RU2058575C1 - System for combined control of objects of double integration - Google Patents

Abstract

FIELD: optimal controlling of moving objects, constant-current motors, chemical manufacturing processes. SUBSTANCE: system includes the switching unit 4, the analyzer 5, the generator 7 of time relation, the shaper 8 of synthesis signals, the unit 10 of positional control, the unit 11 of program control, the signal limiter 3, the actuating device 1 of the object 2 to be controlled. EFFECT: enlarged using range, enhanced quality of control, economy of power resources, provision of operative synthesis of optimal control, possibility of realization of the control system with use of simple devices, possibility of operation of the controlling unit in a real time. 1 cl, 12 dwg, 1 tbl

Description

 The invention relates to automatic control systems and can find application in the development of optimal control systems for double integration objects, in particular for controlling aircraft, DC motors, chemical and technological processes.

 A known program control system consisting of series-connected program-setting block, comparison blocks, logical elements, OR, comparator, pulse shaper, memory block, reversible counter, speed and position sensors, power amplifier, pulse generator, actuator, etc.

 However, this system can only implement a software management strategy. In addition, the presence of a memory unit involves the implementation of a digital computer system.

 Known positional control system with error correction for dual integrators.

 However, this system cannot provide control that is optimal for minimizing energy costs. In addition, this system does not provide stable control in case of failures in the data transmission channels.

 Closest to the technical nature of the proposed system is a system of optimal control of objects of the second order. The system comprises an actuator, a control object, a differentiator, a source data setter, and an optimum performance unit. The system has advanced functionalities for optimal performance control.

 However, in practice, there are control tasks that are optimal for minimizing energy costs, and program control tasks in case of violation of feedback on the phase coordinates at the output of the object.

 The aim of the invention is to expand the scope, improving the quality of management and saving energy resources in the entire range of changes in the source data of the control task, providing operational synthesis of optimal control, the possibility of implementing a control system for simple devices, which is more economical, ensuring the functioning of the control device in real time, as well as improving the safety of operation of objects, preventing emergency situations.

 The goal is achieved in that the optimal control system comprising an actuator, a control object, a source data setter and an optimal speed unit, the output of which is connected to the input of the actuator, the output of which is connected to the input of the object, the output of which is connected to the input of the differentiator and the first input of the optimal block performance, the third input of which is connected to the first output of the master, the second output of which is connected to the fourth input of the block optimal performance, the second input to otorochno connected to the output of the differentiator, according to the invention further comprises a switching unit, an analyzer, a time dependence generator, a synthesizer, a positional control unit, a program control unit, a control signal limiter, and the first output of the control object is connected to the first inputs of the analyzer and the optimal speed unit, to the second input of the generator of synthesizing signals, the third input of which is connected to the second inputs of the analyzer and the optimal fast action and the second output of the object, the first input of the generator of the synthesizing signals is connected to the input of the time dependence generator and the fifth output of the master, the second output of which is connected to the fourth input of the optimal speed unit and the sixth input of the analyzer, the fourth output of the master is connected to the fifth input of the optimal speed unit and the fourth input shaper of synthesizing signals, the fifth input of which is connected to the second output of the time-dependence generator, the first output of which is connected to the WTO the first input of the control unit, the first input of which is connected to the fifth input of the analyzer and the first output of the synthesizer, and the first and second outputs are respectively the first and second inputs of the switching unit, the fourth and third inputs of which are connected respectively to the first and second outputs of the program control unit , the first and second inputs of which are connected respectively to the second and third outputs of the shaper of the synthesizing signals and the third and fourth inputs of the analyzer, the first, second, t the fourth and fifth inputs of which are connected respectively to the sixth, seventh, eighth, ninth and tenth inputs of the switching unit, the fifth input of which is connected to the output of the optimal speed unit, the first and third outputs of the master are connected respectively to the seventh and sixth inputs of the generator of synthesizing signals, the output the switching unit is connected to the input of the limiter of the control signal, the output of which is connected to the input of the actuator.

 When analyzing the known technical solutions were not found, solutions that have features similar to the set of distinctive features of the claimed control system, which allows us to conclude that the differences are significant.

 Figure 1 presents the functional diagram of the system of optimal control of the object of double integration; figure 2-10 shows the functional block diagrams, disclosed to the level of known elements; figure 11 area of optimal control in the space of synthesizing signals; 12, optimal control functions.

 The system (Fig. 1) comprises an actuator 1, a control object 2, a control signal limiter 3, a switching unit 4, an analyzer 5, a setter 6, a time dependence generator 7, a synthesizing signal generator 8, an optimal performance unit 9, a positional control unit 10, block 11 software control. The output of the actuator 1 is connected to the input of the control object 2, the first output of which is connected to the first inputs of the analyzer 5 and the optimal speed control unit 9 to the second input of the synthesizer 8, the third input of which is connected to the second inputs of the analyzer 5 and the optimal speed 9 and second output Object 2 Management. The first input of the shaper 8 of the synthesizing signals is connected to the input of the generator 7 of the time dependence and the fifth output of the setter 6, the first output of which is connected to the third input of the block 9 of optimal speed and the seventh input of the shaper 8 of the synthesis signals, the second with the fourth input of block 9 of the optimal speed, the third with the sixth the inputs of the analyzer 5 and the shaper 8, and the fourth output with the fifth input of the block 9 of optimal performance and the fourth input of the shaper 8 of the synthesizing signals. The fifth input of the latter is connected to the second output of the time-dependence generator 7, the first output of which is connected to the second input of the program control unit 11. The first input of block 11 is connected to the fifth input of the analyzer 5 and the first output of the synthesizer 8, and the first and second outputs, respectively, with the first and second inputs of the switching unit 4, the fourth and third inputs of which are connected to the first and second outputs of the position control unit 10, respectively. The first and second inputs of block 10 are connected respectively to the second and third outputs of the synthesizer 8 and the third and fourth inputs of the analyzer 5, the first, second, third, fourth and fifth outputs of which are connected respectively to the sixth, seventh, eighth, ninth and tenth inputs of the block 4 commutation. The fifth input of block 4 is connected to the output of block 9 of optimal performance, and the output through the limiter 3 of the control signal with the input of the actuator 1.

= Z₂(t);

= bu(t), (1) оптимального по минимуму затрат энергии, управление u*, осуществляющее перевод объекта из начального состояния z(t_o) (z₁₀; 0) в конечное z(t_к) (z_1к; z_2к) на интервале времени [t_o; t_к] при ограничении 1≅u(t)≅1 определяется законом u* u_п3, если имеется информация о фазовых координатах объекта и конечное значение второй фазовой координаты объекта z_2к 0 (область АВСЕ на фиг.11), u* u_пр, если отсутствует информация о фазовых координатах объекта и конечное значение второй фазовой координаты объекта z_2к 0 (отрезок ОD на фиг.11), u* u₅, если конечное значение второй фазовой координаты объекта z_2к≠0 или реализация управления u* невозможна за заданный промежуток времени (внешняя незамкнутая область на фиг.11), где u_пр программное управление; u_п3 позиционное управление; u₅ оптимальное по быстродействию управление.For double integration object

= Z ₂ (t);

= bu (t), (1) the energy consumption optimal at the minimum, control u *, which transfers the object from the initial state z (t _o ) (z ₁₀ ; 0) to the final z (t _к ) (z _1к ; z _2к ) on the time interval [t _o ; t _k ] under the restriction 1≅u (t) ≅1 is determined by the law u * u _p3 if there is information about the phase coordinates of the object and the final value of the second phase coordinate of the object z _2k 0 (ABCE region in Fig. 11), u * u _pr if there is no information about the phase coordinates of the object and the final value of the second phase coordinate of the object z _2k 0 (segment OD in Fig. 11), u * u ₅ if the final value of the second phase coordinate of the object z _2k ≠ 0 or the implementation of control u * is impossible for predetermined period of time (external open area in Fig.11), where u _pr software control ny; u _p3 positional control; u ₅ optimal speed control.

y

(2) где τ= t t_к оставшаяся продолжительность временного интервала управления, по которым вырабатывают оптимальное позиционное управление
u $\genfrac{}{}{0ex}{}{\text{*}}{\text{п3}}$

(3)
Здесь управляющему воздействию u_п31 соответствуют область АВСD (фиг.11) и одна из функций оптимального управления (фиг.12а,б) а управляющему воздействию u_п32 область ADCE (фиг.11) и одна из функций оптимального управления (фиг.12в,г).To implement positional control, two synthesizing signals are generated:
x

y

(2) where τ = tt _{k is the} remaining duration of the control time interval over which optimal positional control is generated
u $\genfrac{}{}{0ex}{}{\text{*}}{\text{p3}}$

(3)
Here, the control action u _p31 corresponds to the ABCD region (Fig. 11) and one of the optimal control functions (Fig. 12a, b) and the control action u _{p 32 corresponds to the ADCE} region (Fig. 11) and one of the optimal control functions (Fig. 12c, d )

(4) и комплексный сигнал времени
θ

(5) где τ_о= tк to продолжительность временного интервала управления, по которым формируют оптимальное программное управление
u $\genfrac{}{}{0ex}{}{\text{*}}{\text{пр}}$

(6)
Управляющему воздействию u_пр1 соответствует отрезок OD на фиг.11 (одна из функций оптимального управления на фиг.12а,б), а управляющему воздействию u_пр2 отрезок DE на фиг.11 (однако из функций оптимального управления на фиг. 12в,г).To implement program control, a synthesis signal is generated
y _o =

(4) and complex time signal
θ

(5) where τ _о = tк to the duration of the control time interval, which form the optimal program control
u $\genfrac{}{}{0ex}{}{\text{*}}{\text{etc}}$

(6)
The control action u _CR1 corresponds to the segment OD in FIG. 11 (one of the optimal control functions in FIGS. 12a, b), and the control action u _{CR2 corresponds to the} segment DE in FIG. 11 (however, from the optimal control functions in FIGS. 12c, d).

(Z₂+Z_2к)

Z₂-Z

, (7) определяющий характер управления, а именно
u_б=

(8)
Управление u_Б соответствует внешняя незамкнутая область на фиг.11 (функции оптимального управления на фиг.12д,е).To implement the optimal speed control according to the prototype, a signal is generated
SZ ₁ -Z _1K +

(Z ₂ + Z _2K )

Z ₂ -Z

, (7) the determining nature of control, namely
u _b =

(8)
The control u _B corresponds to the external open area in Fig. 11 (optimal control functions in Fig. 12e, e).

 The need for a transition from positional control to software may be caused by the following circumstances.

In the case of an autonomous automatic control system, violations of the sensor of the current coordinate value z ₁ (distance) or a differentiating device for calculating z ₂ make optimal control using feedback impossible. In addition, if it is necessary to save energy due to the "discharge" of power supplies, it is advisable to disable the maximum number of nodes.

In the case of determining the coordinate z ₁ , as well as generating a control signal using an external communication system and guidance, the transition to program control can be caused not only by failures of the communication system, but also by the appearance of active or passive interference.

Z $\genfrac{}{}{0ex}{}{\text{об}}{\text{2}}$ -

> ε, т.е. сравнивается значение второй фазовой координаты объекта, полученное с помощью датчиков на объекте, со значением второй фазовой координаты объекта, полученным дифференцированием первой фазовой координаты объекта в системе управления (блок 5). Если значения вторых фазовых координат соизмеримы (различаются не более чем на некоторую величину ε), то информация о фазовых координатах объекта достоверна и в процессе управления используется позиционная стратегия. В противном случае осуществляется переход к программной стратегии управления.To determine the moment of transition from positional control to software, a criterion is used

Z $\genfrac{}{}{0ex}{}{\text{about}}{\text{2}}$ -

> ε, i.e. compares the value of the second phase coordinate of the object, obtained using sensors on the object, with the value of the second phase coordinate of the object, obtained by differentiating the first phase coordinate of the object in the control system (block 5). If the values of the second phase coordinates are comparable (they differ by no more than a certain amount of ε), then the information on the phase coordinates of the object is reliable and a positional strategy is used in the control process. Otherwise, a transition to a program management strategy is carried out.

 The inventive system operates as follows.

From the outputs of the setter 6, the signals corresponding to the initial and final (required) values of the first phase coordinate of the object z ₁₀ and z _{1 k} , the final value of the second phase coordinate of the object z 2 _k , the parameter of the object b and the duration of the control time interval τ _о , are respectively supplied to the sixth input of the shaper 8 synthesizing signals, to the third input of block 9 of optimal speed and the seventh input of the shaper 8 of synthesizing signals, to the first input of analyzer 5 and the fourth input of block 9 of optimal speed, n fifth unit 9 optimal control input and a fourth input of the 8 synthesizing signals input to the time dependence of the generator 7 and 8, the first input of the synthesizing signals. The signal of the current value of the first phase coordinate of the object z ₁ is fed to the first input of the analyzer 5 and the second input of the shaper 8 of the synthesizing signals. The signal of the second phase coordinate of the object z _{2 is} fed to the second input of the analyzer 5 and the third input of the generator 8 of the synthesizing signals, the fifth input of which also comes from the time-dependence generator 7, the signal value of the remaining duration of the control time interval. The time-dependence generator generates a complex time signal θ (formula (5)), which arrives at the second input of the program control unit 11.

A static synthesizing signal Y _o (see formula (4)) and two dynamic synthesizing signals x and y (formula (3)), which are respectively fed to the fifth input of analyzer 5 and the first input of program control unit 11, are taken from the outputs of the synthesizer 8 , to the third input of the analyzer 5 and the first input of the positional control unit 10, to the fourth input of the analyzer 5 and the second input of the positional control unit 10. Block 9 of optimal speed produces a control signal u _B in accordance with expressions (7) and (8). The positional control unit 10 generates two control signals u _p31 and u _p32 (formula (3)), and the program control unit 11 generates two control signals u _pr1 and u _pr2 (formula (6)). Thus, five control signals are received at the inputs of switching unit 4 and, depending on the state of the five control inputs 6-10 of the switching unit, which receive signals of control type v ₁ , v ₅ , each of which can take two values of “0” or "1", the input of the actuator 1 receives one of five control signals u _pr1 , u _p32 , u _pr1 , u _pr2 , u _B.

-

я

)
или y <

x+1

-2 для x∈[-2,2] или x∉[-2,2] v₃ 0 в противном случае,

v₅ 1, если конечное значение второй фазовой координаты объекта z_2к≠0, и v₅ 0 в противном случае.The analyzer 5 (Fig. 10) produces signals of the control type v ₁ , v ₅ , which take values v ₁ 0 if there is information about the phase coordinates of the object z ₁ and z ₂ received at the first and second inputs of the analyzer 5, and v ₁ 1 otherwise:

-

I

)
or y <

x + 1

-2 for x∈ [-2,2] or x∉ [-2,2] v ₃ 0 otherwise,

v ₅ 1 if the final value of the second phase coordinate of the object is z _2к ≠ 0, and v ₅ 0 otherwise.

According to the signals v ₁ , v _5, the switching unit 4 (Fig. 9), consisting of switches and an OR element, feeds, through the limiter 3, the control signal to the input of the actuator 1, one of the five control signals u _p31 , u _p32 , u _pr1 , u _pr2 , u _B in accordance with the table, thereby ensuring the implementation of the control law.

Blocks 1, 2 of the system (figure 1) do not contain any changes compared to the prototype. The setter 6 (Fig. 5) is a block of resistors with which they provide the necessary voltages proportional to the set values z _1k , z _2k . Additionally included are resistors that specify the voltages corresponding to the parameter of the object b, the initial value of the first phase coordinate z ₁₀ , and also a resistor that sets the necessary time constant used by the time dependence generator 7 and provides the necessary control time interval τ _о .

 Block 9 optimal speed 9 (Fig.7) synthesizes the optimal speed control according to the prototype and contains three adders, a block allocation module (BVM), a multiplier (MU) and a relay element (RE). In contrast to the prototype, a second multiplying device was installed instead of the scale block, which allows the synthesis of a speed-optimal control for objects with various parameters b (parameter values are changed in the setter 6).

 The basis of the time-dependent generator 7 (Fig. 4) is an integrating amplifier based on an operational amplifier (OA) and a functional converter containing two adders and a dividing device (DU). The process of counting time dependencies begins when the circuit breaker contacts.

 Shaper 8 synthesizing signals (6) contains a scale block (MB), two adders, a quadrator (HF), three multiplying devices (MU), three dividing devices (DU) and generates synthesizing signals in accordance with expressions (2), )4).

Unit 10 positional control (figure 2) contains four adders, a quadrator (HF), a dividing device (DU) and synthesizes two positional control signals u _p31 and u _p32 in accordance with expression (3).

 The program control unit 11 (Fig. 3) contains an adder, a scale unit (MB), a multiplier (MU), a dividing device (DU), a square root allocation unit (BVCC) and synthesizes two program control signals in accordance with the expression (6 )

The analyzer 5 (figure 10) contains a differentiator (D), an adder, a module allocation unit (BWM), a relay element (RE) (these elements form a signal v ₁ ); seven diodes, two resistors, four adders, a quadrator (HF), three relay elements (RE), an OR element (these elements form signals v ₂ and v ₃ ), an adder, a diode, a relay element (RE) (these elements form a signal v ₄ ), a module isolation unit (BWM) and a relay element (RE) (these elements form a signal v ₅ ).

 Block 4 switching (Fig.9) contains four switches (K) and the element OR.

 The limiter 3 of the control signal (Fig) is a two-transistor limiter with emitter coupling.

 The implementation of elements used in blocks (adders, differentiators, multipliers, dividing devices) is disclosed in a number of sources. Blocks performing non-linear operations (quadrators, square root extraction block) use a piecewise-linear approximation of the required dependence and are based on diode functional converters. The implementation of large-scale blocks, block allocation module, relay elements is fully consistent with the implementation of these blocks in the prototype.

 Thus, the expansion of the scope of the proposed system is carried out by generating synthesizing signals x and y, which allow real-time determination of both optimal speed and optimal control with a minimum of energy consumption. In this case, both positional and program management strategies can be implemented, due to which an improvement in the quality of management is also achieved and energy resources are saved during management over the entire range of changes in the initial data. Ensuring operational synthesis of optimal control is carried out by converting the shaper 8 of the source data generated by the setter 6 and the differentiator 3 into two synthesizing signals x and y, which are used by the analyzer 5 and the position control unit 10 to generate directly optimal control. The advantage of the proposed system is the possibility of its implementation by simple devices, which is more economical in comparison with the use of computers. In the proposed system, control is carried out in real time by using the proposed set (Fig. 1) of functional blocks, i.e. parallel connection of blocks 9, 10, 11.

 Safe operation of objects and prevention of emergency situations are achieved by the possibility of switching from positional control to software in case of unforeseen disappearance of phase coordinates signals. In addition, with limited energy resources, the system allows you to switch from a control that is optimal in performance, which requires significant energy consumption, to control with a minimum energy consumption.

Claims (1)

 SYSTEM OF COMBINED CONTROL OF OBJECTS OF DOUBLE INTEGRATION, containing a parameter setter, an optimum performance unit, the first information input of which is the first information input of the system, which serves to connect the output of the first phase coordinate of the control object, the actuator, the output of which is the output of the system, which serves to connect the control input of the object control system, characterized in that an analyzer, a switching unit, a signal synthesizer are introduced into the system s, a positional control unit, a program control unit, a switching unit, a signal limiter and a time dependence generator connected to the input with the output of the duration of the time interval of the parameter setter and to the first information input of the synthesizer, which second information input is combined with the first information input of the analyzer and is the first information input of the system, the third information input of the generator of synthesizing signals is combined with the second information it is the second information input of the system used to connect the output of the second phase coordinate of the control object, the parameter output of the parameter setter object is connected to the third information input of the optimal speed unit and to the fourth information input of the synthesizer, connected to the fifth information input to the output of the duration of the time interval of the control of the generator of the time dependence, the sixth information the input to the output of the initial value of the first phase coordinate and to the third information input of the analyzer, and the seventh information input to the output of the final value of the first phase coordinate of the parameter setter and to the fourth information input of the optimal speed unit associated with the fifth information input with the output of the final value of the second phase coordinate of the object control, and the output with the first control input of the switching unit connected to the second and third control inputs, respectively the first and second outputs of the program control unit, and the fourth and fifth control inputs, respectively, to the first and second outputs of the position control unit, associated with the first and second information inputs, respectively, with the first and second outputs of the synthesizer and, respectively, with the third and fourth information inputs of the analyzer connected the fifth information input to the third output of the synthesizer signal generator and to the first information input of the program control unit the second information input connected to the complex time output of the time-dependent generator, from the first to fifth outputs of the analyzer are connected to the corresponding information inputs of the switching unit, connected by the output to the input of the signal limiter, connected by the output to the input of the actuator.

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