DK148853B - SELF-ADJUSTING REGULATOR - Google Patents
SELF-ADJUSTING REGULATOR Download PDFInfo
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- DK148853B DK148853B DK068679AA DK68679A DK148853B DK 148853 B DK148853 B DK 148853B DK 068679A A DK068679A A DK 068679AA DK 68679 A DK68679 A DK 68679A DK 148853 B DK148853 B DK 148853B
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- controller
- time
- self
- key
- adjusting
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
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- Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Diaphragms For Electromechanical Transducers (AREA)
- General Induction Heating (AREA)
Description
148853148853
Den foreliggende opfindelse angår en selvindstillende regulator omfattende en lineær, digital regulator, f.eks. af PI- eller PID-ka-rakter, hvor der i regulatoren også indgår et første beregnings- og indstillingsorgan til optimal indstilling af reguleringsparametrene samt 5 et tastningsorgan for reguleringssignaler, og hvor der til regulatoren er sluttet yderligere et beregnings- og indstillingsorgan til styring af tastningsorganet.The present invention relates to a self-adjusting controller comprising a linear digital controller, e.g. of PI or PID characters, wherein the controller also includes a first calculation and setting means for optimum setting of the control parameters and 5 a sensing means for control signals, and wherein a further calculation and setting means for controlling the control are connected to the controller. probing body.
En sådan selvindstillende regulator er kendt fra bl.a. Automatics, Vol. 11, pp53-59, Pergamon Press, 1975.Such a self-regulating regulator is known from e.g. Automatics, Vol. 11, pp53-59, Pergamon Press, 1975.
1ø Ved styring af en proces, eksempelvis med trinsvar af den art, som vises i fig. 1, er det vigtigt, at den valgte diskrete løbetid k og den valgte tasttid T står i en sådan relation til dødtiden L, at k · T > L og (k-1)T < L. Ved diskret løbetid forstås antal T, indtil det aftastede forløb starter. Fig. 1 viser et tilladeligt valg af T, 15 når k = 2. Det kan undertiden være problematisk først at vælge tasttid T og fra regulatoren få en ønsket løbetid k til opnåelse af stabil regulering. Det er ud fra et stabilitetssynspunkt farligt at give k for små værdier.In controlling a process, for example with step response of the kind shown in FIG. 1, it is important that the selected discrete maturity k and the selected key time T are in such a relation to the dead time L that k · T> L and (k-1) T <L. Discrete maturity means the number of T until the scanned sequence starts. FIG. 1 shows a permissible choice of T, 15 when k = 2. It can sometimes be problematic to first select key time T and obtain from the controller a desired run time k to obtain stable control. From a stability point of view, giving k for small values is dangerous.
Formålet med opfindelsen er at angive en løsning af disse og 2q andre hermed sammenhængende problemer ved en selvindstillende regulator, og ifølge opfindelsen er det for regulatoren ejendommelige, at en diskret løbetid k er indstillelig i det yderligere beregningsorgan, hvorefter, når denne tid er indstillet, en for systemets stabilitet tilpasset tasttid T er indrettet til at udvælges automatisk, så at 25 k · T> L og (k-1)· T < L, hvor L er dødtiden. Hensigten er altså at finde en passende tasttid for en stabil regulering med udgangspunkt i en fikseret løbetid k, dvs. antallet af tastningsintervaller T, indtil systemet svarer. Man undgår herved risikoen for et ustabilt system, hvor k er for lille.The object of the invention is to provide a solution of these and 2q other related problems with a self-adjusting controller, and according to the invention it is peculiar to the controller that a discrete maturity k is adjustable in the additional calculation means, after which this time is set, a key time T adapted to the stability of the system is arranged to be selected automatically so that 25 k · T> L and (k-1) · T <L, where L is the dead time. Thus, the intention is to find an appropriate key time for stable control based on a fixed term k, ie. the number of key intervals T until the system responds. This avoids the risk of an unstable system where k is too small.
3q Opfindelsen skal herefter forklares nærmere under henvisning til tegningen, hvor fig. 1 er en illustration til opfindelsens baggrund (se ovenfor), og fig. 2 viser et blokdiagram over en udførelsesform for en 35 selvindstillende regulator ifølge opfindelsen.The invention will now be explained in more detail with reference to the drawing, in which fig. 1 is an illustration of the background of the invention (see above), and FIG. 2 shows a block diagram of one embodiment of a self-adjusting controller according to the invention.
Den proces, der skal styres med en selvindstillende regulator ifølge opfindelsen, er vist ved 1 (fig. 2). Til regulatoren føres en styreværdi 2.The process to be controlled with a self-adjusting controller according to the invention is shown at 1 (Fig. 2). A control value 2 is passed to the controller.
I anordningen indgår en lineær digital regulator 3 af f.eks.The device includes a linear digital controller 3 of e.g.
2 148853 PID-karakter, til hvilken bl.a. føres en referenceværdi 4. Regulatoren er indrettet til at styre processen, og for at gøre den selvind-stiilende er den koblet til et beregnings- og indstillingsorgan 5 til optimal indstilling af reguleringsparametrene, adaption af regulerings- 5 parametrene.2 148853 PID character, for which i.a. a reference value is entered 4. The controller is adapted to control the process and to make it self-adjusting it is coupled to a calculation and setting means 5 for optimal setting of the control parameters, adaptation of the control parameters.
Til regulatoren er også sluttet yderligere et beregnings- og indstillingsorgan 6 til indstilling af passende tasttid (T) ved et tast-ningsorgan 7 til ind- og udkobling af reguleringssignalerne (via 8) (adaption af tasttiden T), 10 Udførelsesrækkefølgen er således, at regulatoren 3 indkobles ved hvert tasttidspunkt, medens adaptionen kan ske efter et af følgende tre alternativer: 1) samme frekvens som regulatoren 3, 2) langsommere frekvens end regulatoren 3, 15 3) ved installation eller kun ved indtruffet hændelse.Also connected to the controller is a further calculating and adjusting means 6 for setting the appropriate keying time (T) at a sensing means 7 for switching on and off the control signals (via 8) (adaptation of the keying time T), 10 The order of execution is such that the controller 3 is switched on at each key time, while the adaptation can be done according to one of the following three alternatives: 1) the same frequency as the controller 3, 2) slower frequency than the controller 3, 15 3) during installation or only in the event of an incident.
Regulatoren ifølge opfindelsen er altså helt selvindstillende, dvs. ingen parametre behøver at justeres manuelt ved tilslutning af regulatoren 3 til processen 1.The controller according to the invention is thus completely self-adjusting, ie. no parameters need to be manually adjusted when connecting controller 3 to process 1.
Regulatoren med dens adaptionsorganer 5-6 fungerer som et 20 tidsdiskret system, hvor målesignalerne fra processen tastes (T), og tastningsværdierne tilpasses til en model for processen, hensigtsmæssigt indbygget i regulatoren. Med udgangspunkt i modellen vælges et optimalt styresignal.The controller with its adaptation means 5-6 functions as a time-discrete system in which the measurement signals from the process are sensed (T) and the sensing values are adapted to a model for the process, suitably built into the controller. Based on the model, an optimal control signal is selected.
Til forskel fra tidligere kendte selvindstillende regulatorer behø- 25 ver forholdet mellem tasttid T og diskret løbetid k ved opfindelsen ikke at tilpasses til en model for processen. (Diskret løbetid = antal T, indtil det aftastede forløb starter).Unlike prior art self-adjusting controllers, the ratio of key time T to discrete run time k in the invention need not be adapted to a model for the process. (Discrete maturity = number T until the scanned run starts).
Ifølge en udførelsesform for opfindelsen kan man eksempelvis fiksere den diskrete løbetid k i processen til 2 eller mere (se fig.According to one embodiment of the invention, for example, the discrete run time k in the process can be fixed to 2 or more (see fig.
30 1). De tasttider, regulatoren vælger mellem, kan illustreres i følgen de formel (rekursiv): TM = _1 · Ti C) 11 k-1 1 35 T = mindste tasttid. o T. er altså de forskellige tasttider. Man begynder med TQ og gir opad, indtil man finder en passende T, hvilket jo sker automatisk i regulatoren.30 1). The key times selected by the controller can be illustrated by the formula (recursive): TM = _1 · Ti C) 11 k-1 1 35 T = minimum key time. o T. are the different key times. You start with TQ and turn upwards until you find a suitable T, which happens automatically in the controller.
148853 3148853 3
Det kan vises, at der eksisterer nøjagtigt én tasttid af dem, der frembringes af den nævnte formel (1), som passer til processen. Desuden frembringes kun et mindre antal tasttider, der skal prøves. For k - 2, t = 20 msek. behøves kun 13 forskellige tastti-5 der for at dække området 20 msek - 82 sek.It can be seen that exactly one tasting time exists of those produced by said formula (1) which fits the process. In addition, only a small number of test times are produced to be tested. For k - 2, t = 20 msec. only 13 different keys are needed to cover the range 20 msec - 82 sec.
For at finde den korrekte tasttid af de frembragte tasttider ifølge formel (1) under indjusteringen evaluerer regulatoren et tab o, bestående af en vægtet kvadratsum λ af målesignaler y på konsekutive tasttidspunkter.To find the correct key time of the generated key times according to formula (1) during the adjustment, the controller evaluates a loss o consisting of a weighted square sum λ of measurement signals y at consecutive key times.
10 σ-σ(Τκ)= V2 (t) + λ * I y (t-Tk) ] 2 + λ2 [ y (t-2Tk) ] 2 + λ3 [ y (t-3Tk) ] 2+... (2) . 1510 σ-σ (Τκ) = V2 (t) + λ * I y (t-Tk)] 2 + λ2 [y (t-2Tk)] 2 + λ3 [y (t-3Tk)] 2 + ... (2). 15
Den korrekte tasttid Tk er den, for hvilken følgende gælder: (A) σ har lokalt minimum i 20 Tk, dvs. a(Tk) < min (σ (T^), °(Tk+1)) hvor Tk frembringes af formlen (1).The correct key time Tk is the one for which the following applies: (A) σ has a local minimum of 20 Tk, ie. a (Tk) <min (σ (T ^), ° (Tk + 1)) where Tk is generated by formula (1).
(B) σ er stationær, dvs.(B) σ is stationary, i.e.
25 °N (Tk) /σ (Tk} ε (1 / P)/ hvor p vælges som en passende konstant: p = F^_® (N,»)F-forde-30 2 ling, hvis hypoteseprøvning af "regulatoren optimal" med risikoniveau α ønskes.25 ° N (Tk) / σ (Tk} ε (1 / P) / where p is chosen as an appropriate constant: p = F ^ _® (N, ») F-distribution 2 if hypothesis testing of the" controller optimal "with risk level α is desired.
σΝ ^Tk^ betegner tabet evalueret under de N sidste tasttidspunkter, σ skal altså opfylde disse to betingelser, for at systemet skal 35 være stabilt. Hvis f.eks. kvotienten ifølge B havner udenfor interval- Λ let (- , p) ved hypoteseprøvning, bliver systemet ustabilt.σΝ ^ Tk ^ denotes the loss evaluated during the N last key times, σ must therefore satisfy these two conditions in order for the system to be stable. For example, the quotient according to B falls outside the interval Λ easily (-, p) by hypothesis testing, the system becomes unstable.
PP
4 1488534 148853
Ifølge en anden udførelsesform fikseres den diskrete løbetid k på samme måde som ovenfor til et vilkårligt helt tal k > 2.According to another embodiment, the discrete run time k is fixed in the same way as above to any integer k> 2.
Tasttiden tillades at ændres i diskrete tidspunkter t^ ifølge formlerne nedenfor.The key time is allowed to change at discrete times t ^ according to the formulas below.
5 lN+1 = *N + m * hvor m er et fast vilkårligt helt tal ^ 1, og T er tasttiden bestemt i tidspunktet t^.5 lN + 1 = * N + m * where m is a fixed arbitrary integer ^ 1 and T is the key time determined at time t ^.
En filtreret måleværdi z(t^) dannes som funktion af måleværdi- 10 en i tasttidspunkterne tN-1, tN_^+T(t) ____, t^ som en vægtet sum af følgende størrelser: n > k S^Y (tN) = ™ Υ(ΐΝ-ι+*χΤ (tN.1))y(tN.1+(i-n)xT(tN.1)> i=0 15 k Sqy (tN) = 2 y^N-1+*x T(t^_^))u(t^_^+(i-n)xT (^_·|)) i=0 sY (V = Σ V(tN-1**T (tN-1}) 20 i=0 I ovenstående ligninger er y tilbageføringsværdien (R-værdien), i er index i summerne, x er multiplikationstegn, n er antal T, u er styresignal- eller kontrolsignalværdi, og S er korrelationen mellem 25 u og y ved et bestemt n.A filtered measurement value z (t ^) is formed as a function of the measurement value at the key time points tN-1, tN _ ^ + T (t) ____, t ^ as a weighted sum of the following sizes: n> k S ^ Y (tN) = ™ Υ (ΐΝ-ι + * χΤ (tN.1)) y (tN.1 + (in) xT (tN.1)> i = 0 15 k Sqy (tN) = 2 y ^ N-1 + * x T (t ^ _ ^)) u (t ^ _ ^ + (in) xT (^ _ · |)) i = 0 sY (V = Σ V (tN-1 ** T (tN-1)) 20 i = 0 In the above equations, y is the return value (R value), i is the index in the sums, x is the multiplication sign, n is the number of T, u is the control signal or control signal value, and S is the correlation between 25 u and y at a particular n .
Formlerne vedrører korrelationerne mellem forskellige tilbageføringsværdier ved forskellige værdier af n.The formulas relate to the correlations between different feedback values at different values of n.
Adaptionsanordningen 6 i fig. 2 udføres som en selvindstillende regulator med samme beregningsmetodik som i den adaptive regulator 30 (3,5) i fig. 2, kun med den forskel at z(t^) betragtes som "målevær di" og T(tN) (tasttiden til tidspunktet t^) som "styreværdi".The adapter 6 of FIG. 2 is performed as a self-adjusting controller with the same calculation method as in the adaptive controller 30 (3,5) of FIG. 2, only with the difference that z (t ^) is considered "measurement value di" and T (tN) (key time to time t ^) is "control value".
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE7802097A SE442921B (en) | 1978-02-23 | 1978-02-23 | SELF-ADJUSTING REGULATOR |
| SE7802097 | 1978-02-23 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| DK68679A DK68679A (en) | 1979-08-24 |
| DK148853B true DK148853B (en) | 1985-10-28 |
| DK148853C DK148853C (en) | 1986-04-21 |
Family
ID=20334083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK68679A DK148853C (en) | 1978-02-23 | 1979-02-16 | SELF-ADJUSTING REGULATOR |
Country Status (7)
| Country | Link |
|---|---|
| CA (1) | CA1142590A (en) |
| DE (1) | DE2905525A1 (en) |
| DK (1) | DK148853C (en) |
| FI (1) | FI72215C (en) |
| GB (1) | GB2015771B (en) |
| NO (1) | NO156345C (en) |
| SE (1) | SE442921B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57199004A (en) * | 1981-06-01 | 1982-12-06 | Toshiba Corp | Sample value adaptive process controller |
| US4492336A (en) * | 1982-03-17 | 1985-01-08 | Matsushita Electric Industrial Co., Ltd. | Cooker with heating control system |
| DE3921158A1 (en) * | 1989-06-28 | 1991-01-10 | Pintsch Bamag Ag | Automatic double-panel door opening and closure drive - has constant closing force with set-point control such that obstruction reduces armature current and torque |
| DE19516627A1 (en) * | 1995-05-05 | 1996-11-07 | Ranco Inc | Method and device for controlling a process |
| DE19519378B4 (en) * | 1995-05-26 | 2011-06-30 | Bayerische Motoren Werke Aktiengesellschaft, 80809 | Cooling system with electrically adjustable actuator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2335788C2 (en) * | 1972-07-21 | 1987-02-26 | ASEA AB, Västerås | Self-adjusting regulator |
-
1978
- 1978-02-23 SE SE7802097A patent/SE442921B/en not_active IP Right Cessation
-
1979
- 1979-02-14 DE DE19792905525 patent/DE2905525A1/en active Granted
- 1979-02-16 DK DK68679A patent/DK148853C/en not_active IP Right Cessation
- 1979-02-20 FI FI790565A patent/FI72215C/en not_active IP Right Cessation
- 1979-02-21 NO NO790576A patent/NO156345C/en unknown
- 1979-02-22 GB GB7906252A patent/GB2015771B/en not_active Expired
- 1979-02-22 CA CA000322167A patent/CA1142590A/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| GB2015771B (en) | 1982-08-18 |
| CA1142590A (en) | 1983-03-08 |
| DE2905525C2 (en) | 1991-02-28 |
| SE7802097L (en) | 1979-08-24 |
| NO790576L (en) | 1979-08-24 |
| GB2015771A (en) | 1979-09-12 |
| NO156345C (en) | 1987-09-02 |
| NO156345B (en) | 1987-05-25 |
| DK68679A (en) | 1979-08-24 |
| SE442921B (en) | 1986-02-03 |
| DE2905525A1 (en) | 1979-09-06 |
| FI72215C (en) | 1987-04-13 |
| FI790565A (en) | 1979-08-24 |
| FI72215B (en) | 1986-12-31 |
| DK148853C (en) | 1986-04-21 |
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