RU2148269C1 - Adaptive control system for neutral-delay objects - Google Patents

Abstract

FIELD: automatic management systems. SUBSTANCE: device has coefficient setting unit, adding units, multipliers, integrators, delay units, absolute value calculation units, differential circuit. EFFECT: increased functional capabilities due to possibility to adapt values of elements of digital vector of parameters. 1 dwg

Description

 The invention relates to technical cybernetics and can be used in object control systems with a delay as a neutral type, and the object parameters are unknown constant or slowly varying in time.

 The closest technical solution to the proposed one is a self-adjusting control system for objects with delay, containing the first block for setting coefficients, block for delay, series-connected first block of summation, the first multiplier, the first integrator, the second multiplier, the outputs of the control object are connected to the corresponding inputs of the first block for setting the coefficients and the corresponding inputs of the delay unit, the inputs of the first summing unit are connected to the corresponding outputs of the first of the second coefficient setting block, the output of the first summing block is connected to the second inputs of the first and second multipliers and the input of the third multiplier, the output of the first multiplier is connected to the input of the first integrator, the output of which is connected to the second input of the second multiplier, the outputs of the connection delay unit with the corresponding inputs of the second task block coefficients, the outputs of which are connected with the corresponding inputs of the second summing unit, the output of which is connected to the second input of the third multiplier and to the input of the fourth th multiplier, the output of the third multiplier is connected to the input of the second integrator, the output of which is connected to a second input of the fourth multiplier, whose output is connected to the input of a third summing unit, a second input of which is connected to the output of the second multiplier, and an output connected to the input of the controlled object.

 The disadvantage of this system is the narrow functionality of the system, since the system cannot work with objects having a delay of a neutral type, and the need to select and set elements of a numerical vector for adjusting controller parameters under a priori uncertainty conditions, which, as a rule, is a difficult problem which is significantly hampered by an increase in the dimension of control systems. In such a situation, self-tuning of the parameter vector is the most appropriate, and in some cases the only possible approach to the construction of control systems that are stably operable under conditions of a priori uncertainty.

 The aim of the invention is to expand the functionality of the system.

 This goal is achieved by the fact that by introducing into the system the first multipliers, module calculation units, first integrators and second multipliers, the second delay unit, the differentiation unit, the first summing unit, get a new function in the system, which consists in the fact that the system can now work with objects having a delay of a neutral type, and elements of a numerical vector for adjusting controller parameters will be tuned, which ensures the normal functioning of the system.

 The drawing shows a block diagram of the system.

The system contains the control object 1, the first block for setting the coefficients 2, the first multipliers 3 _i (i = l, m), the blocks for calculating the module 4 _i (i = l, m), the first integrators 5 _i (i = l, m), the second multipliers 6 _i (i = l, m), the first summing block 7, the second summing block 8, the first delay block 9, the third multiplier 10, the second integrator 11, the fourth multiplier 12, the second block for setting coefficients 13, the third summing block 14, block differentiation 15, the second delay unit 16, the fifth multiplier 17, the third integrator 18, the sixth multiplier 19, the fourth adder 20.

τ = max{τ₁,τ₂}
где X - n-мерный вектор состояния;
Y - m-мерный вектор выходных измеряемых координат;
U - скалярное управляющее воздействие;
φ(S) - начальная вектор-функция;
τ₁> 0, τ₂> 0 - постоянные запаздывания;
A, D₁, D₂, L, b - матрицы и вектор размерностей (nxn), (nxn), (nxn), (mxn), (nxl) соответственно, зависящие от вектора неизвестных параметров ξ ∈ Θ; Θ - известное множество возможных значений вектора ξ.
К объекту подключен регулятор

где g₁, χ₂, χ₃ - настраиваемые параметры регулятора, вектор и скаляры соответственно;
g₂, g₃ - числовые векторы.The dynamics of processes in the control object is described by equations of state and output

τ = max {τ ₁ , τ ₂ }
where X is the n-dimensional state vector;
Y is the m-dimensional vector of the output measured coordinates;
U is the scalar control action;
φ (S) is the initial vector function;
τ ₁ > 0, τ ₂ > 0 - delay constants;
A, D ₁ , D ₂ , L, b are matrices and a vector of dimensions (nxn), (nxn), (nxn), (mxn), (nxl), respectively, depending on the vector of unknown parameters ξ ∈ Θ; Θ is the known set of possible values of the vector ξ.
A controller is connected to the object

where g ₁ , χ ₂ , χ ₃ - adjustable controller parameters, vector and scalars, respectively;
g ₂ , g ₃ are numerical vectors.

Система функционирует следующим образом.Controller parameters are adjusted in accordance with adaptation algorithms.

The system operates as follows.

поступают на входы соответствующих интеграторов 5_i (i = l, m). Сигналы g^li с выходов интеграторов поступают на первые входы каждого соответствующего умножителя 6_i (i = l, m). На вторые входы умножителей 6_i поступают соответствующие сигналы y_i с выходов объекта регулирования 1. С выходов вторых блоков умножителей 6_i сигналы поступают на входы первого сумматора 7, где складываются между собой. Сигнал с выхода сумматора 7 g₁y поступает на второй вход третьего умножителя 10, на второй вход пятого умножителя 17 и на первый вход четвертого сумматора. В первом блоке 2 задания коэффициентов происходит умножение сигнала y_i на коэффициент g_2i. Сигналы с выходов первого блока 2 задания коэффициентов поступают на соответствующие входы второго сумматора 8, где складываются. Сигнал g₂y с выхода второго сумматора 8 поступает на вход первого блока запаздывания 9. В первом блоке 9 запаздывания происходит задержка сигнала на время τ₁. Сигнал g₂y(t-τ₁) с выхода первого блока 9 запаздывания поступает на второй вход четвертого умножителя 12 и на первый вход третьего умножителя 10. Сигнал χ₂ с выхода третьего умножителя 10 поступает на вход второго интегратора 11, где интегрируется. Сигнал χ₂ с выхода второго интегратора 11 поступает на первый вход четвертого умножителя 12, где умножается на сигнал с выхода первого блока 9 запаздывания. Сигнал χ₂g₂y(t-τ₁) с выхода четвертого умножителя 12 поступает на второй вход четвертого сумматора 20. Во втором блоке 13 задания коэффициентов происходит умножение сигнала y_i на коэффициент g_3i. Сигналы с выходов второго блока 13 задания коэффициентов поступают на соответствующие входы третьего сумматора 14, где складываются. Сигнал yg₃ с выхода третьего сумматора 14 поступает на вход блока 15 дифференцирования, где дифференцируется. Сигнал g₃y с выхода блока 15 дифференцирования поступает на вход второго блока 16 запаздывания. Сигнал g₃y(t-τ₂) с выхода второго блока 16 запаздывания поступает на второй вход шестого умножителя 19 и на первый вход пятого умножителя 17. Сигнал χ₃ с выхода пятого умножителя 17 поступает на вход третьего интегратора 18, где интегрируется. Сигнал с выхода третьего интегратора 18 поступает на первый вход шестого умножителя 19, где умножается на сигнал с выхода второго блока 16 запаздывания. Сигнал χ₃g₃y(t-τ₂) с выхода шестого умножителя 19 поступает на третий вход сумматора 20. В сумматоре 20 происходит сложение всех сигналов, поступающих на входы этого блока. Сигнал u = g₁y+χ₂g₂y(t-τ₁)+χ₃g₃y(t-τ₂) с выхода сумматора 20 поступает на вход объекта 1 регулирования.The signals from the output of the regulation object 1 simultaneously arrive at the corresponding inputs of the first 2 and second 13 block of the coefficient setting. The signal from the output of the adder 7 is supplied to the second inputs of each first multiplier 3 _i (i = l, m). The first inputs of each first multiplier 3 _i receive the corresponding signals y _i from the output of the control object 1. From the outputs of each first 3 _i multiplier, the signals g ₁ yy _i go to the inputs of the corresponding blocks of the calculation of module 4 _i (i = l, m), where they are calculated their absolute values. From the outputs of the blocks of the calculation module 4 _i signals

arrive at the inputs of the corresponding integrators 5 _i (i = l, m). The signals g ^li from the outputs of the integrators are fed to the first inputs of each corresponding multiplier 6 _i (i = l, m). The second inputs of the multipliers 6 _i receive the corresponding signals y _i from the outputs of the control object 1. From the outputs of the second blocks of the multipliers 6 _{i, the} signals are fed to the inputs of the first adder 7, where they are added together. The signal from the output of the adder 7 g ₁ y goes to the second input of the third multiplier 10, to the second input of the fifth multiplier 17 and to the first input of the fourth adder. In the first block 2 of setting the coefficients, the signal y _i is multiplied by the coefficient g _2i . The signals from the outputs of the first block 2 task coefficients are supplied to the corresponding inputs of the second adder 8, where they add up. The signal g ₂ y from the output of the second adder 8 is fed to the input of the first delay unit 9. In the first delay unit 9, the signal is delayed by the time τ ₁ . The signal g ₂ y (t-τ ₁ ) from the output of the first delay unit 9 goes to the second input of the fourth multiplier 12 and to the first input of the third multiplier 10. The signal χ ₂ from the output of the third multiplier 10 goes to the input of the second integrator 11, where it is integrated. The signal χ ₂ from the output of the second integrator 11 is fed to the first input of the fourth multiplier 12, where it is multiplied by the signal from the output of the first delay unit 9. The signal χ ₂ g ₂ y (t-τ ₁ ) from the output of the fourth multiplier 12 is supplied to the second input of the fourth adder 20. In the second block 13 for setting the coefficients, the signal y _i is multiplied by the coefficient g _3i . The signals from the outputs of the second block 13 specify the coefficients are supplied to the corresponding inputs of the third adder 14, where they add up. The signal yg ₃ from the output of the third adder 14 is fed to the input of the differentiation unit 15, where it is differentiated. The signal g ₃ y from the output of block 15 differentiation is fed to the input of the second block 16 delay. The signal g ₃ y (t-τ ₂ ) from the output of the second delay unit 16 is fed to the second input of the sixth multiplier 19 and to the first input of the fifth multiplier 17. The signal χ ₃ from the output of the fifth multiplier 17 is fed to the input of the third integrator 18, where it is integrated. The signal from the output of the third integrator 18 is fed to the first input of the sixth multiplier 19, where it is multiplied by the signal from the output of the second delay unit 16. The signal χ ₃ g ₃ y (t-τ ₂ ) from the output of the sixth multiplier 19 is fed to the third input of the adder 20. In the adder 20, all signals arriving at the inputs of this block are added. The signal u = g ₁ y + χ ₂ g ₂ y (t-τ ₁ ) + χ ₃ g ₃ y (t-τ ₂ ) from the output of the adder 20 is fed to the input of the regulation object 1.

 This device can be implemented industrially based on a standard elemental base.

Claims (1)

 An adaptive control system for objects with a delay of a neutral type, comprising a control object whose outputs are connected to the corresponding inputs of the first coefficient setting unit, the second coefficient setting unit, the first delay unit, the second summing unit, the inputs of which are connected to the corresponding outputs of the first coefficient setting unit, third multiplier, the output of the third multiplier through the second integrator is connected to the first input of the fourth multiplier, the output of which is connected to the second input the fourth summing block, the third summing block, the inputs of which are connected to the corresponding outputs of the second coefficient setting block, the fifth multiplier, the output of the fifth multiplier through the third integrator is connected to the first input of the sixth multiplier, the output of which is connected to the third input of the fourth summing block, the output of which is connected to the input of the regulation object, characterized in that the first multipliers, module calculation units, first integrators and second multipliers, the first summing unit, W are introduced into the system The second delay unit, the differentiation unit, the outputs of the control object are connected to the corresponding inputs of the first and second multipliers and to the corresponding inputs of the second coefficient setting unit, the output of each first multiplier is connected in series through the corresponding module calculation unit and the first integrator to the input of the corresponding second multiplier, the outputs of the second multipliers are connected to the inputs of the first summing unit, the output of which is connected to the second inputs of the first multipliers, to the second at the input of the third multiplier, to the second input of the fifth multiplier and to the first input of the fourth summing unit, the output of the second summing unit is connected to the input of the first delay unit, the output of the first delay unit is connected to the corresponding inputs of the third and fourth multipliers, the output of the third summing unit is connected to the differentiation unit the output of which is connected to the input of the second delay unit, the output of which is connected to the second input of the sixth multiplier and to the first input of the fifth multiplier.