GB2220508A - Two-state object control system - Google Patents
Two-state object control system Download PDFInfo
- Publication number
- GB2220508A GB2220508A GB8914152A GB8914152A GB2220508A GB 2220508 A GB2220508 A GB 2220508A GB 8914152 A GB8914152 A GB 8914152A GB 8914152 A GB8914152 A GB 8914152A GB 2220508 A GB2220508 A GB 2220508A
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- GB
- United Kingdom
- Prior art keywords
- input
- output
- signal generator
- analogue
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
Abstract
A two-state object control system comprises a comparator unit (1), a master analogue signal generator unit (7), a proportional and floating controller (16), and an analogue to pulse train converter (19) whose output is connected to the input of a controlled object (5). Two outputs of controlled object (5) drive corresponding inputs (11, 12) of master analogue signal generator unit (7) with one input (11) being interconnected with one input (2) of comparator unit (1). The other input (3) of comparator unit (1) is connected to the output (6) of signal generator unit (7). A reference signal unit (9) is also connected to the signal generator unit (7). <IMAGE>
Description
TWO-STATE OBJECT CONTROL SYSTEM
The invention relates to the field of automatic control and, in particular, to two-state object control systems.
The invention can be successfully used in process control systems when the process to be controlled features variable parameters, e.g. in well drilling rig control systems.
The invention resides in that the two-state object control system, comprising a comparator unit with one input thereof connected to the controlled object's output, a reference signal setup unit electrically connected to the comparator unit, and a proportional and floating controller with the input thereof connected to the comparator unit output and the output thereof electrically connected to the controlled object, further comprises a master analogue signal generator with one input thereof interconnected with the comparator unit input and connected to the output of the controlled object, with the other input thereof connected to yet another output of the controlled object, and with yet another input thereof connected to the output of the reference signal setup unit, with the master analogue signal generator output connected to yet another input of the comparator unit, and an analogue signal to pulse train converter unit with the input thereof connected to the output of the proportional and floating controller and with the output thereof connected to the input of the controlled object.
It is expedient that in the two-state object control system the master analogue signal generator comprises electrically connected in series error signal generator, multiplier and proportional and floating controller, and a correction signal generator to control the adjustment coefficients of the proportional and floating controller, with two inputs thereof interconnected to one input of the error signal generator and with the two outputs thereof connected, respectively, to yet the other inputs of the error signal generator and of the multiplier.
It is desirable that in the two-state object control system the error signal generator in the master analogue signal generator comprise electrically connected in series adder and comparator unit.
It is reasonable to design the two-state object control system with the correction signal generator controlling the adjustment coefficients of the proportional and floating controller comprising electrically connected in series maximal signal detector, comparator unit and divider.
It is also expedient to design the two-state object control system with the maximal signal detector in the correction signal generator controlling the ad just- ment coefficients of the proportional and floating controller comprising a comparator unit with the output thereof driving a signal amplifier and a diode with the anode thereof connected to the signal amplifier output, an integrator with the input thereof connected to the diode cathode and with the output thereof connected to yet another input of the adder, and a key connected in parallel to the diode.
It is also desirable that in the two-state object control system the analogue to pulse train converter comprises an analogue signal generator and a pulse generator, with the inputs thereof interconnected to constitute the analogue to pulse train converter input, and an adder with the inputs thereof connected to the appropriate outputs of the analogue signal generator and of the pulse generator, respectively.
It is also reasonable to design the two-state object control system with the analogue signal generator in the analogue to pulse train converter comprising two pulse shaping circuits responding to the limiting values of the signal level with the inputs thereof interconnected, an adder with each input thereof connected to the output of the corresponding pulse shaper circuit, and an integrator with the input thereof connected to the adder output.
It is feasible to design the two-state object control system with each of the pulse shaping circuits in the analogue signal generator comprising electrically connected in series reference signal setup unit, a null detector with other input thereof constituting the input of the pulse shaper circuit responding to the limiting values of the signal level, and a uni-vibrator.
It is further expedient that the two-state object control system be designed with the pulse generator comprising electrically connected to each other integrator and bipolar relay element with the input and output thereof connected, respectively, to the output and input of the controller, the other input whereof constitutes the pulse generator unit input.
It is further desirable that in the two-state object control system the control unit of the pulse generator unit be comprised of two diodes with the cathode of one diode connected to the anode of the other diode to constitute the control unit input, and electrically connected in series multiplier and adder, with the inputs of each connected, respectively, to the anode and cathode of the corresponding diode.
This invention provides maintenance of changes in two output coordinates of the controlled object within specified limits, thus expanding the functional capabilities of the two-state control system.
Furthermore, this invention provides control of an object with non-stationary hysteresis characteristics, this improving the accurscy of object control.
Moreover, this invention provides-control of objects of complex design, this further expanding the applicability of the two-state control system.
In the following the invention is described in greater detail with reference to embodiments thereof and to accompanying drawings, wherein:
Fig. 1 shows the skeleton diagram of the two-state object control system, according to the invention;
Fig. 2 shows the skeleton diagram of the master analogue signal generator unit of the two-state object control system, according to the invention;
Fig. 3 shows the skeleton diagram of the error signal generator in master analogue signal generator unit shown in Fig. 2, according to the invention;
Fig. 4 shows the skeleton diagram of the correction signal generator to control the adjustment coefficients of the proportional and floating controller in the master analogue signal generator shown in Fig. 2, according to the invention; ;
Fig. 5 shows the functional diagram of the maximal signal detector of the correction signal generator shown in Fig. 4, according to the invention;
Fig. 6 shows the skeleton diagram of the analogue to pulse train converter unit in the two-state object control system shown in Fig. 1, according to the invention;
Fig. 7 shows the skeleton diagram of the analogue signal generator in the analogue to pulse train converter unit shown in Fig. 6, according to the invention;
Fig. 8 shows the skeleton diagram of each pulse shaping circuit responding to the limiting values of the signal level in the analogue signal generator shown in Fig. 7, according to the invention;
Fig. 9 shows the skeleton diagram of the pulse generator in the analogue to pulse train converter unit shown in Fig. 6, according to the invention;;
Fig. 10 shows the functional diagram of the control unit in the pulse generator shown in Fig. 9, according to the invention.
The two-state object control system comprises comparator unit 1 (Fig. 1)with inputs 2, 3 thereof connected, respectively, to output 4 of controlled object 5 and to output 6 of master analogue signal generator unit 7. Input 8 of generator unit 7 is connected to output 10 of reference signal setup unit 9. Input 11 of generator 7 is interconnected with input 2 of comparator unit 1 and is connected to output 4 of controlled object 5, while input 12 of generator unit 7 is connected to output 13 of controlled object 5. Inputs 12, 14 of generator unit 7 and input 2 of comparator unit 1 constitute the inputs of the two-state object control system.Output 15 of comparator 1 drives input 17 of proportional and floating controller 16, the output 18 whereof is connected to analogue to pulse train converter 19, the output 18 thereof connected to input 22 of controlled object 5 and constituting the output of the two-state object control system.
Master analogue signal generator unit 7 comprises error signal generator 23 (Fig. 2) with one input thereof constituting input 8 of generator unit 7 (Fig. 1).
Output 24 of error signal generator 23 (Fig. 2) drives input 26 of multiplier 25 with the output 27 thereof connected to input 29 of proportional and floating controller 28. Inputs 30, 31 of error signal generator 23 and multiplier 25 receive the signals from outputs 33, 34, respectively, of correction signal generator 32, the output signals whereof control the adjustment coefficients of proportional and floating con-troller 28.
The other two inputs 35, 36 of correction signal generator 32 are interconnected and connected to yet another input 37 of error signal generator 23 to constitute input 12 of master analogue signal generator 7 (Fig. 1).
Error signal generator unit 23 (Fig. 3) comprises adder 39 with inputs thereof constituting inputs 8 and 37 of error signal generator unit 7 (Fig. 2) and with output 40 thereof (Fig. 3) connected to input 42 of comparator 41, the other input whereof constitutes input 30 of error signal generator 23 (Fig. 2).
Correction signal generator 32 (Fig. 4) generates signals to control the adjustment coefficients of proportional and floating controller 28 and comprises maximal signal detector 43 with output thereof constituting output 33 of correction signal generator 32 (Fig. 2) and driving input 45 of comparator 44 (Fig. 4), the output 46 whereof is connected to input 48 of divider 47.
The other inputs of comparator 44 and divider 47 constitute inputs 35 and 11 of correction signal generator 32 (Fig. 2).
Maximal signal detector 43 (Fig. 4) comprises comparator 49 with one input thereof constituting input 36 of detector 43 (Fig. 4) and with output 50 thereof driving input 52 of amplifier 51, the output 53 whereof is connected to diode 55 anode 54 and to one lead 56 of key 57 at common point 58. Diode 55 cathode 59 is interconnected with other lead 60 of key 57 into common point 61 and connected to input 63 of integrator 62.
Integrator 62 output constitutes output 33 of maximal signal detector 43 (Fig. 4) and is connected to the other input 64 of comparator 49 (Fig. 5).
Analogue to pulse train converter 19 (Fig. 1) comprises analogue signal generator 65 (Fig. 6) and pulse generator 66 with inputs 67 and 68 interconnected into a common point 69 to constitute input 20 of converter 19 (Fig. 1). Adder 72 inputs 73, 74 are driven from outputs 70, 71 of generators 65, 65, respectively (Fig. 6).
Analogue signal generator 65 comprises two pulse shaping circuits 75, 76 (Fig. 7) responding to limiting signal levels, with inputs 77, 78 thereof interconnected into common point 79 and constituting input 67 of analogue signal generator 65 (Fig. 6). Outputs 80, 81 of pulse shaping circuits 75, 76 drive inputs 83, 84, respectively, of adder 82 with the output 85 thereof connected to input 87 df integrator 86.
Each of pulse shaping circuits 75, 76 comprises reference signal setup 88 (Fig. 8) with the output 89 thereof driving null detector 90 input 91, the other input whereof constitutes input 77 (78) of pulse shaper circuit 75 (76). Null detector 90 output 92 (Fig. 8) drives input 94 of uni-vibrator 93.
Pulse generator 66 (Fig. 6) comprises integrator 95 with input 96 thereof connected to input 98 of control unit 97 constituting input 68 of pulse generator 66 (Fig. 6). Integrator 95 output 99 (Fig. 9) drives input 101 of bipolar relay element 100, the output thereof constituting output 71 of pulse generator 66 (Fig. 6) output 71 and connected to other input 102 of control unit 97 (Fig. 9).
Control unit 97 comprises diodes 103, 104 (Fig.10) with cathode 105 and anode 106, respectively, thereof interconnected into common point 107 to constitute input 102 of control unit 97 (Fig. 9). Diode 103 anode 108 (Fig. 10) is connected to multiplier 109 input 110, the other input whereof constitutes input 68 of control unit 97 (Fig. 9). Diode 104 cathode 111 (Fig. 10) is connected to input 113 of adder 112, the other input 114 whereof is connected to output 115 of multipli e-109.
Operation of the two-state object control system will be described for the case, when the controlled object is the drill string of a drilling rig (not shown in the Figure) with a brake of its winch.
Prior to operation, the two-state system is armed to its working state by a signal applied to input 14 of master analogue signal generator 7 (Fig. 1). At the initial moment of time a maximal signal corresponding to the drill string weight is passed from output 13 of controlled object 5 to input 12 of master analogue generator 7, wherein it is stored; at the same time a signal from reference signal setup unit 9 is applied to its input 8. During the time the drill string is in the well signals corresponding to the changing weight of the drill string (as a result of load on drilling bit) are continuously passed from controlled object 5 output 13 to master analogue signal generator 7 input 12. Simultaneously a signal proportional to the winch drum rotation speed is applied to master analogue signal generator 7 input 11. Using these data, master analogue signal generator 7 shapes a master analogue signal to be passed from its output 6 to comparator 1 input 3.
At the same time input 2 of comparator 1 receives a signal proportional to the current value of the winch drum rotation speed. Comparator unit 1 compares the two input signals and the result is passed from its output 15 to input 17 of proportional and floating controller 16. Actually, this signal is the error signal, i.e. is proportional to the deviation of winch speed from the value specified for the given moment of time. After processing in controller 16 it is passed from controller 16 output 18 to input 20 of analogue to pulse train converter 19, wherein a pulse train of a duty factor dependent on the signal at input 21 is generated. Pulses in this train are of constant duration and are superimposed onto analogue signals of a polarity determined by the error signal at input 22 of controlled object 5.
Master analogue signal generator unit 7 (Fig. 1) functions as follows.
Error signal generator 23 (Fig. 2) generates an error signal at its output 24 in accordance to signals arriving at its inputs 8, 30 and 37; this output signal is applied to input 26 of multiplier 25, the other input 31 whereof receives the signal from output 34 of correction signal generator 32 for correction of proportional and floating controller 28 adjustment coefficients, this signal generated in accordance to signals arriving at inputs 11, 35 and 36 of correction signal generator 32. The output signal of multiplier 25 is the product of its input signals and is passed from its output 27 to input 29 of proportional and floating controller 28.
Error signal generator 23 and correction signal generator 32 function as follows. The signal at adder 39 input 37 represents the drill string weight at the current moment of time and is summed up with the signal arriving at its input 8 from reference signal setup unit 9 (Fig. 1). The sum signal generated at output 40 and passed to input 42 of comparator 41 for comparison with the signal at the other input 30 representing the maximal drill string weight. The error signal generated at output 24 of comparator 41 is then passed to multi plier 25 input 26 (Fig. 2).
The signal arriving at input 36 of maximal signal detector 43 (Fig. 7) represents the maximum weight of the drill string at the initial moment of time; this signal is stored and continuously generated at its output 33 and also at comparator 44 input 45. The second input 35 of comparator 44 receives signals proportional to the weight of the drill string in subsequent moments of time which are compared to the maximal signal and the result generated at output 46 to be passed to divider 47 input 48. A signal from output 4 of controlled object 5 proportional to the winch drum rotation speed at the current moment of time is applied to other input 11 of divider 47 (Fig. 4).The output signal of correction signal generator 32 (Fig. 2) is the correction signal controlling the adjustment coefficients of proportional and floating controller 28 and is the quotient of signals at divider 47 inputs, generated at its output 34 to be passed to multiplier 25 input 31.
Maximal signal detector 43 functions as follows.
Input 36 of comparator 49 (Fig. 5) receives the signal proportional to the maximum weight of the drill string at the initial moment of time and this signal is passed from comparator 49 output 50 to amplifier 51 input 52. The amplifier signal from the output 53 of amplifier 51 is applied to integrator 62 input 63 via normally enabled diode 55. The integrated signal from integrator output 33 is passed to other input 64 of com parator 49 and also to input 30 of error signal generator 23 (Fig. 2).
To arm the system for operation (at zero input signals) and to exclude errors at the system start, key 57 is closed by a signal applied to input 14 of master analogue signal generator 7, this zeroing the output signal of integrator 62 which constitutes the output signal of maximal signal detector 43 (Fig. 4).
With the start of system operation key 57 (Fig. 5) is opened.
The signal processed by proportional and floating controller 28 (Fig. 2) from its output 6, constituting the output of master analogue signal generator 7, is applied to input 3 of comparator unit 1 (Fig. 1).
AnaloguesE m12 pBB train converter 19 (Fig. 1) functions as follows.
The signal arriving at its input 20 is passed simultaneously to inputs 67, 68 (Fig. 6) of analogue signal generator 65 and pulse signal generator 66, respectively, with the signal applied to input 67 simultaneously at inputs 77, 78 of pulse shaper circuits 75, 76, respectively (Fig. 7), which respond to the limiting values of the signal level. Each of these pulse shaper circuits 75, 76 features a reference signal setup circuit 88 and a null detector 90 preadjusted to the upper and lower limiting values of the signal level.
Thus, the signals arriving at inputs 77, 78 are compared to either the upper or the lower limiting levels of the reference signal in the corresponding null detector 90. The resulting signals of comparison in null detectors 90 of both pulse shaper circuits 75, 76 are passed to inputs 94 of corresponding uni-vibrators 93. If the input signal level falls into the range between the upper and lower limiting values of the reference signal, uni-vibrators 93 generate no signal at their outputs 80, 81, so that there will be no signal at inputs 83, 84 of adder 82. In case the input signal is equal to the upper or lower limiting value of the reference signal, the corresponding uni-vibrator 93 in pulse shaper circuit 75 (76) will generate a pulse of specified duration, passed to input 83 (84) of adder 82.This output pulse is passed from adder 82 output 85 to integrator 86 and then to input 73 of adder 72 (Fig. 6).
Pulse signal generator 66 functions as follows.
A signal arrives at input 68 of multiplier 109 in control unit 97 (Figs 9, 10). Simultaneously, depending on the preceeding state of relay element 100, a signal, e.g. a negative signal, from its output 102 is passed to. the other input 110 of amplifier 109. The positive signal at input 68 is multiplied by the negative signal at input 110, so that a negative signal is generated at multiplier 109 output 115. At this moment of time input 113 of adder 112 will be under a zero signal and, therefore, the negative signal from multiplier 109 output 115 will be passed to adder 112 output 98. This negative signal then arrives at input 96 of integrator 95 and after integratiDn is applied to input 101 of bipolr relay element 100. Relay element 100 is tripped from negative polarity to positive and a positive signal from its output is passed via diode 104 to input 113 of adder 112.Thus, input 110 of multiplier 139 will receive a zero signal and cDnsequently a zero signal will be generated at its output 115, and a positive signal will be generated at adder 112 output 93 due to the rival of a positive signal from the output of bipolar relay element 130. In a similar manner a positive signal is passed by integrator 95 to relay element 100 to trip this element to a negative polarity, after which the sequence is repeated.In this way, tripping bipolar relay element from negative to positive polarity and vice versa in pulse signal generator o6 produces positive and negative pulses of equal duration to be passed from output 71 of pulse signal generator so to input 74 of adder 72, the other input 73 whereof, as described earlier, receives analogue signals from 3analogue signal generator 65. Summation of these signals in adder 72 results in a pulse train at output 21 of analogue to pulse train converter 19 (Fig. 1) that is applied to input 22 of controlled object 5.
Thus, according tD this invention, the load on the drill bit is regulated with a high accuracy and consequently the speed of the drill string running into the well is automatically maintained within prescribed limits, this considerably improving the productivity and facilitating operation of the drill rig.
Claims (11)
1. A two-state object control system, comprising a master analogue signal generator unit with one input thereof connected to the output of the controlled object; a reference signal setup unit with the output thereof connected to the other input of master analogue signal generator unit; a comparator unit with one input thereof interconnected with yet another input and with the other input thereof connected to the output of the master analogue signal generator; a proportional and floating controller with the input thereof connected to the output of the comparator unit; and analogue signal to pulse train converter with the input thereof connected to the output of the proportional and floating controller and with the output thereof connected to the input of the controlled object.
2. The two-state object control system as substantially set forth in Claim 1, wherein the master analogue signal generator unit comprises electrically connected in series error signal generator, multiplier and proportional and floating controller, and correction signal generator to control the adjustment coefficients of the proportional and floating controller, two inputs whereof are interconnected with yet another input of the error signal generator and two inputs whereof are connected, respectively, to yet other inputs of error signal generator and of the multiplier.
3. The two-state object control system as substan tially set forth in Claim 2, wherein the error signal generator in the master analogue signal generator unit comprises electrically connected in series adder and comparator.
4. The two-state object control system as sunstantially set forth in Claim 2 or 3, wherein the correction signal generator to control the adjustment coefficients of the proportional and floating controller in the master analogue signal generator unit comprises electrically connected in series maximal signal detector, comparator and divider.
5. The two-state object control system as substantially set forth in Claim 4, wherein the maximal signal detector in the correction signal generator comprises an adder with the output thereof connected to a signal amplifier, a diode with the anode thereof connected to the output of the signal amplifier, an integrator with the input thereof connected to the diode cathode and with the output thereof connected to yet another input of the adder, and a key connected in parallel to the diode.
6. The two-state object control system as substantially set forth in Claim 1 or 2, wherein the analogue signal to.pulse train converter comprises a pulse gene ratoreS azanalogue signal generator with the inputs thereof interconnected and constituting the input of the analogue to pulse train converter, an adder with the inputs thereof connected, respectively, to the outputs of the pulse generator and of the analogue signal generator.
7. The two-state object control system as substantially set forth in Claim 6, wherein the analogue signal generator of the analogue to pulse train converter comprises two pulse shaping circuits responsive to limiting values of the signal level, the inputs whereof are interconnected, an adder with each input thereof connected to a respective output of the pulse shaping circuits responsive to the limiting values of the signal level, and an integrator with the input thereof connected to the adder output.
8. The two-state object control system as substantially set forth in Claim 7, wherein each of the pulse shaping circuits responsive to the limiting values of the signal level in the analogue signal generator comprises electrically connected in series reference signal setup unit, null detector with the other input thereof constituting the input of the pulse shaping circuit, and an uni-vibrator.
9. The two-state object control system as substantially set forth in Claim 6 or 7, wherein the pulse generator in the analogue to pulse train converter comprises electrically connected integrator and bipolar relay element, with input and output thereof connected, respectively, to the output and input of the control unit, with the other input thereof constituting the input of the pulse generator.
10. The two-state object control system as substantially set forth in Claim 9, wherein the control unit in the pulse generator comprises two diodes, with the cathode of one connected to the anode of the other to constitute one input of the control unit, and electrically connected in series multiplier and adder with inputs of each connected to the anode and to the cathode of its respective diode.
11. The two-state object control system as substantially set forth in any one of the preceeding Claims and as described herein with reference to the accompanying drawings.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SU884455786A SU1702339A1 (en) | 1988-07-07 | 1988-07-07 | Binary control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB8914152D0 GB8914152D0 (en) | 1989-08-09 |
| GB2220508A true GB2220508A (en) | 1990-01-10 |
Family
ID=21387768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB8914152A Withdrawn GB2220508A (en) | 1988-07-07 | 1989-06-20 | Two-state object control system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPH0259802A (en) |
| GB (1) | GB2220508A (en) |
| SU (1) | SU1702339A1 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3979654A (en) * | 1974-05-13 | 1976-09-07 | Honeywell Inc. | Process control system using a two wire remote control system |
| US3980939A (en) * | 1974-05-13 | 1976-09-14 | Honeywell Inc. | Process control system using a two wire remote control system |
-
1988
- 1988-07-07 SU SU884455786A patent/SU1702339A1/en active
-
1989
- 1989-06-20 GB GB8914152A patent/GB2220508A/en not_active Withdrawn
- 1989-07-06 JP JP17314889A patent/JPH0259802A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3979654A (en) * | 1974-05-13 | 1976-09-07 | Honeywell Inc. | Process control system using a two wire remote control system |
| US3980939A (en) * | 1974-05-13 | 1976-09-14 | Honeywell Inc. | Process control system using a two wire remote control system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0259802A (en) | 1990-02-28 |
| GB8914152D0 (en) | 1989-08-09 |
| SU1702339A1 (en) | 1991-12-30 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |