| 摘要 |
An automatic control device being spring controlled includes a speed control unit of working mechanism, output of which through filter is connected with a control unit of moment of elasticity, a control unit of electric motor speed, output of which also through filter is connected with a current control unit, a transducer and a control object. Moreover, a position set unit is entered in the device being connected with the first input of a relay position regulator, the second input of which being a feedback signal depending on control object position, a relay position regulator with output being connected through filter with speed control unit of arm tool of mechanism, and a relay regulator of moment of elasticity. Output of the relay regulator of moment of elasticity through filter and speed control of electric motor is connected with output of the current regulator and than in series with controlled transducer and the control object. Filters which connect position control with the control unit of electric motor speed, relay regulator of moment of elasticity with controller. |
