RU2178197C1 - Adaptive control system for time-delay equipment - Google Patents

Abstract

FIELD: automatic control systems. SUBSTANCE: system designed for controlling linear dynamic pieces of equipment whose parameters are unknown constants or variables slowly changing with time has two factor setting units, delay unit, three adding units, five multipliers, squarer, and two integrators. EFFECT: improved characteristics of system. 1 dwg

Description

 The invention relates to automatic control systems and can be used for linear dynamic control objects, and the parameters of the object are unknown constant or slowly changing in time parameters.

 Known adaptive control system [1], containing the control object, a unit for setting coefficients, a summing unit, two multipliers, an integrator and a quadrator.

 The disadvantage of this system is the narrow functionality, since the system cannot work with objects with delay.

 The closest technical solution to the proposed one is an adaptive control system [2], comprising a first block for setting coefficients, a delay unit, a second block for setting coefficients, series-connected first block of summation, first multiplier, first integrator, second multiplier, series-connected second block of summation, third a multiplier, a second integrator, a fourth multiplier, a third summing unit, the outputs of the control object are connected to the corresponding inputs of the first task unit coefficients, the inputs of the first summing unit are connected to the corresponding outputs of the first coefficient setting unit, the output of the first summing unit is connected to the second inputs of the first and second multipliers, the outputs of the control object are connected to the corresponding inputs of the delay unit, the outputs of which are connected to the corresponding inputs of the second coefficient setting unit, connected outputs with corresponding inputs of the second summing unit, the output of which is connected to the second input of the fourth multiplier, output d of the first summation unit coupled to the second input of the third multiplier, a second input and an output of the third summing unit connected respectively to the output of the second multiplier and the output of the controlled object.

 The disadvantage of this system is the low quality of the transition process.

 The aim of the invention is to improve the quality characteristics of an adaptive control system for objects with delay.

 This goal is achieved in that in a system containing a control object, a delay unit, a first coefficient setting unit, a second coefficient setting unit, a first summing unit, a second summing unit, a first multiplier, a first integrator, a second multiplier, a third multiplier, a second integrator, and a fourth a multiplier, a third summing unit, the outputs of the control object are connected to the corresponding inputs of the first unit for setting the coefficients and the delay unit, the outputs of the delay unit are connected to the corresponding m inputs of the second unit for setting coefficients, the inputs of the first unit for summing are connected to the corresponding outputs of the first unit for setting coefficients, the output of the first unit for summing is connected to the first and second input of the first multiplier, for the second input of the second and third multiplier, the inputs of the second summing unit are connected to the corresponding outputs of the second coefficient setting block, the output of the second summing block is connected to the corresponding inputs of the third and fifth multipliers, the fourth multiplier and the square are introduced p, the output of the third multiplier is connected to the input of the fourth multiplier, the output of the fourth multiplier is connected to the input of the second integrator, the output of the second integrator is connected to the input of the fifth multiplier, the output of the fifth multiplier is connected to the input of the third summing unit, the output of the first multiplier is connected to the second input of the fourth multiplier and the quadrator input, the quadrator output is connected to the input of the second integrator, the output of the second integrator is connected to the input of the second multiplier, the output of the second multiplier is connected to the input of the third the summing unit, the output of the third summing unit is connected to the input of the control object.

 Introducing the fourth multiplier and quadrator into the system, they get a new function in the system, which consists in improving the quality characteristics of the adaptive control system.

 The drawing shows a block diagram of the proposed control system.

 The system comprises a control object 1, a first block 2 of setting the coefficients, a block 3 of delay, a second block 4 of setting the coefficients, the first block 5 of the summation, the first multiplier 6, the quadrator 7, the first integrator 8, the second multiplier 9, the second block of the summation 10, the third multiplier 11 , a fourth multiplier 12, a second integrator 13, a fifth multiplier 14, a third summing unit 15.

 The outputs of the control object 1 are connected with the corresponding inputs of the first block 2 of setting the coefficients and the corresponding inputs of the block 3 of delay, the outputs of the first block 2 of setting the coefficients are connected to the corresponding inputs of the first block 5 of the summation, the output of which is connected to the first and second input of the first multiplier 6, the second input of the second the multiplier 9 and the second input of the third multiplier 11, the output of the first multiplier 6 is connected to the input of the quadrator 7 and the second input of the fourth multiplier 12, the output of the quadrator 7 is connected to the input of the first about the integrator 8, the output of the first integrator is connected to the first input of the second multiplier 9, the outputs of the delay unit are connected to the corresponding inputs of the second unit 4 of setting the coefficients, the outputs of which are connected to the corresponding inputs of the second block 10 of the summation, the output of which is connected to the first input of the third multiplier 11 and the second input of the fifth multiplier 14, the output of the third multiplier 11 is connected to the first input of the fourth multiplier, the output of the fourth multiplier is connected to the input of the second integrator 13, the output of which is connected n to a first input of the fifth multiplier 14, whose output is connected to the second input of the third summing unit 15, the first input of which is connected to the output of the second multiplier 9, and an output connected to the input 1 of the control object.

 The system operates as follows.

 The signals from the output of the control object 1 are supplied simultaneously to the corresponding inputs of the first block 2 for setting the coefficients and block 3 delay. The signals from the outputs of block 2 setting the coefficients are supplied to the corresponding inputs of the first block 5 summation, where they add up. The signal from the output of the summing unit 5 comes to the second input of the second multiplier 9, to the second input of the third multiplier 11 and to both inputs of the first multiplier 6. In the first multiplier 6, the signal is multiplied from the output of the first summing unit 5 by the same signal. The signal from the output of the first multiplier 6 is fed to the input of the quadrator 7, where the signal is multiplied from the output of the first multiplier 6 by the same signal. The signal from the output of the quadrator 7 goes to the input of the first integrator 8, where it is integrated, and from the output of the integrator 8 to the second input of the second multiplier 9. In the second multiplier 9, the signal from the output of the integrator 8 is multiplied by the signal from the output of the first summing unit 5. The signals from the outputs of the delay unit 3 after a time equal to the delay time, are fed to the corresponding inputs of the second block 4 of the task coefficients. The signals from the outputs of the second block 4 of the task coefficients are supplied to the corresponding inputs of the second block 10 of the summation, where they add up. The signal from the output of the second summing unit 10 is fed to the second input of the fifth multiplier 14 and to the first input of the third multiplier 11. In the third multiplier 11, the signal from the output of the first summing unit 5 is multiplied by the signal from the output of the second summing unit 10. The signal from the output of the third multiplier 11 arrives at the first input of the fourth multiplier 12, the second input of which receives a signal from the output of the first 6 multiplier. The signal from the output of the fourth 12 multiplier is fed to the input of the second integrator 13, where it is integrated. The signal from the output of the second integrator 13 is fed to the first input of the fifth multiplier 14, where the signal is multiplied from the output of the second integrator 13 by the signal from the output of the second summing unit 10. The signal from the output of the fifth multiplier 14 is fed to the second input of the third summing unit 15, where a signal supplied to the first input of the third summing block 15 from the output of the second multiplier 9. The signal from the output of the third summing block 15 (control signal) is input to the control object 1.

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

Sources of information
1. USSR author's certificate 1578696, cl. G 05 B 13/02, 1988.

 2. Copyright certificate of the USSR 1105860, cl. G 05 B 13/02, 1984 (prototype).

Claims (1)

 An adaptive control system containing a control object, a first coefficient setting block, a delay block, a second coefficient setting block, a first summing block, a first multiplier, a first integrator, a second multiplier, a third multiplier, a second integrator, a fifth multiplier, the outputs of the control object are connected to the corresponding inputs the first block for setting coefficients and the block for delay, the inputs of the first block for summing are connected to the corresponding outputs of the first block for setting coefficients, the output of the first block the summation is connected to both inputs of the first multiplier, to the second input of the second multiplier and to the second input of the third multiplier, the outputs of the delay unit are connected to the corresponding inputs of the second unit for setting the coefficients, connected by the outputs to the corresponding inputs of the second summing unit, the output of which is connected to the first input of the third multiplier and to the second input of the fifth multiplier, the input of the fifth multiplier is connected to the output of the second integrator, the output of the fifth multiplier is summed with the second input of the third block I, the first input of the third summing unit is connected to the output of the second multiplier, the input of which is connected to the output of the first integrator, the output of the third summing unit is connected to the input of the control object, characterized in that the fourth multiplier and quadrator are introduced into the system, the quad input is connected to the output of the first multiplier , the output is connected to the first integrator, the first input of the fourth multiplier is connected to the output of the third multiplier, the second input is to the output of the first multiplier, the output of the fourth multiplier is to the input of the second ntegratora.