RU2038630C1 - Multivariant identifier - Google Patents

Abstract

FIELD: automatic control technique, namely automatic control systems for objects with variable parameters. SUBSTANCE: apparatus has three sensors, three amplitude-pulse modulators, three subtraction units, three setters, a unit for calculating first variant corrections, two adders, eight memory units, two units for calculating second variant corrections, two scaling units. EFFECT: enhanced quality of correction factors, being adapted. 1 cl, 6 dwg

Description

 The invention relates to techniques for automatic control and regulation and can be used in automatic control systems for objects with variable parameters.

 The purpose of the invention is to improve the quality of adaptable coefficients by fulfilling the requirements for the smoothness of coefficient values. This goal is achieved by the fact that in the device for adaptive identification of an object containing a control object, three setters, a first pulse-amplitude modulator, a second subtraction unit and a third memory block, a second pulse-amplitude modulator, a third subtraction block and a fourth block memory, sequentially included the third pulse-amplitude modulator and the fourth subtraction unit, the first and second adders, the first and second memory unit, the fifth and sixth adders, fifth the fifth, sixth and seventh memory blocks, the correction calculation unit of the first embodiment, including the first subtraction unit and the correction calculation calculation unit of the second embodiment, the calculation calculation blocks of the first and second options include the first and fourth functional blocks, each of which consists of two quadrants, the third the adder and the fourth master, the second and fifth functional blocks, each of which consists of two multiplication blocks and the fourth adder, the third and sixth functional blocks, each of which the second consists of a second reduction unit, a first division unit, a first limiter and a first scaling unit, a fourth multiplication unit, a second division unit, a second limiter and a second scaling unit connected in series, the second inputs of the second, third and fourth subtraction units are connected to the outputs, respectively the first, second and third adjusters, and the outputs to the first, second and third inputs of the block for calculating the corrections of the first option, the first and second outputs of which connected to the second inputs of the first and second adders respectively, the output of the first adder is connected to the fourth input of the correction unit of the first option, the output of the second adder is connected to the fifth input of the correction unit of the first option, the inputs of the first and second memory blocks are connected to the outputs of the first and second adders and the outputs to the first inputs of the first and second adders, respectively, the outputs of the third and fourth memory blocks are connected respectively to the first and second inputs of the block the calculation of the corrections of the second variant, the outputs of the fifth and sixth adders are connected respectively to the first and second outputs of the device, the first input of the block for calculating the corrections of the first variant is connected to the first inputs of the first, second and third functional blocks, the second input with the second inputs of the first, second and third functional blocks , the third input with the second input of the first subtraction block, the output of which is connected to the third input of the third functional block, the fourth and fifth inputs of the block for calculating corrections of the first variant are connected respectively to the third and fourth inputs of the second functional block, the first input of the first subtraction block is connected to the output of the second functional block, the fourth input of the third functional block is connected to the second output of the first functional block, the first and second outputs of the third functional block are respectively the first and second the outputs of the block for calculating the corrections of the first option, the first input of the block for calculating the corrections of the second option is connected to the first inputs of the fourth o, of the fifth and sixth functional blocks, the second input with second inputs of the fourth, fifth and sixth functional blocks, the fourth input of the sixth functional block is connected to the second output of the fourth functional block, the first and second inputs of the first and fourth functional blocks are connected respectively with the first and second inputs of the third adder, the first and second inputs of the second and fifth functional blocks are connected to the first inputs of the first and third multiplication blocks, the outputs of which are connected respectively with the first and second inputs of the fourth adder, the output of which is the output of the second and fifth functional blocks, the second inputs of the first and third multiplication blocks are the third and fourth inputs of the second and fifth functional blocks, the first and second inputs of the third and sixth functional blocks connected to the first inputs of the second and fourth multiplication blocks, respectively, the second inputs of which are connected to the third input of the third and sixth functional blocks, even the fourth input of the third and sixth functional blocks is connected to the second inputs of the first and third division blocks, the outputs of the first and second scaling blocks are connected to the second inputs of the first and third division blocks, the outputs of the first and second scaling blocks are the first and second outputs of the third and sixth functional blocks , introduced three sensors, the eighth, ninth, tenth, eleventh and twelfth memory blocks, the third and fourth scaling blocks, in the block for calculating the corrections of the second wa In the fifth, sixth, seventh and eighth blocks of subtraction, in the first and fourth functional blocks are the fifth multiplication block, the seventh adder and the fifth master, the inputs of the ninth and tenth memory blocks are connected to the outputs of the first and second memory blocks, and the outputs, respectively, of the third and fourth the inputs of the correction calculation unit of the second option, the first and second outputs of which are connected to the first inputs of the fifth and sixth adders, respectively, the second inputs of the fifth and sixth adders are connected to the outputs but the eleventh and twelfth memory blocks, the inputs of which are connected to the outputs of the first and second adders respectively, the outputs of the eleventh and twelfth memory blocks are the third and fourth outputs of the identifier respectively, the outputs of the fifth and sixth adders are connected to the inputs of the sixth and seventh memory blocks respectively, the inputs of the fifth and the eighth memory blocks are connected to the outputs of the sixth and seventh memory blocks, respectively, and the outputs, respectively, with the seventh and eighth inputs of the calculation unit are correct to the second option, the inputs of the third and fourth scaling blocks are connected to the outputs of the sixth and seventh memory blocks, respectively, and the outputs, respectively, to the fifth and sixth inputs of the corrections calculation block of the second variant, in which the third, fifth and seventh inputs are respectively the first, second, and third inputs the seventh subtraction block, the output of which is connected to the third input of the fifth functional block, the fourth, sixth and eighth inputs of the correction calculation unit of the second variant are connected respectively to the first, second and third inputs of the eighth subtraction block, the output of which is connected to the fourth input of the fifth functional block, the first inputs of the fifth and sixth subtraction blocks in the correction calculation block of the second variant are connected respectively to the first and second outputs of the sixth functional block, the third input of which is connected to the output of the fifth functional block, the second inputs of the fifth and sixth subtraction blocks are connected to the outputs of the seventh and eighth subtraction blocks, respectively, and the outputs of the fifth and sixth blocks of subtraction they are, respectively, the first and second outputs of the correction calculation unit of the second embodiment, the fifth input of the sixth functional block is connected to the first output of the fourth functional block, the fifth input of the third functional block is connected to the first output of the first functional block, in the first and fourth functional blocks the first input of the fifth multiplication block connected to the output of the third adder, the second input of the fifth multiplication block with the output of the fourth master, and the output with the first input of the seventh adder, the second input which is connected to the output of the fifth master, and the output is the second output of the first and fourth functional blocks, the first output of which is connected to the output of the fourth master, the fifth input of the third and sixth functional blocks are connected to the second inputs of the first and second scaling blocks, the first and second inputs of the control object connected to the inputs of the first and second sensors, respectively, and the output to the input of the third sensor, the outputs of the first, second and third sensors are connected to the inputs of the first, second and third pulse-amplitude modulators.

 The introduction of new blocks and relationships makes it possible to improve the quality of adaptable coefficients by fulfilling the requirements for the smoothness of coefficient values. These blocks and relationships are known, but their combination allows you to display a new property, which will lead to an increase in the quality of identification and, therefore, allows us to conclude that the technical solution meets the criterion of "significant differences".

In FIG. 1 shows a diagram of a multivariate identifier and the following notation: V ₁ , V _{2 the} first and second input variables of the object; Y is the output variable of the object; ν uncontrolled disturbances acting on the object; k ₁ ^I (i), k ₂ ^I (i) the first version of adaptive coefficients at the i-th step; k ₁ ^II (i), k ₂ ^II (i) is the second variant of adaptable coefficients at the i-th step.

In FIG. 2 shows a diagram of a block for calculating corrections of the first embodiment; in FIG. 3 diagram of the block for calculating the corrections of the second variant and the notation is accepted: v ₁ , v ₂ increments of input variables relative to the average level; y increment of the output variable relative to the average level; Δk ₁ ^I (i), Δk ₂ ^I (i) the first option of adjustments of adaptable coefficients at the i-th step; δk ₁ ^II (i), δ k ₂ ^II (i) the second variant of adjustments of adaptable coefficients at the i-th step; k ₁ ^I (i-1), k ₂ ^I (i-1) the first version of the adaptable coefficients at the (i-1) th step; 2k ₁ ^II (i-1), 2k ₂ ^II (i-1) the second version of the adaptable coefficients at the (i-1) th step; k ₁ ^II (i-2), k ₂ ^II (i-2) is the second variant of adaptable coefficients at the (i-2) th step.

 In FIG. 4 shows a diagram of the first and fourth functional blocks; in FIG. 5 is a diagram of the second and fifth functional blocks; FIG. 6 diagram of the third and sixth functional blocks.

 The multivariate identifier contains the control object 1, first 2, second 3 and third 4 sensors, first 5, second 6 and third 7 pulse-width modulators, second 8, third 9 and fourth 10 subtraction blocks, first 11, second 12 and third 13 adjusters , block for calculating 14 corrections of the first option, first 15 and second 16 adders, first 17, second 18, ninth 19, tenth 20, eleventh 21, twelve 22, third 23 and fourth 24 memory blocks, block for calculating 25 corrections of the second option, fifth 26 and eighth 27 memory blocks, third 28 and fourth 29 are scalable blocks, sixth 30 and seventh 31 memory blocks, fifth 32 and sixth 33 adders, second 34, first 35 and third 36 function blocks, first 37 subtraction blocks, first 38 and second 39 squares, third 40 adder, fourth 41 adjuster, fifth block 42 multiplications, seventh 43 adder, fifth 44 master, first 45 and third 46 multiplier blocks, fourth 47 adder, second 48 and fourth 49 multiplier blocks, first 50 and second 51 division blocks, first 52 and second 53 limiters, first 54 and second 55 scaling blocks, seventh 56, eighth 57, fifth 58 and sixth 59 subtraction blocks, four the 60th, fifth 61st and sixth 62th functional blocks.

The input variables V ₁ and V ₂ are sent to object 1, as well as to the first 2 and second 3 sensors, and then to the first 5 and second 6 pulse-amplitude modulators. The output signal of object 1 is fed to the input of the third sensor 4, and then to the third amplitude-pulse modulator 7. The amplitude-pulse modulators perform discrete conversion of the analog input and output signals of object 1, as a result of which sequences of amplitude-modulated pulses V ₁ are obtained at their outputs (i), V ₂ (i) and Y (i) at the i-th time instants.

The output pulses of the amplitude-pulse modulators 5, 6, and 7 are supplied to the first inputs of the second 8, third 9, and fourth 10 blocks of subtraction, respectively, where the pulses of the average values of V ₁ , V _2, and Y coming from the outputs of the first 11, second, respectively, are subtracted 12 and third 13 adjusters. At the outputs of the second 8, third 9 and fourth 10 blocks of subtraction, pulses v ₁ , v ₂ and y are obtained about the deviations of the variables from their average values. Pulses with v ₁ , v ₂ and y are fed to the first, second and third inputs of block 14 for calculating the corrections of the first option.

(1)
y $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ (i)

(2) где Δk_j ^I(i) первый вариант корректировки j-го коэффициента на i-м шаге;
α₁ α₂ показатели, характеризующие соответственно гладкость и точность адаптируемых коэффициентов, выбираемые в процессе наладки идентификатора,
j для данного устройства равна "2", но по аналогии можно сделать устройство и для j > 2.In block 14, the calculation of the corrections of the first option implements the procedure
Δk $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ (i) α ₁

(1)
y $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ (i)

(2) where Δk _j ^I (i) is the first option for adjusting the j-th coefficient at the i-th step;
α ₁ α ₂ indicators characterizing respectively the smoothness and accuracy of the adaptable coefficients, selected in the process of setting up the identifier,
j for this device is "2", but by analogy, you can make a device for j> 2.

(i)

k $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ (i-1)v_j(i) (3) вычитается в первом блоке 37 вычитания из импульса об оценке Y(i) с третьего входа блока 14 расчета корректировок первого варианта и поступает на третий вход третьего функционального блока 36, где во втором блоке 48 умножения умножается на импульс о величине V₁(i) с первого входа третьего функционального блока 36. В результате получается импульс о числителе выражения (2) для первого адаптируемого коэффициента. Этот импульс делится в первом блоке 50 деления на выходной импульс первого функционального блока 35 и поступает на первый ограничитель 52, где реализуется выражение (1), а затем умножается в первом масштабирующем блоке 54 на показатель α₁ с выхода первого функционального блока 35. На выходе третьего функционального блока 36 получается импульс о величине Δk₁ ^I(i), который идет на первый выход блока 14 расчета корректировок первого варианта. Таким же образом с помощью четвертого блока 49 умножителя, второго блока 51 деления, второго ограничителя 53, второго масштабирующего блока 55, входящих в состав третьего функционального блока 36, рассчитывается импульс о величине Δk₂ ^I(i), который идет на второй выход блока 14 расчета корректировок первого варианта.To implement the procedure (1), (2), pulses from the first and second inputs respectively enter the first and second inputs of the first functional block 35 and through the first 38 and second 39, the squares go to the third adder 40, and then to the first input of the fifth multiplication block 42 . The second input of the same multiplication block 42 receives a pulse about the value of the indicator α _{1 of} expression (2) from the output of the fourth master 41. The pulses received in the fifth block 42 of the multiplication are multiplied and in the seventh adder 43 are added with the pulse about the value of the indicator α ₂ received from the output the fifth setter 40. As a result, the output of the seventh adder 43 gives a pulse about the value of the denominator of expression (2), which goes to the second output of the first functional block 35, and the pulse about the value of the index α ₁ , from the output of the fourth setter 41. To obtain the numerator of expression (2), pulses from the first and second inputs of the block 14 for calculating the corrections of the first variant are received respectively at the first and second inputs of the second functional block 34 and the third functional block 36. In the second functional block 34, the pulse from the first input is about V ₁ (i) is multiplied in the first block 45 of the multiplication by a pulse from the fourth input of block 14 for calculating the corrections of the first option for estimating k ₁ ^I (i-1) and fed to the fourth adder 47. Similarly, the pulse from the second input is about evaluating V ₂ (i ) multiplying in a third of the evaluation unit 46 for multiplying a pulse with the fifth input calculation block 14 of the first embodiment adjustments k ₂ ^I (i-1) and supplied to the fourth adder 47. The resultant output pulse of the second functional unit 34 of the model evaluation

(i)

k $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ (i-1) v _j (i) (3) is subtracted in the first block 37 of the subtraction from the pulse on the assessment of Y (i) from the third input of the adjustment calculation unit 14 of the first option and is fed to the third input of the third functional block 36, where in the second block 48 of the multiplication is multiplied by a pulse about the value of V ₁ (i) from the first input of the third functional block 36. As a result, a pulse is obtained about the numerator of expression (2) for the first adaptable coefficient. This pulse is divided in the first division block 50 by the output pulse of the first functional block 35 and fed to the first limiter 52, where expression (1) is realized, and then multiplied in the first scaling block 54 by the exponent α ₁ from the output of the first functional block 35. At the output of the third functional block 36, an impulse is obtained about the value Δk ₁ ^I (i), which goes to the first output of the correction calculation unit 14 of the first embodiment. In the same way, using the fourth block 49 of the multiplier, the second block 51 of division, the second limiter 53, the second scaling block 55, which are part of the third functional block 36, the pulse is calculated on the value Δk ₂ ^I (i), which goes to the second output of block 14 calculating the adjustments of the first option.

The pulse about the value Δk ₁ ^I (i) from the first output of the block 14 for calculating the corrections of the first option is summed in the first adder 15 with the pulse about the estimate k ₁ ^I (i-1) from the first block 17 of the memory and as a result
k ₁ ^I (i) k ₁ ^I (i-1) + Δk ₁ ^I (i) (4) impulse on the value of the first variant of the first coefficient at the i-th step. This pulse arrives at the fourth input of the correction calculation unit 14 of the first embodiment and at the input of the first memory block 17, where the pulse is delayed by a step equal to 1. Similarly, using the second adder 16 and the second memory block 18, the impulse for estimating k ₂ ^I (i )

 To determine the second variant of adaptable coefficients, pulses from the outputs of the second 9 and third 9 blocks of subtraction, as well as from the outputs of the first 17 and second 18 memory blocks are delayed in the third 23 and fourth 24, ninth 19 and tenth 20 memory blocks, respectively, for the time interval necessary for the operation of the scheme for obtaining the first variant of adaptable coefficients, and are fed to the first, second, third and fourth inputs of block 25 for calculating the corrections of the first variant.

(6)
y $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ ^I(i)

(7) где δk_j ^II(i) второй вариант корректировок j-го адаптируемого коэффициента на i-м шаге.In block 25, the calculation of the corrections of the second option implements the procedure
δk _j ^II (i) [2k _j ^II (i-1) k _j ^II (i-2) k _j ^I (i-1)] Δk _j ^II (i), (5)
Δk $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ ^I (i) α ₁

(6)
y $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ ^I (i)

(7) where δk _j ^II (i) is the second version of the corrections of the jth adaptable coefficient at the ith step.

 This procedure allows you to adapt the coefficients in such a way as to fulfill the requirements for the smoothness of the change of the coefficient values themselves.

(i)

2k $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ ^I(i-1)-k $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ ^I(i-2)-k $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ (i-1)

v_j(i) (8) который поступает на третий вход шестого функционального блока 62. Затем выходной импульс об оценке Δ k₁ ^II(i) для первого коэффициента с первого выхода шестого функционального блока 62 подается на первый вход пятого блока 58 вычитания, на второй вход которого приходит импульс о величине [2k₁ ^II(i-1) k₁ ^II(i-2) k₁ ^I(i-1)] с выхода седьмого блока 56 вычитания. Таким образом, в пятом блоке 58 вычитания реализуется процедура (5) и выходной импульс о втором варианте корректировки первого коэффициента δk₁ ^II(i) поступает на первый вход блока 25 расчета корректировок второго варианта. На второй выход блока 25 расчета корректировок второго варианта приходит импульс о величине δ k₂ ^II(i), который формируется аналогично первому коэффициенту в шестом блоке 59 вычитания.To implement the procedures (5), (6) and (7), the fourth 60, fifth 61 and sixth 62 functional blocks were introduced into the block 25 for calculating the corrections of the second option, the device and operation of which are similar to the device and operation of the first 35, second 34, and third 36 functional blocks and discussed above. The only difference is that the third input of the fifth functional block 61 receives a pulse about the value of [2k ₁ ^II (i-1) k ₁ ^II (i-2) k ₁ ^I (i-1)] for the first coefficient, which is formed in the seventh block 56 subtraction. A similar pulse for the second coefficient is generated in the eighth subtraction block 57 and is fed to the fourth input of the fifth functional block 61. As a result, the output of the fifth functional block 61 gives a pulse about the model estimate

(i)

2k $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ ^I (i-1) -k $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ ^I (i-2) -k $\genfrac{}{}{0ex}{}{\text{I}}{\text{j}}$ (i-1)

v _j (i) (8) which is fed to the third input of the sixth functional block 62. Then, the output pulse of the estimate Δ k ₁ ^II (i) for the first coefficient from the first output of the sixth functional block 62 is supplied to the first input of the fifth subtraction block 58, at the second input of which there is an impulse about the value of [2k ₁ ^II (i-1) k ₁ ^II (i-2) k ₁ ^I (i-1)] from the output of the seventh subtraction block 56. Thus, in the fifth block 58 of the subtraction, the procedure (5) is implemented and the output pulse about the second variant of the correction of the first coefficient δk ₁ ^II (i) is supplied to the first input of the block 25 for calculating the corrections of the second variant. The second output of the block 25 for calculating the corrections of the second option receives an impulse about the value of δ k ₂ ^II (i), which is formed similarly to the first coefficient in the sixth block 59 of the subtraction.

Then, the pulse about δk ₁ ^II (i) from the first output of block 25 for calculating the corrections of the second option is summed in the fifth adder 32 with the pulse about k ₁ ^I (i) from the output of the eleventh memory block 21, where it was delayed for the duration of the operation of the circuit of the first option. The result is
k ₁ ^II (i) k ₁ ^I (i) + δ k ₁ ^II (i) (9) impulse on the value of the second variant of the first coefficient at the i-th step.

This pulse is fed to the input of the sixth memory block 30, where it is delayed by a step equal to one, then in the third scaling block 28 it is multiplied by 2 and fed to the fifth input of the correction calculation unit 25 of the second embodiment. In the fifth memory block 26, the pulse from the output of the sixth memory block 30 is delayed by one more clock, and as a result, a pulse about k ₁ ^II (i-2) is obtained, which is fed to the seventh input of the correction calculation unit 26 of the second embodiment.

Similarly, in the sixth adder 33, a pulse is generated about the second version of the second adaptive coefficient k ₂ ^II (i) at the i-th step. In this case, the pulse about k ₁ ^II (i-2), arriving at the second input of the sixth adder 33, is first delayed in the twelfth memory unit 22 for the time required for the operation of the circuit of the first embodiment. The pulses about 2k ₂ ^II (i-1) and k ₂ ^II (i-2), supplied respectively to the sixth and eighth inputs of the block 25 for calculating the corrections of the second option, are formed similarly to the pulses of the first coefficient. For these purposes, the fourth scaling unit 29 is used, as well as the seventh 31 and eighth 27 memory blocks.

The pulses about the first variant of the first k ₁ ^I (i) and second k ₂ ^I (i) adaptable coefficients arrive at the third and fourth outputs of the multivariant identifier, respectively, and the pulses about the second variant of the first k ₁ ^II (i) and second k ₂ ^II (i ) of the coefficients arrive respectively at the first and second outputs of the multivariant identifier.

 By analogy, a larger number of coefficients can be determined for a larger number of options.

Claims (1)

 A MULTI-OPTIONAL IDENTIFIER containing a control object, three controllers, a first pulse-amplitude modulator, a second subtraction unit and a third memory block, a second pulse-amplitude modulator, a third subtraction unit and a fourth memory block, a third pulse-pulse modulator and fourth subtraction unit, first and second adders, first and second memory units, fifth and sixth adders, fifth, sixth and seventh memory units, corrector calculation unit the wok of the first option, including the first subtraction unit, and the calculation unit of the corrections of the second option, the calculation blocks of the corrections of the first and second options include, respectively, the first and fourth functional blocks, each of which consists of two quadrants, a third adder and a fourth master, respectively, the second and fifth functional blocks, each of which consists of two multiplication blocks and a fourth adder, respectively, the third and sixth functional blocks, each of which consists of sequences With respect to the included second multiplication block, the first division block, the first limiter and the first scaling block, the fourth multiplication block, the second division block, the second limiter and the second scaling block in series, the second inputs of the second, third and fourth subtraction blocks are connected to the outputs of the first, second and the third setters, and the outputs to the first, second and third inputs of the block for calculating the corrections of the first option, the first and second outputs of which are connected to the second input m respectively of the first and second adders, the output of the first adder is connected to the fourth input of the correction calculation unit of the first option, the output of the second adder is connected to the fifth input of the correction calculation unit of the first option, the inputs of the first and second memory blocks are connected to the outputs of the first and second adders, and the outputs to the first inputs of the first and second adders, respectively, the outputs of the third and fourth memory blocks are connected respectively to the first and second inputs of the unit for calculating corrections of watts of the second variant, the outputs of the fifth and sixth adders are connected respectively to the first and second outputs of the device, the first input of the correction calculation unit of the first variant is connected to the first inputs of the first, second, and third functional blocks, the second input with the second inputs of the first, second, and third functional blocks, third an input with a second input of the first subtraction block, the output of which is connected to the third input of the third functional block, the fourth and fifth inputs of the correction calculation unit of the first option are connected respectively, to the third and fourth inputs of the second functional block, the first input of the first subtraction block is connected to the output of the second functional block, the fourth input of the third functional block is connected to the second input of the first functional block, the first and second outputs of the third functional block are respectively the first and second outputs of the calculation block corrections of the first variant, the first input of the block for calculating corrections of the second variant is connected to the first inputs of the fourth, fifth and sixth functions nal blocks, the second input with the second inputs of the fourth, fifth and sixth functional blocks, the fourth input of the sixth functional block is connected to the second output of the fourth functional block, the first and second inputs of the first and fourth functional blocks are connected to the first and second inputs, respectively the third adder, the first and second inputs of the second and fifth functional blocks are connected to the first inputs of the first and third multiplication blocks, respectively, the outputs of which are connected to accordingly, with the first and second inputs of the fourth adder, the output of which is the output of the second and fifth functional blocks, the second inputs of the first and third multiplication blocks are the third and fourth inputs of the second and fifth functional blocks, the first and second inputs of the third and sixth functional blocks are connected to the first the inputs of the second and fourth multiplication blocks, respectively, the second inputs of which are connected to the third inputs of the third and sixth functional blocks, the fourth inputs of the third and of the sixth functional blocks are connected to the second inputs of the first and second division blocks, the outputs of the first and second scaling blocks are respectively the first and second outputs of the third and sixth functional blocks, characterized in that three sensors are inserted into it, the eighth twelfth memory blocks, the third and fourth scaling blocks, the fifth eighth subtraction blocks are introduced into the adjustment calculation block of the second embodiment, the fifth multiplication block, the seventh adder and the fifth setter are introduced into the first and fourth functional blocks the moves of the ninth and tenth memory blocks are connected to the outputs of the first and second memory blocks, respectively, and the outputs are respectively the third and fourth inputs of the corrections calculation block of the second variant, the first and second outputs of which are connected to the first inputs of the fifth and sixth adders, respectively, the second inputs of the fifth and sixth adders are connected to the outputs of the eleventh and twelfth memory units, respectively, the inputs of which are connected to the outputs of the first and second adders, respectively, the outputs of the eleventh and two of the eleventh memory blocks are respectively the third and fourth outputs of the identifier, the outputs of the fifth and sixth adders are connected to the inputs of the sixth and seventh memory blocks respectively, the inputs of the fifth and eighth memory blocks are connected to the outputs of the sixth and seventh memory blocks respectively, and the outputs are respectively with the seventh and eighth inputs block calculation corrections of the second option, the inputs of the third and fourth scaling blocks are connected to the outputs of the sixth and seventh memory blocks, respectively, and the outputs are respectively respectively, to the fifth and sixth inputs of the correction calculation unit of the second embodiment, in which the third, fifth and seventh inputs are respectively the first, second and third inputs of the seventh subtraction block, the output of which is connected to the third input of the fifth functional block, the fourth, sixth and eighth inputs of the calculation block corrections of the second option are connected respectively to the first, second and third inputs of the eighth subtraction block, the output of which is connected to the fourth input of the fifth functional block, the first inputs of the fifth and of the fifth subtraction blocks in the corrections calculation block of the second variant are connected respectively to the first and second outputs of the sixth functional block, the third input of which is connected to the output of the fifth functional block, the second inputs of the fifth and sixth subtraction blocks are connected to the outputs of the seventh and eighth subtraction blocks, and the outputs of the fifth and the sixth subtraction blocks are, respectively, the first and second outputs of the correction calculation unit of the second embodiment, the fifth input of the sixth functional block is connected to the first output of the fourth functional block, the fifth input of the third functional block with the first output of the first functional block, in the first and fourth functional blocks, the first input of the fifth multiplication block is connected to the output of the third adder, the second input with the output of the fourth master, and the output with the first input of the seventh adder, the second input of which is connected to the output of the fifth master, and the output is the second output of the first and fourth functional units, the first output of which is connected to the output of the fourth master, p the brightest inputs of the third and sixth functional blocks are connected to the second inputs of the first and second scaling blocks, the first and second inputs of the control object are connected to the inputs of the first and second sensors, and the output to the input of the third sensor, the outputs of the first, second and third sensors are connected to the inputs, respectively first, second and third amplitude-pulse modulators.

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