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 controlling the digital electromechanical tracking system, the binary Gray code δ_g of the discrete angle sensor electromechanical drive is converted to binary feedback code δ_y, the binary command code from the command code generator δ_x is compared with the with binary feedback code δ_y, the binary mismatch code δ_p is generated, the mismatch code δ_m is compared with the given code values of switching for electric motor control mode δ_π2,…, δ_πn-1, δ_πn, where n=2,3,…, and with a given amount of code accuracy of maintaining the desired position δ_π1. At , the mismatch code δ_p is converted into a voltage corresponding to the polarity mismatch code δ_m, it is amplified to the supply voltage values and fed to n electric motors of the electromechanical drive, which rotate 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 code decreases δ_m the supply voltage to the electric motors of the electromechanical drive is sequentially stopped and braking currents are formed in them, which performs their dynamic braking and rotates the shafts of the switched-off electric motors, the gearbox shaft and the shaft of the discrete angle sensor of the electromechanical drive in the required direction by the remaining electric motors. When the codes δ_x and δ_y coincide with a given accuracy ±δ_π1, that is a braking current is formed in the last electric motor of the electromechanical drive, which performs its dynamic braking, thereby stopping the rotation of the shafts of all electric motors, stopping the rotation of the output shaft of the gearbox 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.

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