RU2231818C2 - Robast control system - Google Patents

Abstract

FIELD: automatic control systems, possibly systems for controlling objects whose parameters are unknown constant or slowly changing in time values.

SUBSTANCE: apparatus includes controlled object, unit for setting coefficients, adders, multipliers.

EFFECT: simplified algorithmic structure of control system due to changing algorithm of robast control.

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Description

The invention relates to automatic control systems and can be used in systems for controlling objects whose parameters are unknown constant or slowly varying in time. 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 comprising a control object, a coefficient setting unit, a first summing unit, a sign discriminator, a first multiplier, a second multiplier and a second summing unit connected in series. The outputs of the control object are connected to the corresponding inputs of the coefficient setting block, the signals from the outputs of the coefficient setting block are supplied to the corresponding inputs of the first summing block, the output of the first summing block is connected to the input of the sign discriminator block and to two inputs of the first multiplier, the output of the first multiplier is connected to the first input of the second multiplier, the second input of the second multiplier receives a signal from the output of the sign discriminator, in the second summing unit, the signals obtained output from the second multiplier and the output of the sign discriminator, the output of the second summing unit is connected to the control object [1].

The disadvantage of this system is the design complexity, since the sign discriminator is used in the construction of the system algorithms.

The aim of the invention is to simplify the algorithmic structure of the control system, by changing the robust control algorithm.

This goal is achieved by the fact that from the system containing the control object, the coefficient setting unit, the first and second summing blocks, the sign discriminator, the first and second multipliers connected in series, the output of the first summing unit, the corresponding inputs of which are connected, is connected to the first and second inputs of the first multiplier with the corresponding outputs of the coefficient setting block, and the outputs of the control object are connected to the corresponding inputs of the coefficient setting block, a sign discriminator is output, pr than 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 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 first summing unit, the output of the second summing unit is connected to the object management.

Deriving the sign discriminator from the system, a system with robust control of a simpler structure is obtained without changing the conditions for the normal functioning of the system with non-stationary characteristics of the equation.

The drawing shows a block diagram of a system.

The system comprises a control object 1, a coefficient setting unit 2, a first summing unit 3, a first multiplier 4, a second multiplier 5 and a second summing unit 6.

y ₁ , ..., y _m are the outputs of the control object, U is the scalar control action satisfying the equation:

U = -γ ₁ g ^T y-γ ₂ (g ^T y) ³ ,

where γ ₁ > 0, γ ₂ > 0 are constants;

g ^T is a numerical vector;

y is the m-dimensional vector of the output coordinates of the object.

The system operates as follows.

The signals y ₁ , ..., y _m from the outputs of the control object 1 simultaneously arrive at 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 control object by a constant coefficient g _i . The signals from the outputs of block 2 setting the coefficients are fed to the corresponding inputs of the summing block 3, where they add up. The signals g ^T y from the output of the summing unit 3 are fed to both inputs of the first multiplier 4 and to the second input of the second multiplier 5. In the first multiplier 4, the signal from the output of block 3 of the first summation is multiplied by the same signal. The signal (g ^T y) from the output of the first multiplier is fed to the first input of the second multiplier 5, where it is multiplied by the signal g ^T y supplied to the second input of the second multiplier 5. The received signal (g ^T y) ³ comes from the output of the second multiplier 5 the first input of the second summing unit 6, the second input of which receives a signal (g ^T y) from the output of the first summing unit 3. In the second summing unit 6, the signals received from the output of the second multiplier 5 and the output of the first summing unit 3 with the necessary coefficients are added . The signal U = -γ ₁ g ^T y-γ ₂ (g ^T y) ³ from the output of the second summing unit 6 (control action) is fed to the input of control object 1.

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

Sources of information

1. RF patent No. 2156993, cl. G 05 B 13/02, 2000 (prototype).

Claims (1)

A robust control system containing a control object, the outputs of the control object are connected to the corresponding inputs of the coefficient setting unit, the outputs of which are connected to the corresponding inputs of the first summing unit, the output of the first summing unit is connected to the first and second inputs of the first multiplier, the output of the first multiplier is connected to the first input of the second multiplier, the output of the second multiplier is connected to the first input of the second summing unit, the output of which is connected to the input of the control object, distinguishing I in that the output of the first summing unit connected to the second input of the second multiplier and a second input of the second adding section.