменты времени (i) и (i-τ ) соответственно.In the absence of a pulse front from the photopulse sensor 20 (Fig. 3), a low level signal is present at the output of the trigger 22. The function of changing the output signal of the trigger 24 has the form

where Q ₂₄ [i] and D ₂₄ [i] are the signals at the output and the information input of trigger 24;
Q ₂₃ [i] and Q ₂₃ [i-τ] are the output signals of trigger 23 at time instants (i) and (i-τ), respectively.

 Therefore, the output pulses of the trigger 23 do not change the value of the output signal of the trigger 24, which maintains a high level.

где f₄ - частота генератора 4,
N₂₇ - коэффициент пересчета третьего делителя 27.The frequency of the signal at the output of the third divider 27 f ₂₇ is defined as

where f ₄ is the frequency of the generator 4,
N ₂₇ - conversion factor of the third divider 27.

The frequency f _{23 of the} output signal of the trigger 23 is two times less than the value of f ₂₇ .

где U₂₅ - сигнал на входе управления мультиплексора 25,
(DI₁ - DI₄) - сигналы на первом - четвертом информационных входах мультиплексора 25 соответственно,
A₁, A₂ - сигналы на первом и втором адресном входах мультиплексора 25 соответственно.The function of the multiplexer 25, that is, its output signal D ₂₅ , is determined, according to [5], as

where U ₂₅ is the signal at the control input of multiplexer 25,
(DI ₁ - DI ₄ ) - signals at the first to fourth information inputs of the multiplexer 25, respectively,
A ₁ , A ₂ - signals at the first and second address inputs of the multiplexer 25, respectively.

где N₂₆ - коэффициент пересчета делителя 26.Since in this mode the signal at the first address input of the multiplexer 25 has a high level, its output signal is determined by the signal levels at the second or fourth information inputs, depending on the direction of rotation of the motor shaft 1. Since these pulses receive frequency pulses f ₂₃ , then According to (5), inverse pulses of the same frequency occur at the output of the multiplexer. The relative duration of these pulses is 0.75 (Fig. 3). The pulse repetition rate at the output of the second divider 26 is determined as

where N ₂₆ is the conversion factor of the divider 26.

то условие задания нулевой скорости двигателя 1 определяется как

где N₁₉ - коэффициент пересчета делителя 19.This value of the signal frequency at the output of the divider 26 takes place at zero speed of the motor 1. It is known that for the phase drive system, the state of equilibrium is achieved when the frequencies are equal at the first and second inputs of the frequency-phase discriminator 3
(f ₁₉ = f ₂₆ (7)
Because

then the condition for setting the zero speed of engine 1 is defined as

where N ₁₉ is the conversion factor of the divider 19.

где T₂₃=f₂₃ ^-1 - период частоты выходного сигнала триггера 23.When the shaft of the engine 1 is rotated clockwise (Fig. 4), pulses appear at the outputs of the photopulse sensor 20. In this case, a pulse-width signal is present at the second output of the discriminator 3 and the associated output of the trigger 13. The front of this signal is determined by the pulse from the divider 26, and the decline is determined by the pulse from the divider 19. In this case, the signal at the output of the trigger 21 has a high level. The front of the pulse from the second output of the photopulse sensor 20 sets a high level of the signal at the output of the trigger 22. The edge of the pulse closest to this point in time from the trigger 23, according to (3), resets the trigger 24. This leads to the return of the trigger 22 to its original state, since its reset input shows a low level signal. With the resulting combination of signals at the address inputs of multiplexer 25 (A ₁ = 0 and A ₂ = 1), the signal at its output, defined as D ₂₅ = U ₂₅ ∨ DI ₃ , is identically equal to a logical unit, since DI ₃ = 1. Therefore, the passage of pulses from the output of the divider 27 to the output of the multiplexer 25 is prohibited. This state is maintained for one period of the output signal of the trigger 23. At the time of its end, a high level signal is established at the output of the trigger 24. In this case, such a combination of signals is established - at the address inputs of the multiplexer 25, which allows the passage of every second pulse from the divider 27 to the output of the multiplexer 25. When the next edge appears on the second output of the photopulse sensor 20, the processes are repeated. Since during the period T _{20 of the} output signal of the photopulse sensor 20, one pulse is “cut out” from the output frequency of the multiplexer 25, their total number during this time is determined as

where T ₂₃ = f ₂₃ ^-1 - the period of the frequency of the output signal of the trigger 23.

Текущее положение t₂₅[j] импульсов частоты f₂₅ может быть определено как
t₂₅[j] = (j+N₂₀)•T₂₃, (11)
где N₂₀ - число импульсов с датчика 20, пришедшее за рассматриваемый промежуток времени.The average frequency of the output signal of the multiplexer 25 can be found on the basis of (9) in the following expression:

The current position t ₂₅ [j] of the pulses of frequency f ₂₅ can be defined as
t ₂₅ [j] = (j + N ₂₀ ) • T ₂₃ , (11)
where N ₂₀ is the number of pulses from the sensor 20, which came during the considered period of time.

С учетом (1) получаем, что

где p^* = p/N₂₆ - эквивалентное число меток измерителя скорости.Obviously, the value of t ₂₅ [j] is uniquely determined by the number of pulses received from the sensor 20, that is, the angle of rotation of the motor shaft 1. The average value of the frequency taken from the divider 26

In view of (1), we obtain

where p ^* = p / N ₂₆ is the equivalent number of speed meter marks.

The decrease in the output frequency of the divider 26 in comparison with the frequency f ₁₉ at the first input of the frequency-phase discriminator 3 changes the mutual phase position of the pulses of these signals. In this case, the pulse width of the pulse-width signal increases at its second output at ΔT [i]. The value of this increment ΔT [i] is found from the following considerations. The phase mismatch of the pulses of the frequency-phase discriminator 3 on the considered (i - t [i]) interval is defined as
t [i] = t [i-1] -1] + T ₂₆ -T ₁₉ , (14)
where t [i-1] is the magnitude of the phase mismatch of the control pulses of the frequency-phase discriminator 3 on the (i-1) interval.

где φ₁= ∫Ωdt - угол поворота вала двигателя 1 за рассматриваемый промежуток времени.Therefore, the increment ΔT [i] for one period of the output signal of the divider 26 t [i-1] can be found as
ΔT [i] = t [i] -t [il] = T ₂₆ -T ₁₉ . (fifteen)
Since in the quasi-steady mode, the frequency period at the first input of the frequency-phase discriminator 3 is constant and T ₁₉ = T ₂₆ , we can assume that ΔT [i] is determined only by changing the frequency period of the second divider. In the general case, over a period of frequency f ₂₆ , several pulses of the sensor 20 arrive, the number of which k is defined as

where φ ₁ = ∫Ωdt is the angle of rotation of the shaft of the engine 1 for the considered period of time.

может быть найдено из следующего соотношения

Задержка изменения положения импульса делителя 26 зависит от состояния этого делителя в момент формирования импульса с датчика скорости 20. Очевидно, что она не может превышать длительности периода выходной частоты делителя 26, то есть величины следующего отношения (N₂₆/f₂₃).The period T ₂₆ feedback frequency can be defined as
T ₂₆ = (k • 2T ₂₃ (N ₂₆ -k) T ₂₃ ) = T ₂₃ (N ₂₆ + k),
and since the frequency period of the divider 19 in quasi-steady mode is (T ₂₃ N ₂₆ ), then

can be found from the following relation

The delay in changing the position of the pulse of the divider 26 depends on the state of this divider at the time of the pulse formation from the speed sensor 20. Obviously, it cannot exceed the length of the period of the output frequency of the divider 26, that is, the value of the following ratio (N ₂₆ / f ₂₃ ).

Среднее значение частоты выходного сигнала мультиплексора 25 находится по следующему выражению:
f₂₅ = f₂₃+f₂₀ (20)
Текущее положение импульсов частоты f₂₅ может быть определено как
t₂₅[j] = (j-N₂₀)•T₂₃ (21)
Очевидно, что величина T₂₅[j] однозначно определяется числом импульсов датчика 20, то есть углом поворота вала двигателя 1. Среднее значение частоты, снимаемой с делителя 26

Увеличение частоты делителя 26 по сравнению с частотой f₁₉ на первом входе частотно-фазового дискриминатора 3 изменяет фазовое положение этих сигналов. При этом увеличивается длительность импульса широтно-импульсного сигнала на его первом выходе. Так как период частоты обратной связи Т₂₆

а с учетом величины периода частоты f₁₉ в квазиустановившемся режиме значение ΔT[i] можно определить по (18).When the shaft of the engine 1 rotates counterclockwise (Fig. 5), a pulse-width signal appears at the first output of the discriminator 3 and the associated output of the trigger 11. The front of this signal is determined by the pulse from the divider 19, and the decline is determined by the pulse from the divider 26. A low level signal appears at the output of the trigger 21. The front of the pulse from the second output of the photopulse sensor 20 sets a high level of the signal at the output of the trigger 22. The closest pulse front from this moment of time from the trigger 23, according to (3), resets the trigger 24, which returns the trigger 22 to its original state. With the existing combination of signals at the address inputs of multiplexer 25 (A ₁ = 1 and A ₂ = 1), the signal at its output is determined only by U ₂₅ since DI ₃ = 0. This state is maintained for one period of the output signal of the trigger 23. At the time of its end, a high level signal is set at the output of the trigger 24. Since during the period of the output signal of the photopulse sensor 20, one pulse is added to the initial pulse sequence of the multiplexer 25, their total number

The average frequency of the output signal of the multiplexer 25 is found by the following expression:
f ₂₅ = f ₂₃ + f ₂₀ (20)
The current position of the pulses of frequency f ₂₅ can be defined as
t ₂₅ [j] = (jN ₂₀ ) • T ₂₃ (21)
Obviously, the value of T ₂₅ [j] is uniquely determined by the number of pulses of the sensor 20, that is, the angle of rotation of the motor shaft 1. The average value of the frequency taken from the divider 26

The increase in the frequency of the divider 26 compared with the frequency f ₁₉ at the first input of the frequency-phase discriminator 3 changes the phase position of these signals. This increases the pulse width of the pulse-width signal at its first output. Since the period of the feedback frequency T ₂₆

and taking into account the magnitude of the frequency period f ₁₉ in the quasi-steady state, the value ΔT [i] can be determined from (18).

 In FIG. 6 shows the operation of the device when changing the direction of rotation of the shaft of the engine 1.

From (18) it follows that the change in the phase position of the feedback pulse f ₂₆ relative to the reference frequency pulse f _{19 is} proportional to the angle of rotation of the motor shaft, that is, the integral of the angular velocity of the motor shaft 1. Therefore, when using a frequency meter 2, all the advantages of phase systems in regarding the accuracy of stabilization of the engine speed 1.

где k - целое число импульсов датчика 20 за время Т₂₆.The magnitude of the error in measuring the position of the shaft of the engine 1 and its angular velocity can be estimated based on the following considerations. The error in determining the position of the pulse divider 26 occurs due to the discrete nature of its formation. Its value is determined by the difference in the period of this frequency and its ideal value, determined from (12). The difference of these quantities is found from the following expression

where k is the integer number of pulses of the sensor 20 during the time T ₂₆ .

Максимальное значение δφ, найденное по (25), не превышает N₂₆ ^-1.The value of δT, referred to the period of the ideal value of the converted frequency of the photopulse sensor, corresponding to a certain value of the angle of rotation of the motor shaft 1, is the relative error δφ of the conversion of its current position, which is found by the expression of the form

The maximum value of δφ found from (25) does not exceed N ₂₆ ^-1 .

For photopulse sensors, the rotation speed is estimated from the time interval of the shaft rotation by a certain number of sensor marks. In the proposed scheme, the measurement error of this interval does not exceed one discrete of its filling, that is, frequency f ₂₃ . In multiple measurements, the points of the beginning and the end of the count are randomly placed within the first and last period of the frequency f ₂₃ , therefore, the quantization error will be random. If the beginning and end of the measuring interval is equally likely to be located within the first and last quanta, the resulting error will have a triangular probability distribution law with limit values ± T ₂₃ [3]. The dispersion of quantization errors in this case is equal to T _{February ^23/6.}

С учетом (2) величина погрешности измерения скорости двигателя 1 может быть рассчитана по выражению

Анализ (27) показал, что имеется максимум среднеквадратического значения погрешности измерителя 2, который возникает при такой скорости вала двигателя 1, при которой в течение каждого периода частоты f₂₆ появляется один импульс с датчика 20. В таком случае имеем

Из вышеприведенного равенства следует, что значение скорости вала двигателя 1, при которой среднеквадратическая погрешность ее измерения максимальна, будет определяться формулой

С учетом (28) максимальное значение относительной среднеквадратической погрешности находится из выражения

Из (29) следует, что максимальное значение относительной среднеквадратической погрешности зависит от коэффициента пересчета делителя 26. При его величине, большей чем тысяча, будет достигаться погрешность измерения скорости не более 0.02%.The relative standard deviation in many respects depends on the angle of rotation of the shaft of the engine 1, at which the measurement of travel time. In the most general case, the angle of rotation is determined by the number of pulses of the sensor 20 over a period of frequency f ₂₆ . Then the relative mean square error can be written as

Given (2), the magnitude of the error in measuring the speed of the engine 1 can be calculated by the expression

Analysis (27) showed that there is a maximum rms meter 2 error that arises motor shaft 1 at a rate at which during each period of the frequency f ₂₆ appears a pulse from the sensor 20. In this case we have

From the above equality it follows that the value of the speed of the motor shaft 1, at which the standard error of its measurement is maximum, will be determined by the formula

Taking into account (28), the maximum value of the relative mean square error is found from the expression

From (29) it follows that the maximum value of the relative mean square error depends on the conversion factor of the divider 26. With its value greater than a thousand, an error in measuring the speed of not more than 0.02% will be achieved.

 From the above relationships it follows that the use of the proposed speed meter 2 provides, firstly, an increase in the frequency of the control signal of the frequency-phase discriminator 3, and secondly, the relationship between the position of the feedback pulse and the motor shaft 1 remains. The latter allows the use of the proposed meter 2 in phase stabilization systems with higher accuracy characteristics compared to electric drives based on measuring the period of the output signal phot pulse sensor [6].

The level of angular velocity does not depend on the voltage of the supply network and temperature fluctuations, but is determined only by the instability of the generator 4 of the reference frequency, which when using quartz resonators does not exceed 10 ^-5 %.

 The electric drive is simple in design and does not contain analog and custom elements.

Sources of information
1. Feinstein V.G. Microprocessor control systems for electric drives. -M .: Energoatomizdat, 1986.

 2. Circuitry of digital displacement transducers: Reference manual / B. G. Domrachev, V.R. Matveevsky, Yu.S. Smirnov. -M .: Energoatomizdat, 1987. -392 p.

 3. Andrushchuk V.V. Digital systems for measuring the parameters of movement of mechanisms in mechanical engineering. -SPb .: Polytechnic, 1992. -237 p.

 4. A. with the USSR 1411910 cells. H 02 P 5/06, 1988.

 5. Pukhalsky G.I., Novoseltseva T.Ya. Design of discrete devices on integrated circuits. -M .: Radio and communications, 1990.

 6. Trachtenberg R. M. Pulse astatic electric drive systems with discrete control. -M .: Energoizdat, 1982.

Claims (1)

 An electric drive comprising a speed meter, an engine connected to a bridge power converter, a frequency generator and a frequency-phase discriminator, the first and second outputs of which are connected to the modulating and reversing inputs of the power converter, and the frequency-phase discriminator contains four triggers, two AND elements, and two OR elements, the counting inputs of the first and second triggers being connected to the first input of the frequency-phase discriminator, the second input of which is connected with the counting inputs of the third of the fourth trigger, the information inputs of the first and third triggers are connected to the outputs of the first and second elements OR, respectively, and the reset inputs of the first and third triggers are connected to the output of the first element And, the second input of which is connected to the output of the third trigger, the information input of the second trigger and the second input of the first OR element, the first input of which is connected to the first output of the frequency-phase discriminator, the output of the second trigger and the first input of the second AND element, the second input of which is connected with the second the course of the frequency-phase discriminator, the output of the fourth trigger and the second input of the second OR element, the first input of which is connected to the first input of the first AND element, the output of the first trigger and the information input of the fourth trigger, the reset input of which is connected to the reset input of the second trigger and the output of the second AND element characterized in that the first frequency divider is inserted into the device, included between the master frequency generator and the first input of the frequency-phase discriminator, and the speed meter contains a photo pulse a speed sensor, second and third dividers, four triggers and a multiplexer, the latter output through the second frequency divider connected to the second input of the frequency-phase discriminator, and the second address input of the multiplexer connected to the output of the fifth trigger, the information and counting inputs of which are connected to the first and the second outputs of the photopulse speed sensor, while the first address input of the multiplexer is connected to the reset input of the sixth trigger and the output of the seventh trigger, the information input of which is connected with the output of the sixth trigger connected by the counting input to the second output of the photopulse speed sensor, and the counting input of the seventh trigger is connected to the second and fourth information inputs of the multiplexer and the output of the eighth trigger, the input of which is connected to the output of the third frequency divider and the control input of the multiplexer, to the first information input whose signal is a logical zero, and the third is a logical unit, and the output of the generator of the driving frequency is connected to the input of the third frequency divider.

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