CS246566B1 - Adaptable forecasting controller to compensate for controlled disturbances - Google Patents

Abstract

Adaptive predictive controller for compensation of controlled disturbance quantities belongs to the field of self-tuning control systems. The aim is to increase the accuracy of the controller, which is achieved by the controller additionally containing a direct model of the object without delay, connected to the first accumulator and to the low-frequency filter and to the integrator with zeroing.

Description

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Pa6oTaeT peryjiHTop cneflyioiuHM oSpa3OM.

Ha BXOAbi n nepBbix MacniTaSHpyromHx Saokob 1 (on nepTeace ajih χοηχρθτηοοτηn = 2) nocTynaioT cHrHanbi xoHTpoJiHpyeMbix BO3MymeHHHx of V1 (t) h V2 (t), yMHo acawTCH-Ha 3aflaHHbie κοβφφΗΑΗβΗτω η, τακημ o6pa3OM, nepecnHTbiBawTCH Macnrra6ynpaBHHK b> mero BO3AeňcTBHH. B 2 cyMMaTope CHrHanbi c bmxoaob nepBbix MacniTaSH-pyioiHHX ójioxob 1 cxjiaflbiBawTCH Mewny coSoh HC φΒχτκηβοχΗ peanH3OBaHHbiM ynpaB-jiHiomHM BO3fleňcTBHeM, CHrHan of xotopom nocTynaeT Ha BTopoň bxoa cyMMaTopa2 c Bbixofla HcnojiHHTejibHoro snox 11th C Bbixofla cyMMaTopa 2 Ha bxoa npHMoňmoa south ^ 3 oótexTa Se3 3ana3AbiBaHHH , b qacTHocTH, HHTerpaTOpa, oxBaneHHOROTHHOTHOTHHHHHHHHHHHHHHHHHHHHHHHMHHMHHHHHHHHHHHHHHHH. C noMombw πρΗΜΟΗ μοα &amp; πη 3 o6bexTa 6E3 3ana3AbiBaHHH onpeAeJinioTCH owh6xh Xom-neHcaipiH axBHBajieHTHoro BO3MymeHHH b MacniTaÓe BbixoAHoň nepeMeHHoň o6texTa, 246,566 -4- KOTopwe, nocTynaa Ha nH $ opMau, HOHHbiň exop, φΗηητρβ 4 hh3koh nacTOTbi, ycpen-HHIOTCH B 3TOM φΗΠΒΤρθ 4 B paMKaX ΤβΚγϋξβΓΟ ΤεΧΗΟΗΟΓΗΠεΟΚΟΓΟ U, HKJia. B HHTerpaTope 12 c hHyjieHHeM HaKannHBaeTCH cyMMapHoe Ha naHHOM TexHo-nornnecKOM ι ^ Ηκηε φ3κτΗηεοκΗ peanH3OBaHHoe ynpaBJijnomee BO3fleňTBne. CHrHaabi by 3aBepmeHHH TexHonorHnecKHX ηηκποβ nonawTCH δηοκοΜ 16 chhxpohh-3anHH. Ohh nocrynaiOT Ha ynpaBJunomne ωχορ; ω Φηπβτρβ 4 hh3koh nacTOTbi h HHTe — rpaTopa 12 c o0HyneHHeM. Hκηητρ 4 HH3Kon nacTOTbi 3aBepuiaeT no 3TOMy curna-ny ycpeflHeHHe oiuh6ok KOMneHcanHH κοΗτρο-nnpyeMbix BO3MymeHHn h 3anycxaeT bpa6oTy čjiokh c 5 no 11 peryjiHTopa. CHrHan c Bbixoňa φΗηΒτρε 4 HH3Koň NAC-TOTbi nocTynaeT Ha Bxop, o6paTHoň MOflenn 5 oOteKTa Sen 3ana3flbiBaHHH, Koto-pan npeflCTaBnaeT co6oň, HanpHMep, nocnenoBaTenbHoe coenHHeHHe 6noKa 3anep »~ kh MacuiTaóHpyiomero 6jioxa h 6noKa cpaBHeHHH, BTopoň βχοη κοτορογο cbh33hc βχορ, ομ snox 3aflepjKKH, h npeo6pa3yeTCH c ee noMomtio b BenHHHHy cyMMapHo 3aBepuiHBiueMCH TexHonornnecKOM ηκκηε κορρεκτΗροηκΗ ynpaBnnioinero BO3fleň-ctbhh. rioJiyneHHaH KoppexTHpoBKa βμηητβθτοη b nepBOM δηοκε 6 cpaBHeHHH H3HaKonnenHoro b δηοκε 12 φεκτΗηεεκΗ peajiH3OBaHHoro Ha naHHOM TexHonornnec KOM nHKjie ynpaBJíHioinero BO3fleKCTBHH b pe3yni.TaTe nonynaeTCH c 3ana3flbiBa-HHeM cyMMapHoe TpečyeMoe (nneanbHoe) Ha nponienuieM TexHonornnecKOM ηκκηβynpaBHHwmee BO3p; eHCTBHe. BenHHHHa οτογο 3ana3flHBaHHH Θ paBHa cyMMe ajih-TenbHOCTH oflHoro TexHonorHnecKoro ipiKJia h BpeMeHH 3ana3p; biBaHHH Pean »3anHHynpaBJíHiomHX KOMaHfl HcnonHHTejibHbíM δηοκοΜ 11th Ilocne Pacnet HfleanbHoro yn-paBneHHH HHTerpaTop c o6HyneHHeM 12 oSHynneTCH. B 3KCTpanojiHTope 7 CHrHan 06 HfleajibHOM ynpaBnniomeM BO3p, eNcTBHH axcTpano-jiHpyeTCH Ha BpeMH Θ. 3KCTpanonnTop 7 μομθτ npeflCTaBJíHTb, HanpHMep, nocne-AOBaTejibHo coeflHHeHHbie δποκ cpaBHeHHH h flHcxpeTHbien HHTerpaTop, Bbixofl κοτο -ρο CBH3aH nepe3 δηοκ 3anep3KKH c BTopbiM BxoflOM 6noKa cpaBHeHHH. CHrnancpeflHeň ouihQkh KOMneHcanHH KOHTponHpyeMbix BO3MymeHHň HanpaBnneTCH TaKxcec Bbixofla φΗηΒτρβ 4 ΗΗ3κοή nacTOTbi Ha bxoa TpeTbero MacniTa6Hpyioiu; ero 6ποκβ 8 rfle rivet yMHoaceHHH Ha βθοοβοη κοοφφΗΐχΗεΗτ onpenenneTCH- cocTaBJíniomaH ynpaB-nHiomero BO3fleňcTBHH, HanpaBJíeHHaH Ha nonaBneHHe nocnencTBHH stack CPE ^ HeňoiuhSkh. B cyMMaTope 9 o6e cocTaBJíHioinHe nacTH cyMMapHoro ynpaBJínioinero BO3-p eňcTBHH Ha ÓynymeM TexHonornneckoM ηκκηε cKnanbiBaroTCH and bo btopom MactuTa-0HpyioineM δηοκε rivet 10 yMHoweHHH Ha Ha κοβΦΦηηηθητ pacuneHHtoTCH nncno HM-nynhCOB ynpaBJíeHHH, κοτορωε 6ynyT peajiH3OBaHbi Ha npencTonmeM TexHonornnec nHKJie-com. HcnojiHHTenbHbiň δηοκ 11b μομθητη peanH3anHH HMnynbCOB ynpaBJíHio iHHX-BO3, n eHCTBHH nonynaeT ynpaBnnioinHe cHrHanbi c Bbixona 6noKa 10th fljiH Ynet h KOMneHcanHH H3MeHHHBOCTH cTaTHCTHnecKHX .xapaKTepHCTHK Koht-ponHpyeMhix BO3MymeHHH aflanrapyioTCH κοΒφφΗηκεΗτω 3KCTpanojiHTopa seventh CHrnan c Bbixona 3KCTpanonnTopa 7 nocTynaeT Ha εχοη 6noKa 13 3anep »KH, Γ, π, ε OH 3anoMHHaeTCH Ha BpeMH Θ. Bo btopom δηοκε 14 cpaBHeHHH CHrnan cBbixona δηοκε 13 3aflep®KH BbinHTaeTc? H3 CHRHANO, NIGHTTynaromero c Bbixona nep-Boro 6nona 6 cpaBHeHHH. B pe3ynbTaTe nonynaeTCH CHrHan οπιη6κη 3KCTpanonH-u; hh E [j], KOTopbien HanpaBnneTCH Ha Bxon 6noKa 15 ananTanHH. B δηοκε 15 anan-TanHH peanH3yeTCH, HanpHMep, cnenyroman nponenypa. Π Η c c,, CT CT CT CT CT CT CT CT CT CT j j j j j j j j j j j j CT CT CT CT CT CT CT CT CT CT. oi [j] - TeKynjHH κοοφφΗηΗβΗΤ BKCTpanonHTopa, 246566 το aflanTaipuo ot (j] momho npoH3BoflHTb no (popMyne 4j] = <^ 0 + r s' [j],. S [j] = * S [j - 1] + ( U. (sign £. [J] - S [j - 1]),, 6 rfle ti, J, p. - nOCTOHHHbie β & πηηηηη.

Hcnojii> 3OBaHHe npeflrtaraeMoro perynaTopa no3BonaeT noBbiCHTb τοηηοοτβ PE rynHpoBaHHH aa CNET ynera HMnynbCHoro xapaKTepa HaneceHHH Ha oGteKT ynpae-junonpix BoafleňčTBHň h HecraipioHapHocTH cTaTHCTunecKHx xapaKTepncTHK kohtpo-JiHpyeMbix BO3MymeHnň. ΠρΗΜβΗβΗΗβ 3ΤΟΓΟ peryjIHTOpa flJIH KOMneHCaííHH KOHTpOJIHpyeMblX BO3MymeHHň, BHOCHMblX B flOMeHHyiO ΠβΜΒ Π1ΗΧΤΟΒΜΜΗ MaTepHajiaMH, ΠΟ3ΒθηΗβΤ nÓBblCHTb ΠΡΟΗ3ΒΟ-flHTejIbHOCTh ΑΟΜβΗΗΟΗ ΠβΜΜ, CHH3HTb yfleJlbHblň paCXOfl kokcha river nÓBblCHTb KaneCT H-bo nepeflenbHoro nyryňa. 246566 -6- ΦΟΡΜΥ.ΠΑ Η30ΒΡΕΤΕΗΗΉ

AflanTHBHblň Πρ0ΓΗΟ3ΗργΚ) ΠξΗΗ peryjlHTOp flJIH KOMneHCayHH KOHTpOJIHpyeMblX BO3-MymeHHň, coflepacanpiň nocJieflOBaTenbHo coeRHHeHHbie φΗππτρ HH3Koň nacTOTbi, 06-paTHyio MOflejih o6bexTa 6E3 3ana3flbiBaHHH h nepBbiň 6jiok cpaBHeHHH, noeneflOBa · TejibHO coeflHHeHHbie sxcTpanoJiHTOp, 6jiok 3aflep »KH, BTopoň 6jiok cpaBHeHHH hďjiok aflariTaipiH, Bbixofl κοτορογο coeflHHeH c nepBbM βχο ^ ομ 3KCTpanoJiHTopa BTO-pbíM BXOflOM, nOflKJHOHeHHOrO KO BTOpOMy BXOfly ΒΤΟΡΟΓΟ 6jIOKa CpaBHeHHH, NEP Bbie MaciuTaBHpyioinHe ďjiokh, Bbixoflbí κοτορωχ CBH3aHbi c nepBbíMH BXojaaMH nepBorocyMMaTopa, BTopoň MacniTaĎHpyioinHň ďjiok, HcnojiHHTejibHMň ďjiok h nocjiefloeaTeJib-ho coeflHHeHHbie τρβτκή MacmTaĎHpyiomHň ďjiok h BTopoň cyMMaTop, OTJiHuaiomHňcHτβΜ, hto, c uejibio noBbímeHHH tohhocth peryjiHTopa, b Hero BBefleHU npHMan mo-flejib ocbexTaDe3 3ana3flbiBaHHH, HHTerpaTop c oHHyjieHHeM h 6jiok CHHXpoHH3auHH, βχοα npHMoM MOflejiH o6bexTa 6E3 3ana3flbiBaHHH cbh3hh c BbixoflOM rrepBoro cyMMa-Top, and BbIXOfl - C ΗΗφορΜΒΑΗΟΗΗΜΜ BXOffOM φΗΉΒΤρΒ HH3KOH HaCTOTM, BbIXOfl KOTO "poro noflKJiioHeH co Bxofly TpeTbero MacniTaĎHpyiomero ójioxa, bxoa sKCTpanonHTopaCOeflHHeH BbIXOflOM nepBOrO C. ĎJIOKa CpaBHeHHH and BbIXOfl - C BTOpbIM BXOflOM BTO-poro cyMMaTopa, Bbixofl κοτορογο nepe3 BTopoň MacmTaĎHpyioiUHÉ ďjiok h hciiojihh-TeJIbHblH ĎJIOK CBH33H C ΗΗφορΜΒΑΗΟΗΗΗΜ BXOflOM HtíTerpaTOpa OĎHyjieHHeM C H BTOpbIM βχορ, ομ nepBoro cyMMaTopa, BTopoň Bxofl nepBoro Ďjioxa cpaBHeHHH noflKJiló-NEH κ Bbixofly HHTerpaTopa c oHHyneHHeM, and Bbixofl ioxjioxa cHHxpoHHaaijHH coeflH-HeH C ynpaBJIHIOIUHMH BXOflaMH ΗΗΒΤΗΗΒΤρβ HH3KOh HaCTOTbl H HHTerpaTopa C ĎHyjieHH-eM. 246566 -7- Α Η Η Ο U U U A U Η Η

AflanTHBHbl nporHO3HpyH) IHHn peryjIHTOp, Π, -ΠΗ KOMneHCaiJHH KOHTpOJIHpyeMblX BO3-MyineHHn othochtch to ocnacTH caMOHacTpanBawmHxcH cmctgm ynpaBJiHHH.

UeJib Η3θ6ρβτβΗΗΗ - noBbnneHHe touhocth peryjiHTopa. 3to RocTHraeTCH τβΜ, HTO perynaTop BononHHTenbHo οορ, ερκΗτ npHMyra MORenboSteKTa 6E3 aanasflbiBaHHa, noflKJHoneHHyio nepBOMy cyMMaTopy κ h to imjbTpy hh3Koň acTOTbi ^ n 6jiok CHHxpoHH3aqHH, noflKJHoqeHHbiň κ "JiHjibTpy hh3koh qacTOTbiη κ HHTerpaTopy oSHynemieM C. IIpH3HaHO Η3θ6ρβτβΗΗβΜ no peayjibTaTaM 3KcnepTH3bi, ocymecTBJíeHHoTocyflap-CTBGHHblM ΚΟΜΗΤβΤΟΜ CCCP ΠΟ flejiaM Η3θ6ρβΤβΗΗή H OTKpblTHH. 2 nepTeaca 246566

Claims (1)

BACKGROUND OF THE INVENTION. Adaptive Forecasting Controller for Compensation of Controlled Failure Variables, Including Serially Linked Frequency Filter, Non-Delayed Object Model, and First Comparison Block, Serially Linked Extrapolator, Delay Block, Second Comparison Block, and Adaptive Block, Output Connected to First Extrapolation Input connected to the second input of the second comparator block, the first scale blocks, the outputs of which are connected to the first inputs of the first accumulator, the second scale block, the power block and the serially connected third scale block the second accumulator, characterized in that in order to increase the accuracy of the controller into which there is a direct model of a non-delayed object, a zero reset integrator, and a synchronization block, a direct object model input without delay connected to the first accumulator output, and an output with a low frequency filter input u, the output of which is connected to the input of the third scale block, the extrapolator input is connected to the output of the first reference block and the output to the second input of the second accumulator, the output of which through the second-scale block and the power block is connected to the information input of the integrator with reset and the second input of the first shaker, the second input of the shunt comparator is connected to the zero output of the integrator, and the output of the synchronization block is coupled to the control inputs of the low frequency and zero reset integrator.