RU2006921C1 - Redundant relay regulator - Google Patents

Abstract

FIELD: computer engineering. SUBSTANCE: device has n channels 1-3. Each channel has comparison gate 4, relay element 5, shaper 6, majority element 7, absolute value calculation unit 8, switches 9, 12, delay gate 10, OR gate 11, time lag unit 13, bus 14 for transmission of signal of control device turn-on. EFFECT: simplified design. 2 dwg

Description

 The invention relates to techniques for automatic control, in particular to a technique for generating a control signal in redundant systems.

 The purpose of the invention is to improve the accuracy and reliability of the formation of the output signal.

 In FIG. 1 is a diagram of a redundant relay controller, where 1, 2, and 3 are the first, second, and nth control channels, respectively; in FIG. 2 is a diagram of a control system using the proposed relay controller.

 In each control channel, a comparison element 4, a relay element 5, a shaper 6 with a delay for switching off, a majority element 7, a module allocation unit 8, a delay element 10, an OR 11 element, a key 12, an inertial feedback link 13 and a subtracting element input are connected in series 4 comparisons. The output of the relay element 5 is connected to the signal input of the key 12, the second input of the OR element 11 is connected to the output of the key 9, the signal input of which is connected to the output of the module allocation unit 8, and the control input is connected to the bus 14 of the signal of the actual switching on of the actuator. The output of the shaper 6 of each channel is connected to the corresponding input of the majority elements of the remaining n-1 channels.

 In FIG. The 2 outputs of the redundant relay controller 15 are connected to the corresponding inputs of the executive bodies 16 with a delay on switching on, controlling the object 15, the signals from the sensors of the adjustable coordinate of which are connected to the corresponding inputs of the redundant relay controller, the bus of the signal of the actual switching on of the executive bodies of which are connected to the corresponding outputs of the executive bodies 16 .

 The regulator operates as follows.

Let the output of the relay controller 15 receives signals of an adjustable coordinate X _i (i = 1,2, ..., n). In redundant systems, the signals X _i characterize the adjustable coordinate X of the control object, and with the correct operation of the sensors of the adjustable coordinate (there are no sensor failures) the signals X _i = X _j (j = 1,2, ..., n, i ≠ j). Let the signals X _i increase from zero. When X _i > 0, the relay element 5 is activated in the corresponding channel and its output signal U _1i = 1 (it is believed that "1" corresponds to the high potential of the output signal). The output signal U _{2i of the} shaper 6 with a delay on off is also equal to unity. This signal is fed to the corresponding input of the majority element 7 of each channel. If the number of triggered relay elements is 5 r≥ (n + 1) / 2, then the output signal U _{i of the} majority element of each channel in accordance with its logic of operation is also equal to unity. The output signal U _{Mi of the} module allocation unit 8 of each channel U _Mi = 1. This signal is input to the key 9 and the delay element 10 with a delay time of τ ₃ .

In relay control systems, the executive bodies, after supplying them with a control signal U _i = 1, form a control action U (Fig. 2) with a delay of τ _u . Moreover, 0 ≅τ _u <τ _o , where τ _o is the maximum possible delay. Simultaneously with the control action, a signal D _i = 1 of the actual switching on of the executive body is formed. This signal is fed to bus 14.

The keys 9 are _opened and their output signals U _ki = 1 pass through the OR element 11, the keys 12 are opened in the corresponding channels and in the circuit the comparison element 4 — relay element 5 — key 12 — inertial feedback link 13 a sliding mode occurs. In other words, the output signal of the relay element 5 is a sequence of positive pulses, the repetition rate of which is determined by the parameters of the signal X _i , its derivative and the parameters of the inertial feedback link.

If τ _f is the delay time to turn off the shaper 6, then its output signal U _2i is a relay signal, provided that the time t _k between two adjacent pulses of the signal U _1i lies in the range 0≅t _to ≅τ _f , and the pulse signal lasts τ _f provided _to t> τ _f.

The delay τ _{s of the} delay element 10 is selected from the condition τ _s ≥ τ _o . In this case, with the correct operation of the executive bodies (no failure), the beginning of the sliding mode (the beginning of the formation of the duration of the output signal U _i ) is determined by the moment the signal D _i = 1 appears.

Thus, the formation of the output signal U _{i is} performed after r is activated from n relay elements 5, and the duration of this signal is counted from the moment the signals D _i = 1 of the actual switching on of the actuators appear and is determined by the parameters of the relay controller (time constant of the inertial feedback link, the delay by off shaper 6 and the nature of the change in the input signals X _i ).

The circuit works similarly when the input signals X _i <0. In this case, when X = -h, the relay element 5 is activated and its output signal U _1i = -1 passes through the shaper 6 with an off delay, the output signal of which U _2i = - 1 goes to the input of the majority elements 7. After triggering z from n relay elements 5, the output signal of the majority elements is U _i = -1, and the element 8 of module selection is U _Mi = 1. Further, the operation of the circuit is similar to that described above.

 A diagram of a control system using the proposed redundant relay controller is shown in FIG. 2.

When controlling a dynamic object, the majority of the process time is spent in steady state control, which is characterized by the formation of a control signal U _{i of} duration t _and commensurate with the delay time τ _o . If, for example, t _and = 0.4 s, τ _o = 0.1 s, τ _f = 0.3 s (τ _f = t _and -τ _o ), then the error δ of the formation of the actual signal for switching on the executive bodies is 25% for the prototype device and 0% for the proposed controller. Thus, in the proposed relay controller increases the accuracy of the formation of the output signal. (56) Copyright certificate of the USSR N 537347, cl. G 06 F 11/00, G 05 B 6/02, 1974.

Claims (1)

 A RESERVED RELAY REGULATOR containing n channels, each of which contains a comparison element, the summing input of which is the input of a redundant relay controller, and the output through a series-connected relay element and a former with a delay on shutdown is connected to the corresponding input of the majority element of its channel and to the corresponding inputs of the majority elements of the remaining channels, the inertial link, the output of which is connected to the subtracting input of the comparison element of its channel, distinguishing In order to increase the accuracy and reliability of generating the output signal, a module allocation unit, a delay element, two keys and an OR element are additionally introduced into each channel, while in each channel the output of the majority element, which is the corresponding output of the controller, is connected to the input a module allocation unit, the output of which is connected through the first key to the first, and through the delay element to the second inputs of the OR element, the output of which is connected to the control input of the second key, through which the output of the relay element is connected inen with an inertial link input, the control input of the first key is connected to the bus for supplying the enable signal of the actuator.

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