METHOD FOR CONTROLLING A DIGITAL ELECTROMECHANICAL TRACKING SYSTEM Russian patent published in 2022 - IPC G05B15/02 G05B19/18 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to the field of mechanical engineering and can be used to control the position of various inertial objects, for example, to control the position of combustion chambers of liquid rocket engines (LRE). According to the method for digital control of the electromechanical tracking system the binary Gray code δ_G of discrete angle sensor electromechanical actuator is converted in binary code feedback δ_u, binary command code the command code generator δ_x is compared with binary feedback δ_u, generating a binary mismatch code δ_r, comparing mismatch code δ_r with given code values of the mode switching for the motor control δ_P2, …, δ_Pn-1, δ_Pn, where n=2, 3, …, and with a given amount of code accuracy of maintaining the desired position δ_P1. At |δp|>δ_pn, the mismatch code δ_p is converted into a voltage corresponding to the polarity mismatch code δ_p, amplified to its maximum value and fed to the electric motor of the electromechanical drive, which rotates the gearbox shaft and the shaft of the discrete angle sensor of the electromechanical drive in the desired direction. As the value of the mismatch δ_p code decreases the supply voltage applied to the electric motor of the electromechanical drive is sequentially reduced and the motor shaft, the gearbox shaft and the shaft of the discrete sensor of the angle of the electromechanical drive are rotated in the required at reduced supply voltage values. When the codes δ_X and δ_y coincide with a given accuracy ±δ_p1, that is, /δ_p/|≤δ_p1, the supply voltage to the electromechanical drive motor is stopped and a braking current is formed in it, thereby its dynamic braking is carried out, thereby stopping the rotation of the motor shaft, the gearbox shaft and the shaft of the discrete angle sensor of the electromechanical drive. This makes it possible to increase the smoothness of the process of regulating the system, with self-oscillating modes of its operation caused by the action of significant positional or permanent loads on the output shaft of the electromechanical drive, as well as when working under conditions of vibration and shock due to the functioning of only one of the electric motors before stopping.

EFFECT: reducing the current consumption of the electromechanical drive of the digital tracking electromechanical system in proportion to the decrease in the supply voltage of the electric motor.

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