CN100573368C - Output terminal is along feedback control and forward feed compensation control system - Google Patents

Abstract

A kind of output terminal is along feedback control and forward feed compensation control system, being the suitable feedback control of output terminal of introducing " output adder subtracter " formation " binary channels is along the feedback compensation " new control system at the controlled device output terminal artificially, is the brand-new control forms that is different from FEEDBACK CONTROL and is better than FEEDBACK CONTROL.It has not only avoided a series of unsurmountable defective of FEEDBACK CONTROL, and can carry out " the desirable control " of full remuneration to " dark object ", even can realize " sex change anything but ".Using this new technology not only can be to the industrial processes variable: flow, liquid level, pressure reduction (pressure), temperature, concentration, humidity (moisture), pH value or the like carry out high precision along feedback compensation control, and can be to the Electrified Transmission variable: rotating speed, torque, power etc. carry out superhigh precision along feedback compensation control.Therefore, this is an automatic control new and high technology with development prospect and application prospect.

Description

Output terminal is along feedback control and forward feed compensation control system

Technical field:

The present invention relates to a kind of new automatic control forms-output terminal along feedback control and forward feed compensation control system, belong to the breakthrough innovative technology in automatic control system aspect.

Background technology:

In existing feedback control system, the whole disturbance informations that measure are fed back to the input end of controlled device, by compensation and correction link, promptly regulator is controlled, so belong to the input end control mode again.A series of defectives at FEEDBACK CONTROL, output terminal is just in time opposite with the input end FEEDBACK CONTROL along feedback control, is backward along input end, i.e. a compensation channels being fed to " output adder subtracter " the whole disturbance informations that measure, constitute forward feed compensation control system, as shown in Figure 1." output adder subtracter " is that the people is a known controlled physical quantity adder subtracter that joins controlled device (1) output terminal, its another input end is connected to the output terminal of controlled device (1), be the main channel, its output is exactly the final output variable y (t) of system.

Summary of the invention:

The purpose of this invention is to provide a kind of output terminal along feedback control and forward feed compensation control system, not only control system is simple in structure, can not vibrate, need not the complication system of decoupling zero control and multivariable Control, and control accuracy is high, the operation debugging is simple, need not to know the characteristic and the mathematical model of controlled device (1).

The functional-block diagram of implementation of the present invention, as shown in Figure 1.Include unknown controlled device (1), detect transmitter (2), introduce link (5), compensation channels compensation tache (6) and output adder subtracter (7) with reference to input media (3), signal comparator (4), main channel, wherein compensation tache (6) includes proportional amplifier, actuator and conversion of signals link thereof again; Output adder subtracter (7) is the people for joining controlled device (1) output terminal, and can realize the physical quantity adder subtracter of controlled variable plus and minus calculation, and it includes flow adder subtracter and rotating speed adder subtracter again; The output terminal of controlled device (1) is connected with the main channel input end of output adder subtracter (7) by introducing link (5), detects transmitter (2) and arrives intermediate variable y by sensor ₁(t), and by detecting transmitter (2) detection variable y ₁(t) be converted to detection signal k _fy ₁And k (t), _fBe to detect the conversion of signals coefficient of transmitter (2), this detection signal all is input in the signal comparator (4) with output signal r (t) with reference to input media (3) compares again, result relatively obtains error signal e (t)=r (t)-k _fy ₁(t), and from the output terminal of signal comparator (4) export; Error signal e (t) is passed through compensation tache (6), and amplifies doubly back controlled signal Ke (t) of K in this error signal e (t), in actuator control signal Ke (t) is converted to variable y ₂(t), be input to the compensation channels input end of output adder subtracter (7) again, output adder subtracter (7) is with main channel input variable K _Ay ₁(t) with compensation channels input variable y ₂(t) subtract each other or addition after just obtain final output variable y (t), because of G _A(s), G _B(s) be respectively the transport function of introducing link (5) and compensation tache (6), work as G _A(s), G _BWhen (s) all being the linear scaling link, K then _A=G _A(s), K _B=G _B(s); So know: if " binary channels full remuneration ", i.e. y ₁(t) any variation can both be used y ₂During (t) inverse variation full remuneration, then there is output variable y (t) will fully no longer be subjected to y ₁(t) influence of Bian Huaing, but any variation of r (t) will influence y (t), and will make y (t) follow the tracks of r (t) fully and change, " binary channels full remuneration " control like this is exactly to have realized " sex change anything but ", moreover, can also find out: if when having realized " binary channels full remuneration ", forward feed compensation control system characteristic not only complete and controlled device (1) is irrelevant, and internal disturbance and external disturbance f (t) complete and that controlled device (1) is upward all are irrelevant, therefore, output terminal can be " dark object " along the controlled device (1) of feedback control fully, but need point out, full remuneration during working control and the precision of tracking will be subjected to the restriction of accuracy of detection and conversion of signals precision, can not all reach complete ideal control.Output terminal is along the vague generalization schematic diagram of feedback control with forward feed compensation control system, as shown in Figure 2.

Among the figure, G (s) e ^{-τ s}For controlled device has the transport function of pure retardation time of τ, G _A(s), G _B(s) be respectively the transport function of introducing link (5) and compensation tache (6), all variablees are all the frequency domain variable.Wherein R (s) is a reference-input variable, and Y (s) is final output variable, Y ₁(s) be intermediate variable, i.e. the output variable of controlled device (1), F (s) is the full disturbance variable of equivalence, promptly controlled device (1) goes up the equivalent disturbance of totality disturbance and external disturbance.Being not difficult derives:

Y(s)＝[G _A(s)-k _fG _B(s)]Y ₁(s)+G _B(s)R(s) (1)

Because our the output adder subtracter (7) chosen and the artificial compensation tache of introducing (6) all are the simplest linear scaling links, and will find out that later on this is not difficult to accomplish, so K is arranged _A=G _A(s), K _B=G _B(s) be all constant, thereby all variablees all can change time domain variable into, so formula (1) just can be reduced to algebraic equation:

y(t)＝(K _A-k _fK _B)y ₁(t)+K _Br(t) (2)

If make K _B=K _A/ k _f(full remuneration condition) (3)

Y (t)=K is then arranged _BR (t) (tracking formula) (4)

Find out thus: if when the full remuneration condition of formula (3) is satisfied in the design of the forward feed compensation control system of accompanying drawing 2, then know from formula (4): the output variable y of system (t) is the reference-input variable r of tracker (t) and changing accurately only, is fully no longer being comprised the intermediate variable y of inside and outside whole disturbance f (t) ₁(t) any influence of Bian Huaing.Not only reached " the desirable control " of full remuneration in other words, realized " sex change anything but ", and be completely free of the complex characteristics of controlled device (1) and all internal disturbances and the external disturbance f (t) that is applied to it, even " black controlled device " also is like this.That is to say, forward feed compensation control system can carry out " the desirable control " of full remuneration to " dark object ", realized people's illusion " sex change anything but " for a long time, this is unprecedented, breakthrough really, in a word, output terminal is characterized in that along feedback control and forward feed compensation control system above-mentioned " binary channels full remuneration " must satisfy condition: K _A=k _fK _B, the tracking formula that then has output variable y (t) track reference input variable r (t) to change: y (t)=K _BR (t).

The present invention has following advantage:

(1). Control System Design is simple, need not to know the characteristic and the mathematical model of controlled device (1), avoided the large time delay of complicated controlled device, big inertia, manyly disturbed outward, Coupled Variable is to controlling extremely adverse factors, and need not the PID regulator and complex mathematical is calculated;

(2). because be open cycle system,, can not vibrate so need not stability analysis;

(3). there is not the problem of multi-variable system, so need not the complication system of decoupling zero control and multivariable Control;

(4). control accuracy can be high fully, and the accuracy of detection that needs only input variable is enough high, even can reach " the desirable control " of full remuneration, promptly can realize " sex change anything but ";

(5). the operation debugging is simple and easy, need not systematic parameter and debates adjusting repeatedly of knowledge and pid parameter.

Forward feed compensation control system can either be applied to the automatic control of many parameters of technique process in the industrial processes at an easy rate, the high precision that is paper basis weight moisture content in the paper process is controlled immediately, the automatic control of the temperature in chemical industry, electric power, the metallurgical production process, pressure, flow, liquid level, concentration, humidity, the high precision that also can be applied to various production lines, transfer matic is coordinated and the automatic stable transmission, it is the Separated Driving of large-scale paper machine, bottle placer, plastic sheet machine, even the transmission of rolling mill.

Description of drawings:

Accompanying drawing 1 is a functional-block diagram of the present invention;

Accompanying drawing 2 is a vague generalization control system schematic diagram of the present invention;

Accompanying drawing 3 is a flow control system schematic diagram of the present invention;

Accompanying drawing 4 is a tank level control system schematic diagram of the present invention;

Accompanying drawing 5 is a pressure reduction control system schematic diagram of the present invention;

Accompanying drawing 6 is a temperature control system schematic diagram of the present invention;

Accompanying drawing 7 is a concentration control system schematic diagram of the present invention;

Accompanying drawing 8 is a moisture control system schematic diagram of the present invention;

Accompanying drawing 9 is a revolution speed control system schematic diagram of the present invention.

More than the detailed description of each accompanying drawing described in detail in conjunction with following each embodiment.

Embodiment:

Describe concrete applicable cases of the present invention in detail below in conjunction with embodiment.

One. embodiment 1: the flow forward feed compensation control system

Flow control is simple, the most basic application example of the present invention, and this is because the flow adder subtracter is the simplest output adder subtracter.As long as is flow Q ₂With flow be Q ₁Two fluids interflow promptly realized two flow additions together; And be flow Q ₂Fluid be Q from flow ₁Fluid in the shunting come out promptly to have realized that two flows subtract each other.Because Q when interflow and shunting ₂Flow direction opposite, so Q when setting the interflow ₂＞0, Q during shunting ₂＜0, thus the unification of flow plus-minus is expressed as

Q=Q ₁+ Q ₂, work as Q ₂Addition in＞0 o'clock, Q ₂Subtracted each other in＜0 o'clock (5)

The flow adder subtracter is an output adder subtracter the simplest, comparatively ideal thus.In other words, the flow adder subtracter is flow Q exactly ₂Fluid and flow be Q ₁Fluid collaborate in being total flow Q=Q together ₁+ Q ₂, Q ₂＞0, this is two flow Q ₁With Q ₂Addition and obtain total flow Q＞Q ₁Is flow Q ₂Fluid be Q from flow ₁Fluid in shunting come out to be poor flow Q=Q ₁+ Q ₂, Q ₂＜0, this is two flow Q ₁With Q ₂Subtract each other and obtain difference flow Q＜Q ₁Can constitute the forward feed compensation control system of flow Q with the flow adder subtracter, or constitute anti-Δ p ₁The flow forward feed compensation control system that disturbs, Δ p ₁It is the fluid pressure difference before and after the by-pass valve control, and the forward feed compensation control system of process variable: liquid level H, pressure differential deltap p, pressure p, temperature t, concentration c, humidity or moisture content x all can be realized by means of the forward feed compensation control system of flow Q, and flow control is again the most basic controlling along the feedback compensation thus.

In accompanying drawing 3, k _qBe " flow/signal " conversion coefficient of flow transmitter, r _qBe the flow reference-input signal, e is an error signal, and K is the ratio amplification coefficient, and k is that by-pass valve control is at selected Δ p ₁=Δ p _mThe time " signal/flow " conversion coefficient.k _qAll be necessary for constant with k, otherwise must carry out gamma correction or make Kk=1/k _qBe constant.Be not difficult to find out:

Because of Q ₂=Kke=Kk (r _q-k _qQ ₁), e=r _q-k _qQ ₁(6)

So Q=Q ₁+ Q ₂=Q ₁+ Kk (r _q-k _qQ ₁)=(1-Kkk _q) Q ₁+ Kkr _q(7)

Make Kk=1/k _q(full remuneration condition) (8)

Q=Kkr is then arranged _q=r _q/ k _q(flow tracking formula) (9)

Find out thus: if when the full remuneration condition of formula (8) is satisfied in the design of the flow forward feed compensation control system shown in the accompanying drawing 3, then know from formula (9): the delivery rate Q of system is the flow reference-input variable r of tracker only _qAnd change, fully no longer be subjected to intermediate variable Q ₁The influence of disturbance.

Must particularly point out the fluid pressure difference Δ p before and after the by-pass valve control ₁Be exactly existing external disturbance in the flow adder subtracter, Δ p ₁The variation meeting to flow Q ₂Produce and disturb.When if fluid is liquid, make p with regard to the straightforward procedure that adopts constant voltage or permanent liquid level feed flow ₁Constant, to eliminate p ₁To Q ₂Interference.When requiring high-precision flow control, then need to adopt the flow of similar feedforward compensation along the anti-Δ p of feedback compensation control ₁Jamming program is shown in accompanying drawing 3a.Can find out, remove outside disturbance Δ p ₁In addition, other external disturbance never again in the flow adder subtracter.

Because formula (6) is at Δ p ₁=Δ p _mFlow Q when invariable _2kThe control calculating formula, but at Δ p ₁Under the situation of change, Q _2kNot only with error e=r _q-k _qQ ₁Relevant, but also with

Relation is arranged.For making Δ p ₁Not to Q ₂Impact, need wushu (6) to be revised as:

$V_k=\mathrm{Ke}\sqrt{\frac{{\mathrm{\Δp}}_m}{{\mathrm{\Δp}}_1}}=K(r_q-k_q{Q}_1)\sqrt{\frac{{\mathrm{\Δp}}_m}{{\mathrm{\Δp}}_1}},{\mathrm{\Δp}}_1>0---\left(6a\right)$

$Q_{2k}=V_{k}k=K(r_q-k_q{Q}_1)\sqrt{\frac{{\mathrm{\Δp}}_m}{{\mathrm{\Δp}}_1}}k$ Be control calculated flow rate (6b)

In the formula: Δ p _mBe Δ p ₁Intermediate value or mean value, V _kInput control signal for by-pass valve control.

Because of Δ p ₁≠ Δ p _mThe time, flow Q should be arranged ₂With

In direct ratio, historical facts or anecdotes border flow is

$Q_2=Q_{2k}\sqrt{\frac{{\mathrm{\Δp}}_1}{{\mathrm{\Δp}}_m}}=K(r_q-k_q{Q}_1)k---\left(6c\right)$

The formula (6) of this and front is identical.Because adopt the anti-interference controlling schemes of accompanying drawing 3a, though changed V _kAnd Q _2k, but actual flow Q ₂Do not change.This is because flow Q ₂Because of Δ p ₁Change, must with the aperture of by-pass valve control go the compensation.Therefore above-mentioned formula (6)～formula (9) is also all still set up.Can find out: V _kAnd Q _2kChange just in time offset Δ p ₁Variation is to flow Q ₂ ^-Interference, thereby make actual flow Q ₂No longer be subjected to the outer Δ p that disturbs ₁Influence.If when adopting the control of microcomputer Direct Digital to be DDC, this jamproof flow is as follows along the control algolithm of feedback compensation controlling schemes:

(1). by known k, kq value, calculate K=1/ (kk with formula (8) _q) value;

(2). by detected value k _qQ ₁, k _pΔ p ₁With flow with reference to input value r _q, (6a) calculates V with formula _kValue;

(3). with the V that calculates _kDigital value is sent to by-pass valve control and is controlled its aperture size by behind the D/A switch, and the delivery rate that makes by-pass valve control is Q ₂=Kek.

Above because of k and Δ p ₁Relevant, so k must be at Δ p ₁=Δ p _mThe time by-pass valve control " signal/flow " conversion coefficient.

Because error e=r _q-k _qQ ₁So, r is pressed in flow control _qOr the e subregion is as follows:

(1). work as r _q=0 o'clock: e=-k _qQ ₁, Q ₂=-Q ₁＜0, promptly shunting entirely is minus flow, Q=Q ₁+ Q ₂=0;

(2). work as r _q＜k _qQ ₁The time: e＜0, Q ₂＜0, i.e. part shunting is minus flow, Q=Q ₁+ Q ₂＜Q ₁(subtracting each other the workspace);

(3). work as r _q=k _qQ ₁The time: e=0, Q ₂=0, be zero flow, Q=Q ₁+ Q ₂=Q ₁(workspace boundary);

(4). work as r _q＞k _qQ ₁The time: e＞0, Q ₂＞0, promptly the part interflow is positive flow, Q=Q ₁+ Q ₂＞Q ₁(addition workspace);

(5). work as r _q=2k _qQ ₁The time: e=k _qQ ₁, Q ₂=Q ₁＞0, promptly wait the interflow, be positive flow, Q=Q ₁+ Q ₂=2Q ₁

The forward feed compensation control system overwhelming majority of above-mentioned production run variable can only be in " addition workspace " operation, and having only minority is exception, and the rotating speed control of above-mentioned pure flow control and back is exactly exception.

With formula (7) and formula (2) contrast, can find out:

y(t)＝Q，y ₁(t)＝Q ₁，y ₂(t)＝Q ₂r(t)＝r _q (10)

K _A＝1，K _B＝Kk，k _f＝k _q (11)

Flow control is found out thus, and how simple and effective output terminal is along feedback control.But must be pointed out that above-mentioned formula (8) and formula (9) are results in the ideal case.Some link is unsatisfactory under actual conditions, promptly the measuring accuracy of sensor and transmitter sometimes and not really high, thereby limited the raising of control accuracy.Certainly, K, k, k _qThe linearity also all full remuneration condition and tracking accuracy are had a direct impact.To the DDC system, make Kk=1/k _qKeeping constant is a good method.

Two. embodiment 2: the liquid level forward feed compensation control system

Liquid level is controlled and can enough flow controls be realized, as shown in Figure 4.The fluid flow Q that adds in the container is the delivery rate of accompanying drawing 3 flow control systems, the flow Q that discharge the container below _HH is relevant with liquid level, and its pass is

$Q_H={\mathrm{\β}}_H\sqrt{H},$ β _HBe coefficient of flow, (12) are determined in available experiment

As the flow Q that adds and the flow Q of discharge _HWhen equating, the liquid level H in the container will keep constant,

So have $\mathrm{Kk}{r}_q=Q=Q_H={\mathrm{\β}}_H\sqrt{H},$

Promptly $H={\left(\frac{\mathrm{Kk}}{{\mathrm{\β}}_H}{r}_q\right)}^2---\left(13\right)$

Be not difficult to find out: liquid level H not only follows the tracks of r _q ²And changing, but also and β _H ²Be inversely proportional to.Coefficient of flow β _HSize and current drainage pipeline, comprise that the sectional area of valve and fluid resistance are relevant, it concerns that complexity must determine its numerical value by means of experimental technique.

Three. embodiment 3: the pressure reduction forward feed compensation control system

Pressure differential deltap p controls and also can realize with the flow control of gas, as shown in Figure 5.Because flow control can draw: Q ₁+ Q ₂=Q=Kkr _q, Q ₂＜0, and the gas flow of discharging from leak-off pipe is:

Q _p=β _p√ Δ p, Δ p=p-p ₀, β _pBe coefficient of flow, need with experiment determine (14) when $r_q=Q=Q_p={\mathrm{\β}}_p\sqrt{\mathrm{\Δp}}$ The time, pressure reduction is then arranged

$\mathrm{\Δp}={\left(\frac{\mathrm{Kk}}{{\mathrm{\β}}_p}{r}_q\right)}^2---\left(15\right)$

This result and liquid level control situation are similar.But volume flow Q [rice because of gas ³/ second] relevant with pressure, temperature, so employing weight flow W[Kilograms Per Second] calculate more reasonable.

Four. embodiment 4: the temperature forward feed compensation control system

Temperature is controlled and can enough special flow controls be realized, as shown in Figure 6.So-called special flow control is exactly flow reference-input variable r _qMultiply by Q ₁t ₁+ Q ₂t ₂, and as new flow reference-input variable r _q(Q ₁t ₁+ Q ₂t ₂), the flow control of carrying out again.

Because of Q ₁t ₁+ Q ₂t ₂=Qt is the heat balance formula under the adiabatic condition, so Q ₁t ₁+ Q ₂t ₂The size of expression total heat input.Be not difficult to find out:

Q ₂=Kk[r _q(Q ₁t ₁+ Q ₂t ₂)-k _qQ ₁] 〉=0 (in the addition workspace) (16)

Q＝Q ₁+Q ₂＝Q ₁+Kk[r _q(Q ₁t ₁+Q ₂t ₂)-k _qQ ₁]

＝(1-Kkr _q)Q ₁+Kkr _q(Q ₁t ₁+Q ₂t ₂) (17)

Make K=1/ (kk _q) (full remuneration condition) (18)

Q=Kkr is then arranged _q(Q ₁t ₁+ Q ₂t ₂)=Kkr _qQt, thus draw:

$t=\frac{1}{{\mathrm{Kkr}}_q},$ $r_q\≥\frac{k_q{Q}_1}{Q_1{t}_1+Q_2{t}_2}$ (temperature tracking formula) (19)

Be not difficult to find out: with extraneous adiabatic condition under, when if the full remuneration condition of formula (18) is satisfied in the design of temperature forward feed compensation control system, then know from formula (19): the final output temperature t of system is the 1/r reciprocal of the flow reference-input variable of tracker only _qAnd change, fully no longer be subjected to input variable Q ₁, t ₁, Q ₂, t ₂The influence that changes.But also can find out and have following defective:

(1). the distance between point for measuring temperature and fluid junction of two streams should be short as far as possible, and need wrap heat insulation layer;

(2). need to detect 4 input variables, and need to increase computing, it is more loaded down with trivial details all to seem.

Five. embodiment 5: the concentration forward feed compensation control system

Concentration control also can be adopted with the scheme of said temperature control all fours and finish, and needs to detect 4 input variable Q but also have ₁, c ₁, Q ₂, c ₂Shortcoming, so no longer describe in detail.Adopt one only to need to detect two input variable Q at this ₁, c ₁The simplification controlling schemes.Because this scheme is to adopt dilution method, so output concentration c≤c is arranged ₁, promptly export concentration c less than input concentration c ₁Restriction.As long as liquid inventory Q ₂Change neat solvent flow Q into ₀Just become, as shown in Figure 7.Be not difficult to find out:

Q ₀=Kk (r _qQ ₁c ₁-k _qQ ₁) 〉=0 (in the addition workspace) (20)

Q＝Q ₁+Q ₀＝Q ₁+Kk(r _qQ ₁c ₁-k _qQ ₁)＝(1-Kkk _q)Q ₁+Kkr _qQ ₁c ₁ (21)

Make K=1/ (kk _q) (full remuneration condition) (22)

Q=Kkr is then arranged _qQ ₁c ₁, r _q＞k _q/ c ₁(flowmeter formula) (23)

Because of Qc=Q is arranged ₁c ₁, promptly the solute flow is constant, and Q ₀Be neat solvent, do not contain solute, so have

$c=\frac{Q_1{c}_1}{Q}=\frac{1}{\mathrm{Kk}{r}_q},$ $r_q>\frac{k_q}{c_1}$ (concentration tracking formula) (24)

Find out thus: if when the full remuneration condition of formula (22) is satisfied in the design of concentration control system, then know from formula (24): the output concentration c of system is only followed the tracks of the 1/r reciprocal of flow reference-input variable _qAnd change, fully no longer be subjected to input variable Q ₁, c ₁The influence that changes.But also can find out that delivery rate Q not only follows r from formula (23) _qAnd change, but also follow input solute flow Q ₁c ₁Variation and change.That is to say, if flow reference-input variable r _qWhen constant, the output concentration c will be constant, but delivery rate Q and non-constant, this is because the purpose of control is a concentration c, rather than flow Q, so this result is arranged.

Six. embodiment 6: the humidity forward feed compensation control system

Humidity control also can enoughly be controlled similar method with concentration and realize, as shown in Figure 8.Because of being adopts spray humidification method controlled humidity x, so output humidity x 〉=x is arranged ₁, promptly export humidity x greater than input humidity x ₁Restriction.Controlled wet stock or wet solid material, or the gas wet stock is a humid gas.At this is example with the wet solid material, so mass flow must adopt weight flow W[Kilograms Per Second].Be not difficult to find out:

W ₀=Kk[r _w(1-x ₁) W ₁-k _WW ₁] 〉=0 (in the addition workspace) (25)

W＝W ₁+W ₀＝W ₁+Kk[r _W(1-x ₁)W ₁-k _WW ₁]

＝(1-Kkk _W)W ₁+Kkr _w(1-x ₁)W ₁ (26)

Make K=1/ (kk _W) (full remuneration condition) (27)

W=Kkr is then arranged _w(1-x ₁) W ₁, because (1-x ₁) W ₁=(1-x) W=over dry inventory is so there is Kkr _w(1-x)=1, promptly

$x=1-\frac{1}{{\mathrm{Kkr}}_W},$ $r_w>\frac{k_W}{1-x_1}$ (humidity tracking formula) (28)

Find out thus: if when the full remuneration condition of formula (27) is satisfied in the design of moisture control system, then know from formula (28), finally export humidity x only with the weight flow reference-input variable r of system _wRelevant, fully no longer be subjected to input variable W ₁, x ₁, W ₀The influence that changes.

More than the output terminal of production run variable commonly used or parameter has been carried out comparatively detailed discussion along the feedback controlling schemes, also have some process variable that are of little use: composition, pH value, can realize that also output terminal along feedback control, discusses no longer one by one here.Below to another kind of Electrified Transmission variable: the forward feed compensation control system of rotation speed n, torque T, power P is discussed, but it is just much of that rotation speed n control only is discussed, because of torque T control, power P are controlled the implementation method that can copy aforementioned controlling schemes fully, and control and be not difficult to finish by means of rotation speed n.

Seven. embodiment 7: the rotating speed forward feed compensation control system

Can output terminal that realize rotation speed n be find comparatively desirable output adder subtracter along the key of presenting control, promptly can realize rotation speed n ₁With rotation speed n ₂Jia Jian " rotating speed adder subtracter " mutually.Such rotating speed adder subtracter not only exists, and very desirable.The gear differential mechanism of Cun Zaiing is exactly good rotating speed adder subtracter already, its not only simple, unperturbed, and also its all speed ratio all is absolute constant constant.But need point out that the gear differential mechanism that includes internal tooth, external tooth and conical gear all is good rotating speed adder subtracter, it is two input speed n _aAnd n _bCarry out plus and minus calculation and obtain total rotating speed:

N=(n _a-i _Ab ^Hn _b)/(1-i _Ab ^H) rev/min

N in the formula _aBe the rotating speed of the central gear a of gear differential mechanism, n _bBe the rotating speed of another central gear b, i _Ab ^HFor in the gear differential mechanism when the planet carrier tie-rod fixedly the time gear a to the gear ratio of gear b; Can constitute the forward feed compensation control system of rotation speed n with the rotating speed adder subtracter, and the Electric Traction variable: the forward feed compensation control system of torque T, power P all can be realized by means of the forward feed compensation control system of rotation speed n.

Active force adopts the motor of any pattern, the actuator miniature cocurrent electromotor, as shown in Figure 9.At this ${i_{\mathrm{ab}}}^H=\frac{n_a-n_H}{n_b-n_H}$ For gear differential mechanism at planet carrier tie-rod H fixedly the time, central gear or central gear a are to the gear ratio of annular wheel or another central gear b.If speed ratio: i ₀=n ₂/ n ₀, i _g=n _d/ n _g, and i _w=n _g/ n ₀Be the speed ratio of self-locking worm and gear device, K=V _k/ e is the ratio amplification coefficient of error signal e, k=n _d/ V _kBe " signal/rotating speed " conversion coefficient of miniature cocurrent electromotor, k _n=V _n/ n ₁" rotating speed/signal " conversion coefficient for speed measuring device.Also has i _p=n ₀/ n _p, P _p=n ₀n _pThousand watt of/974.4[] be the speed ratio and the power of Power Recovery use device, r _nBe the reference-input signal of system, i.e. the rotational speed setup signal.Self-locking worm and gear device is as the controllable rotating speed detent, and gear differential mechanism is that it is the rotation speed n of central gear a as the rotating speed adder subtracter _aThe rotation speed n of another central gear b _bUse formula: $n_H=\frac{n_a-{i_{\mathrm{ab}}}^H{n}_b}{1-{i_{\mathrm{ab}}}^H}$ Add and subtract, rotating speed " with or poor " export from the planet carrier tie-rod, its rotating speed is n _HCan find out n ₁=n _aBe the rotating speed of main motor, n ₂=n _bBe the rotating speed of gear differential mechanism braking power output terminal, n=n _HBe system's output speed.n ₀Be worm gear rotating speed, n _gBe worm screw rotating speed, n _dBe the rotating speed of miniature cocurrent electromotor, n _pRotating speed for the braking power recycle device.T is torque [kg-m], and P is power [thousand watt].

Because e=r _n-k _nn ₁≤ 0 is error signal, and n _d=Kke=Kk (r _n-k _nn ₁).Being not difficult derives:

$n_2=\frac{i_0}{i_g{i}_w}{n}_d=\frac{i_0}{i_g{i}_w}\mathrm{Kk}(r_n-k_n{n}_1),$ r _n≤ k _nn ₁(subtracting each other the workspace) (29)

So have $n=\frac{n_1-{i_{\mathrm{ab}}}^H{n}_2}{1-{i_{\mathrm{ab}}}^H}=\frac{(i_g{i}_w+i_0{i_{\mathrm{ab}}}^H\mathrm{Kk}{k}_n)n_1-i_0{i_{\mathrm{ab}}}^H\mathrm{Kk}{r}_n}{i_g{i}_w(1-{i_{\mathrm{ab}}}^H)}---\left(30\right)$

Order $K=-\frac{i_g{i}_w}{i_0{i_{\mathrm{ab}}}^{H}k{k}_n}$ (full remuneration condition) (31)

Then have $n=-\frac{i_0{i_{\mathrm{ab}}}^H\mathrm{Kk}{r}_n}{i_g{i}_w(1-{i_{\mathrm{ab}}}^H)},$ r _n≤ k _nn ₁(rotating-speed tracking formula) (32)

Wushu (31) substitution formula (32) just obtains simplified style:

$n=\frac{r_n}{k_n(1-{i_{\mathrm{ab}}}^H)},$ r _n≤ k _nn ₁(the rotating-speed tracking formula of simplification) (33)

Find out thus: if when the full remuneration condition of formula (31) is satisfied in the design of rotating speed forward feed compensation control system, then know from formula (32) or formula (33): the final output speed n of system is accurately tracker reference-input signal, i.e. rotational speed setup signal r only _nAnd change, fully no longer comprised on the main motor all intermediate speed n of disturbance informations of all internal disturbances and external disturbance f (t) ₁The influence that changes.As the main motor of controlled device, need not to know its characteristic or mathematical model at all, also need not to know all acting on which inside and outside interference on it, promptly it can be one " black controlled device " fully.However, " the desirable control " that the forward feed compensation control system of rotation speed n also can reach full remuneration realizes people's illusion " sex change anything but " for a long time.Certainly, as previously mentioned, must guarantee that also the rate accuracy of speed measuring device is wanted enough height and k _n, k or Kk keep constant.

With formula (30) and formula (2) contrast, can draw:

y(t)＝n， y ₁(t)＝n ₁， y ₂(t)＝n ₂， r(t)＝r _n (34)

$K_A=\frac{1}{1-{i_{\mathrm{ab}}}^H}$ $K_B=-\frac{i_0{i_{\mathrm{ab}}}^H\mathrm{Kk}}{i_g{i}_w(1-{i_{\mathrm{ab}}}^H)},$ k _f＝k _n (35)

Torque T control, power P control also can realize by means of rotation speed n control, but need to detect torque T indirectly with aforementioned similar method ₁, T ₂

More than to the embodiment of production run variable and Electrified Transmission variable, suffice to show that the correctness of " output adder subtracter " proposed by the invention and " binary channels compensation principle " and the output terminal that constitutes thus along the validity of feedback control with forward feed compensation control system.If further continue research, this brand-new control forms one more superior than FEEDBACK CONTROL promotes the use of in the more wide field surely goes, and becomes a kind of more general automatic control forms.

Claims (3)

1. an output terminal is along feedback control and forward feed compensation control system, it is characterized in that including unknown controlled device (1), detect transmitter (2), introduce link (5), compensation channels compensation tache (6) and output adder subtracter (7) with reference to input media (3), signal comparator (4), main channel, wherein compensation tache (6) includes proportional amplifier, actuator and conversion of signals link thereof again; Output adder subtracter (7) is the people for joining controlled device (1) output terminal, and can realize the physical quantity adder subtracter of controlled variable plus and minus calculation, and it includes flow adder subtracter and rotating speed adder subtracter again; The output terminal of controlled device (1) is connected with the main channel input end of output adder subtracter (7) by introducing link (5), detects transmitter (2) and arrives intermediate variable y by sensor ₁(t), and by detecting transmitter (2) detection variable y ₁(t) be converted to detection signal k _fy ₁And k (t), _fBe to detect the conversion of signals coefficient of transmitter (2), this detection signal all is input in the signal comparator (4) with output signal r (t) with reference to input media (3) compares again, result relatively obtains error signal e (t)=r (t)-k _fy ₁(t), and from the output terminal of signal comparator (4) export; Error signal e (t) is passed through compensation tache (6), and amplifies doubly back controlled signal K e (t) of K in this error signal e (t), in actuator control signal K e (t) is converted to variable y ₂(t), be input to the compensation channels input end of output adder subtracter (7) again, output adder subtracter (7) is with main channel input variable K _Ay ₁(t) with compensation channels input variable y ₂(t) subtract each other or addition after just obtain final output variable y (t), because of G _A(s), G _B(s) be respectively the transport function of introducing link (5) and compensation tache (6), work as G _A(s), G _BWhen (s) all being the linear scaling link, K then _A=G _A(s), K _B=G _B(s); So know: if " binary channels full remuneration ", i.e. y ₁(t) any variation can both be used y ₂During (t) inverse variation full remuneration, then there is output variable y (t) will fully no longer be subjected to y ₁(t) influence of Bian Huaing, but any variation of r (t) will influence y (t), and will make y (t) follow the tracks of r (t) fully and change, " binary channels full remuneration " control like this is exactly to have realized " sex change anything but ", moreover, can also find out: if when having realized " binary channels full remuneration ", forward feed compensation control system characteristic not only complete and controlled device (1) is irrelevant, and internal disturbance and external disturbance f (t) complete and that controlled device (1) is upward all are irrelevant, therefore, output terminal can be " dark object " along the controlled device (1) of feedback control fully, but need point out, full remuneration during working control and the precision of tracking will be subjected to the restriction of accuracy of detection and conversion of signals precision, can not all reach complete ideal control.

2. output terminal according to claim 1 is characterized in that along feedback control and forward feed compensation control system above-mentioned " binary channels full remuneration " must satisfy condition: K _A=k _fK _B, the tracking formula that then has output variable y (t) track reference input variable r (t) to change: y (t)=K _BR (t).

3. output terminal according to claim 1 is characterized in that along feedback control and forward feed compensation control system above-mentioned output adder subtracter (7) has flow adder subtracter and rotating speed adder subtracter:

(1). the flow adder subtracter: is flow Q ₂Fluid and flow be Q ₁Fluid collaborate in being total flow Q=Q together ₁+ Q ₂, Q ₂＞0, this is two flow Q ₁With Q ₂Addition and obtain total flow Q＞Q ₁Is flow Q ₂Fluid be Q from flow ₁Fluid in shunting come out to be poor flow Q=Q ₁+ Q ₂, Q ₂＜0, this is two flow Q ₁With Q ₂Subtract each other and obtain difference flow Q＜Q ₁Can constitute the forward feed compensation control system of flow Q with the flow adder subtracter, or constitute anti-Δ p ₁The flow forward feed compensation control system that disturbs, Δ p ₁Be the fluid pressure difference before and after the by-pass valve control, and the forward feed compensation control system of process variable: liquid level H, pressure differential deltap p, pressure p, temperature t, concentration c, humidity or moisture content x all can be realized by means of the forward feed compensation control system of flow Q;

(2). the rotating speed adder subtracter: the gear differential mechanism that includes internal tooth, external tooth and conical gear all is good rotating speed adder subtracter, and it is two input speed n _aAnd n _bCarry out plus and minus calculation and obtain total rotating speed:

N=(n _a-i _Ab ^Hn _b)/(1-i _Ab ^H) rev/min

N in the formula _aBe the rotating speed of the central gear a of gear differential mechanism, n _bBe the rotating speed of another central gear b, i _Ab ^HFor in the gear differential mechanism when the planet carrier tie-rod fixedly the time gear a to the gear ratio of gear b; Can constitute the forward feed compensation control system of rotation speed n with the rotating speed adder subtracter, and the Electric Traction variable: the forward feed compensation control system of torque T, power P all can be realized by means of the forward feed compensation control system of rotation speed n.

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