CS229986B1 - Digital controller with variable structure - Google Patents

Abstract

The invention belongs to the Department of Electrical Engineering and solves the connection of a digital controller with a variable structure for digital Sasha optimally control systems II. order with a single unambiguous optimal switching curve for quasi-optimal control of higher xad systems. The essence of this is that the comparator is connected via a linear alignment block, through a verification block to a bounding block, and a non-linear control block is connected to the second comparator output. The invention is illustrated in the accompanying drawing.

Description

229 986

The invention relates to a digital controller with variable structure, digital time-optimal control of system II, and quasi-optimal control of higher order systems with limited action value.

So far known digital controllers with variable structure for time optimal control of systems II · ohme *

The X X value of the action variable consists of two comparators, from the linear and non-linear control block, or the other two blocks the limit of the action variable determined by the linear control block. The disadvantages of these regulators are in their complex structure and in their slow performance * with unchanged functional properties.

The aforementioned shortcomings are eliminated by the digital controllers by a variable structure for the digital time-optimized control of the systems of the single-unambiguous optimum curve and for the quasi-optimal control of higher order systems operating with limited values of the action variable according to the invention. in that the first input of the comparator, »is connected to the input of the linear control block, which is connected to the output of the non-linear control block, to which the second output of the comparator is connected. Next, a linear control block output is connected to an input block whose first output is coupled to a constraint block output 229 989 porn and a non-linear control block output and whose second verification block output is coupled to the constraint block input. the controller according to the invention is simplified in the structure of the regulator and at the same time accelerates its operation with unchanged functional properties *

2 shows a basic block diagram of a variable-frequency digital controller, and FIG. 1 shows an expanded block diagram of a controller according to the invention. The basic block diagram of FIG. the output is connected to the input of the linear-control block 2, the output of which is connected to the output of the non-linear control block 2, to which the second output of the corridor 1 is connected. 1 consists of a linear control block 8, the output of which is connected to the input of the verification block 8, the output of which is connected by a 3 output of the limiting block 2 and 3 to the output of the non-linear control block 2 and whose second output of the verification block 8 is connected to limiting block input 2 ·

The linear control algorithm y KR (e '+ and ^ · e) is implemented by block 2. It is checked in the following verification block 6 and in the processing block 2 whether the calculated value of the action variable satisfies the specified limitations Y (-1) £ y. Y (l) and if the calculated value of the action variable of the restriction continues, will it be adjusted to size? given assignment limit y »Y (sign y) ·

Only the limit values take the action variable unless the inequality β »is switched. sign / e / <Cj 229 986 checked by comparator 1. The required limit value of the action setpoint is determined by the nonlinear block 2 based on the advantageous positioning of the offset point relative to the switching curve P / e, e * / - 0

For a purely astatic, but also for many more complex systems, the parabolic switching curve described by the equations Q - sign e and P (e, e} - e e + Q.TO. (K (-l) - K (l)) can be used. ]. ^ e »+ Q.Tft. (K (-l) -K (l)) j-

- 2QK (Q) £ e-0.5 QTq K (-l) - K (1) J where K (Q) depends on the amplification of the K-system and the magnitude of the limit values of the action variable K (Q) «-K8oY (Q), Q --1

This in turn characterizes the amount of time delays that we want to compensate for.

The assignment of the value of the action variable itself can be done by the command

Y Y Qsign P (e, e *) J

The appropriate design of the linear control algorithm can be the boundaries of the change of the structuring agent to diminish the operation! in the control of the desired state by the controller connection according to the wiring diagram in FIG. 2. The operation of the controller is essentially the same as in FIG. 1, but there is no need to verify that the unevenness Y (-I) ^ y is fulfilled. (l) with the corresponding subsequent limitation of the calculated value of the action variable. 229 986

The control circuit parameters can be determined analytically or adaptively.

The digital variable-frequency controller can be used to control a wide class of linear and non-linear systems II. order with a single unambiguous opti- mal switching curve (for example, for controlling all astatic systems II · series). It can also be used to control the order of magnitude of the order, if the switching curve of the reduced system meets the above characteristics. It is possible to use universal control computer, microcomputer, or it can be designed as a dedicated circuit for realization of the controller.

Claims (2)

SUBJECT OF THE INVENTION 229 986 1. A digital controller with variable structure over time optimum control of systems II-order with a single one-way optimal switch curve and for quasi-optimum control of higher order systems operating with limited values of the action variable marked by a team that the comparator first output (1) is connected to the input of the linear% control block (2), the output of which is connected to the output of the non-linear control block (3) to which the second comparator output (1) is connected. 2 is a digital controller with variable structure as defined in claim 1, wherein the output of the linear control block (2) is connected to an input of the verification block (4), the output of which is connected by the β output of the constraint block (5) and the output of a non-linear control The block (3) and the second output of the verification block (4) are connected to the input blocking block (5)