RU2156993C1 - Robust control system - Google Patents

Abstract

FIELD: automatic control equipment. SUBSTANCE: device may be used for regulation of objects, which parameters are unknown constants or variables. Device has coefficient setting unit, two adders, two multipliers, object of regulation, sign discriminator. EFFECT: increased functional capabilities. 1 dwg

Description

 The invention relates to automatic control systems and can be used in control systems for objects whose parameters are unknown constant or time-varying values. Such systems are, for example, automatic control systems for aircraft, nuclear reactors, irrigation and drainage facilities, etc.

 The closest technical solution to the proposed one is a self-adjusting control system containing a control object, the outputs of which are connected to the corresponding inputs of the coefficient setting unit, the summing unit, the first multiplier, the integrator, the second multiplier are connected, the output of the summing unit is connected to the second inputs of the first and second multipliers / 1/.

 The disadvantage of this system is the limited functionality associated with the loss of system performance when working with non-stationary objects.

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

 This goal is achieved by the fact that in the system containing the regulation object, the coefficient setting unit, the summing unit connected in series, the first multiplier, the second multiplier, the output of the summing unit is connected to the first and second inputs of the first multiplier, the corresponding inputs of which are connected to the corresponding outputs of the coefficient setting unit and the outputs of the regulatory object are connected to the corresponding inputs of the coefficient setting unit, a second summing unit and a sign discriminator are introduced, moreover the first input of the second multiplier is connected to the output of the first multiplier, the second input of the second multiplier is connected to the output of the sign discriminator, the input of which is connected to the output of the first summing unit; the output of the second multiplier is connected to the first input of the second summing unit, the second input of which is connected to the output of the sign discriminator, and the output of the second summing unit is connected to the control object.

 Introducing a second summing unit and a sign discriminator into the system, one obtains robust control, which provides the condition for the normal functioning of the system with non-stationary characteristics of the usual equation.

 The drawing shows a block diagram of a system.

 The system contains a regulation object 1, a coefficient setting unit 2, a summing unit 3, a first multiplier 4, a second multiplier 5, a second summing unit 6 and a sign discriminator 7.

Y ₁ . .., Y _m are the outputs of the regulatory object, U is a scalar control action satisfying the equation:
U = -γ ₁ sgn (g ^t y) -γ ₂ (g ^t y) ² sgn (g ^t y),
where γ ₁ > 0, γ ₂ > 0 are constants,
g ^T is a numerical vector,
ym is the dimensional vector of the output coordinates of the object.

 The system operates as follows.

The signals from the outputs of the regulatory object 1 are supplied to the corresponding inputs of the coefficient setting unit 2, which is a block of multipliers. In block 2 of setting the coefficients, the signal is multiplied from the i-th output of the regulatory object by a constant coefficient. The signals from the outputs of block 2 setting the coefficients are fed to the corresponding inputs of block 3 summation, where they add up. The signals g ^T y from the output of the summing block 3 are fed to the input of the sign discriminator 7 and to both inputs of the first multiplier 4. In the first multiplier 4, the signal from the output of the block 3 of the first summation is multiplied by the same signal. The signal (g ^T y) ² from the output of the first multiplier 4 is fed to the first input of the second multiplier 5. In the discriminator of sign 7, the sign of the signal is selected. The signal sgn (g ^T y) is supplied to the second input of the second multiplier 5, where it is multiplied by the signal (g ^T y) ² received from the output of the first multiplier 4. The received signal (g ^T y) ² sgn (g ^T y) is received from the output of the second multiplier 5, to the first input of the second summing unit 6, the second block of which <receives the signal sgn (g ^T y) from the output of the sign discriminator 7. In the second summing unit 6, the signals received from the output of the second multiplier 5 and the output are added discriminator 7 with the desired coefficients. The signal U = -γ ₁ sgn (g ^t y) -γ ₂ (g ^t y) ² sgn (g ^t y) from the output of the second summing unit 6 (control action) is input to the object of regulation 1.

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

Sources of information
1. SU 1019400 A, 05.23.1983.

Claims (1)

 A robust control system containing a control object, coefficient setting block, summing unit, first multiplier, second multiplier, the output of the summing block is connected to the first and second inputs of the first multiplier, the corresponding inputs of which are connected to the corresponding outputs of the coefficient setting block, and the outputs of the control object are connected to corresponding inputs of the coefficient setting unit, characterized in that a second summing unit and a sign discriminator are introduced into the system, the first input being second of the first multiplier is connected to the output of the first multiplier, and the second input of the second multiplier is connected to the output of the sign discriminator, the input of which is connected to the output of the first summing unit, the output of the second multiplier is connected to the first input of the second summing unit, the second input of which is connected to the output of the sign discriminator, the output of the second block summation is connected to the object of regulation.