RU2441265C1 - Relay controller - Google Patents

Abstract

FIELD: electricity.

SUBSTANCE: relay controller comprises a (2m+1) channel, and each channel comprises the first and second comparing devices, a multiplication device, an integrator, the first and second relay elements, an integrator with a limitation, a summator, a relay signal generator with a delay for disconnection, a device to generate an optimal transfer ratio, a majority device, a circuit of module identification and a key. The relay controller provides for good functioning at any single failure in any channel and implements optimal control at the same time.

EFFECT: reliability improvement.

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Description

The invention relates to automation and can be used in redundant control systems for various inertial objects, for example, turntables, industrial robots, aircraft.

Known relay controller [1], containing a series-connected bus signal positional deviation, the first comparator device, amplifier with restriction, adder, integrator, the second comparator device, the first relay element and the shaper of the relay signal with a delay on shutdown and the second relay element and the second connected in series a limiting integrator whose output is connected to the inverting input of the second comparison device.

The disadvantage of this regulator is that it does not provide the required speed and predetermined energy costs (flow of the working fluid) in transient conditions.

The closest technical solution to the proposed one is a relay controller [2], comprising a device for generating an optimal transmission coefficient and a serially connected positional deviation signal bus, a first comparison device, a multiplication device, an adder, an integrator, a second comparison device, a first relay element and a relay signal generator with delay on shutdown, and in series connected second relay element and integrator with restriction, the output of which is connected to invert the input of the second comparison device, the output of which is connected to the input of the second relay element, while the output of the integrator is connected to the inverting input of the first comparison device and the first input of the device for generating the optimal transmission coefficient, the second input of which is connected to the bus signal of the rate of change of positional deviation and the second non-inverting input the adder, and the output of the device for generating the optimal transmission coefficient is connected to the second input of the multiplication device,

The disadvantage of this device is that it does not provide the specified reliability of operation, since with any single failure this device ceases to perform its functions.

The objective of the invention is to increase reliability.

This problem is solved by the fact that the relay controller containing the device for generating the optimal transmission coefficient and connected in series to the positional deviation signal bus, the first comparator device, the multiplication device, adder, integrator, the second comparator device, the first relay element and the relay signal shaper with a delay on shutdown , and series-connected the second relay element and the integrator with restriction, the output of which is connected to the inverting input of the second comparing device, the output of which is connected to the input of the second relay element, while the integrator output is connected to the inverting input of the first comparing device and the first input of the device for generating the optimal transmission coefficient, the second input of which is connected to the bus signal of the rate of change of positional deviation and the second non-inverting input of the adder, and the output devices for generating the optimal transmission coefficient are connected to the second input of the multiplication device, 2m (m = 1,2, ...) similar reg tracers, each of which additionally contains a majority device, a key and a module allocation circuit, while the majority device output is connected to the output signal bus, with the third input of the optimal transmission coefficient generating device and the input of the module allocation circuit, the output of which is connected to the key control input, the output which is connected to the inverting input of the adder, and the signal input of the key is connected to the output of the first relay element, the output of the shaper of the relay signal with a delay off one with the first input of the majority device and the corresponding inputs of the majority device of other channels.

Figure 1 shows the block diagram of the relay controller, figure 2 shows the phase trajectories of the system.

In the diagram of Fig. 1: 1 is the first comparison device, 2 is the multiplication device, 3 is the adder, 4 is the integrator, 5 is the first relay element, 6 is the shaper of the relay signal with a delay on shutdown, 7 is the second comparison device, 8 is the second relay element, 9 - integrator with restriction, 10 - bus signal of positional deviation, 11 - bus signal of the rate of change of positional deviation, 12 - control object (not included in the controller; it is shown for a more complete description of the technical result from the use of the claimed device), 13 - devices of an optimum transmission ratio, 14 - key 15 - majority votes device 16 - an output signal bus 17 - extracting circuit module 18 - the first channel 19 - second channel 20 - (2m + 1) th channel.

In Fig.2: L, L ^H , L ₁ , L ₂ , L ₃ , L ^H ₁ , L ^H ₂ , L ^H ₃ - switching lines, N, N ^H - phase trajectories, A, a ₁ , a ₀ - depicting phase trajectory points.

In the relay controller (Fig. 1), in each channel, a positional deviation signal bus 10, a first comparator 1, a multiplier 2, an adder 3, an integrator 4, a second comparator 7, a first relay element 5 and a relay signal shaper with a delay of shutdown 6, the output of which is connected to the input of the majority device 15 and to the corresponding inputs of the majority device 15 of other channels, the output of the majority device 15 is connected to the output signal bus 16, with the third input of the device the formation of the optimal transmission coefficient 13 and the input of the allocation circuit of the module 17, the output of which is connected to the control input of the key 14. The output of the second relay element 8 is connected to the input of the integrator with restriction 9, the output of which is connected to the inverting input of the second comparison device 7. The output of the integrator 4 is connected with the inverting input of the first comparison device 1 and the first input of the device for generating the optimal gear ratio 13. The output of the first relay element 5 is connected to the signal input key and 14, the output of which is connected to the inverting input of the adder 3. The output of the second comparator 7 is connected to the input of the second relay element 8. The bus signal of the rate of change of positional deviation 11 is connected to the second non-inverting input of the adder 3 and the second input of the device for generating the optimal transmission coefficient 13, output which is connected to the second input of the multiplication device 2.

Consider the operation of the relay controller on the example of controlling the orientation of the spacecraft. Let the signal X (bus 10) of the angular (positional) deviation of the spacecraft and the signal Y (bus 11) of the rate of change of the angular deviation (angular velocity) be received at the input of the relay controller of each channel. The task of the relay controller is to form the output signal M _y (the output signal of the majority device 15) in order to reduce the signals X and Y to the region of the stable state B⇒X∈ (-h, + h), Y∈ (-b, b), where the values ± h determine the deadband of the relay controller, the values ± b determine the permissible values of the angular velocity in the steady state (deadband of the relay controller according to the angular velocity), see figure 2.

The relay controller in the control system is described by the following relationships

where M _y , M _B - control and disturbing moments, respectively.

Further in the text: U _i (i = 1, 2, ...) - state variables of the relay controller (output signals of functional blocks with position designation i).

where ε is the angular acceleration developed by the control engines. Hereinafter: K _i - transmission coefficients of variables U _i . The law of formation of the coefficient K ₂ (ε) is implemented by the device for generating the optimal transmission coefficient 13 and will be considered below.

Hereinafter: h _i , b, τ are the parameters of the controller.

(which means the conversion of the relay signal U _{5 of} duration t ₅ to the relay signal U _{6 of} duration t ₆ ).

where the function M _U means the majority choice of the value of most (m + 1) functions U ₆ from the possible number of values (2m + 1).

In relation to the impact on the control object 12, the output signal of the majority device 15 [4] U ₁₅ is the control moment M _y . The laws of the formation of the output signal M _{y of the} relay controller, which make it possible to bring the coordinates X and Y to the region of stable state B, are determined by expressions (3) - (14).

Let us dwell on the characteristics of some elements of the flowchart. The integrator with restriction 9 has an output signal U ₉ limited by ± h ₂ (| h ₂ + h ₁ | = h corresponds to the deadband of the relay controller). The response level of the first relay element 5 ± h ₁ is chosen significantly less than the value ± h, which can significantly reduce dynamic errors under the action of disturbing moments. The output signal level of the second relay element 8 is chosen equal to ± b (corresponds to the permissible value of the angular velocity in the steady state).

Consider the operation of the relay controller, assuming first that the output signal of the device forming the optimal transmission coefficient 13 U ₁₃ = K ₂ = const. Let the signal X increase from zero at a speed Y <b. In this case, the output signal U _{4 of the} integrator 4 is equal to the signal X, which is ensured by the structure of the circuit formed by the first comparing device 1, the multiplying device 2, the adder 3 and the first integrator 4, and the output signal U _{7 of the} second comparing device 7 is zero, since the output the signal U _{8 of the} second relay element 8 provides accurate tracking of the output signal U _{9 of the} integrator with a limit of 9 for the output signal U _{4 of the} first integrator 4 in accordance with the equalities

where U ₀ corresponds to U ₇ = 0.

In the case under consideration, in accordance with (16), the signal U ₇ = 0 and the first relay element 5 is turned off, that is, conditions (16) correspond to the steady state mode for which the coordinates are X, Y∈В.

Now let the signal X increase from zero at a speed Y> b. In this case, conditions (16) are not fulfilled, the signal U ₇ ≠ 0, and when the signal U ₇ reaches the value h _{1, the} first relay element 5 is turned on, forming the output signal U ₅ , which is input to the shaper 6 and through the key 14 to the inverting input of the adder 3. The output signal of the shaper 6 is fed to the input of the majority device 16, the output signal M _{y of} which is the output signal of the controller and is used to turn on the executive motors. In a properly functioning controller (all channels are operational), the first relay element 5 of all channels is turned on almost simultaneously and we can assume that in accordance with (5) and (14) the signal is U ₁₄ = U ₅ . Shaper 6 is a relay element with a delay on shutdown: the shaper 6 is triggered simultaneously with the operation of the first relay element 5, and shutdown is in time τ after the first relay element 5 is turned off. From the moment the first relay element 5 is triggered, the first comparator 1, multiplication device 2, adder 3, integrator 4, second comparison device 7, the first relay element 5, a "sliding mode" occurs [3], which is characterized by the switching of the first relay about element 5 with a frequency f _p determined by the rate of change of the signal X (angular velocity Y). If f _p .> 1 / τ, then the output signal M _{y of the} controller is continuous. If f _p . <1 / τ, then the output signal M _{y of the} controller is relay-pulse, frequency f _p and duration τ. The inclusion of the shaper 6 and the majority device 15 ensures that the X, Y coordinates are brought into the region of the stable state B. By choosing the slope of the output characteristic of the multiplication unit 2, the required parameters of the relay controller switching lines are achieved, which are similar to the parameters of the known solution [2].

The equations of the switching lines (figure 2) have the form:

If device 2 has a limit of U ⁺ ₂ (U ^- ₂ ), then the switching lines

The device for generating the optimal transmission coefficient 13 [2] generates an output signal U ₁₃ in accordance with expressions (20) - (24)

where ε _B is the angular acceleration from the disturbing moment M _B , ε ⁺ _y is the angular acceleration when the engine is turned on M _y = U ⁺ = 1 and ε ^- _y is the angular acceleration when the engine is turned on M _y = U ^- = -1.

As follows from (20), the transmission coefficient K ₂ (ε) is determined either by the expression | 2ε / Y | if M = 1, or equal to K ₂ if M = 0.

Consider the operation of the relay controller in this case. In accordance with the circuit of FIG. 1, the output signal of the forming device 13 U ₁₃ is a variable coefficient K ₂ (ε) by which the signal of the first comparison device 1 U ₁ is multiplied. According to (18), the switching lines L ₂ , L ^H ₂ and L, depending on the position of the image point, will have a different slope determined by the coefficient K ₂ (ε). If the imaging point A intersects the N (N ^H ) lines (optimal motion paths) during its movement along the phase path, for example, at the point a ₁ with coordinates (X ₁ , Y ₁ ), then at this point, according to (20), the output signal of the device the formation of the optimal transmission coefficient 13 U ₁₃ = | 2ε / Y ₁ | = K ₂ (ε) and the switching line L has a slope determined by the coefficient K ₂ (ε). And this means that the point a ₁ belongs to the line L. The lines N and N ^H have the form

When the image point moves in the second or fourth quadrants, the actuator will switch on (switch) on the line N or N ^H [2]. When the engine is turned on at point a ₁ (Fig. 2), the signal U ₁₃ will change in accordance with (20), which will lead to the continuous turning on of the engine, and the image point will move along trajectory N to the region of steady state B. Trajectory N (N ^H ) is the trajectory of the optimal movement in terms of speed of the image point to the region of steady state B. The device for generating the optimal transmission coefficient 13 provides the output of the image point to the optimal path N (N ^H ).

Consider the operation of the relay controller in case of failure of any element in one of the channels. For simplicity, we consider a triple relay controller (m = 1).

Let, for example, the first relay element 5 in the first channel 18 fail so that the threshold of its operation h _{1 is} significantly reduced. In this case, when the signal X increases from zero at a speed Y> b, the signal of the second comparator device 7 U ₇ also increases and when the signal U ₇ reaches h _{1, the} first relay element 5 of the first channel 18 is turned on, forming the output signal U ₅ , which is fed to the input of the shaper 6. The output signal of the shaper 6 is fed to the input of the majority device 15, and since the signals at its other inputs are equal to zero, the output signal of the majority device 15 U ₁₅ = 0. In accordance with (5), the output signal of the switch 14 U ₁₄ = 0 and the output signal of the integrator 4 U ₄ will increase along with the signal U ₇ , which will lead to the continuous switching on of the first relay element 5 and the shaper of the relay signal 6. This state will be maintained until until the signal X reaches the switching threshold h _{1 of the} first relay element 5 of a working channel 19 or 20. At this moment, the first relay element 5 of the second 19 and third 20 channels is turned on, the signal U ₆ = 1 appears at the outputs of the shapers 6 of these channels and result on output the unitary device 15 of all channels, a signal U ₁₅ = 1 appears, which acts on the control object 12, is fed to the input of the device for generating the optimal transmission coefficient 13 and the control input of the key 14 and opens it. In accordance with (5), the output signal of the switch is 14 U ₁₄ = U ₅ and the relay controller generates a control action M _y and a switching line L according to (18). Thus, the formation of the control action M _y on the control object begins at the moment when the signal X reaches the value h ₁ , i.e. at point a of FIG. 2 determined by a serviceable channel. The trajectory of the image of point A represents the line A → a → a ₁ , Fig.2. Switching control will occur at point a _{1 the} intersection of the switching line L and line N (25). Next, two serviceable channels form the control action M _y , which ensures the movement of the image point along the trajectory N (25). In other words, in the case of a single failure in the first channel 18, the relay controller ensures proper control of the object, while the image point A moves along the optimal path A → a → a ₁ → a ₀ .

Consider another failure, for example, failure of any of the elements 1, 2, 3, 4 or 7 of the first channel 18 in such a way that the output signal of the second comparison device 7 U ₇ remains less than the value of h ₁ . In this case, the first relay element 5 of the first channel 18 remains in the off state and its output signal U ₅ and the output signal of the driver of the relay signal 6 U ₆ will be zero. When the signal X increases from zero at a speed Y> b, the signal of the second comparator device 7 U _{7 of} serviceable channels 19 and 20 also increases, and when signal U ₇ reaches the value of h _{1, the} first relay element 5 of these channels is turned on, forming the output signal U ₅ , which arrives the input driver 6. The outputs of these generators 6 channels appears the signal U 1 = ₆ and as a result the output device 15 a majority of all channels displayed signal U ₁₅ = 1, which acts on the control object 12 is fed to the input of the device forming the optimal first gain control input 13 and the switch 14 and opens it. In accordance with (5), the output signal of the switch 14 U ₁₄ = U ₅ and the relay controller form the control action M _y and the switching line L according to (18). Further formation of the control action is similar to that already described above. Thus, with the considered single failure in the first channel 18, the relay controller ensures the proper control of the object, while the image point A moves along the optimal path A → a → a ₁ → a ₀ .

In case of other failures in any channel, the formation of the control action M _{y is} similar to the process described above. The considered relay controller ensures proper functioning in case of any single failure.

Let us evaluate the reliability of the known [2] and proposed solution. Let the reliability of the known solution [2] be equal to p ₁ , the reliability of the key 14 additionally introduced into each channel of the proposed relay controller, the majority device 15 and the allocation circuit of module 17 is p ₂ , and the reliability of each channel of the proposed solution is p = p ₁ p ₂ . The reliability P _{p of the} proposed solution can be estimated in the form

where С ² _{2m + 1} is the number of combinations from (2m + 1) by 2, С ^m _{2m + 1} is the number of combinations from (2m + 1) by m.

Let m = 1, p ₁ = 0.9, p ₂ = 0.99 (the complexity of the known solution significantly exceeds the complexity of the three elements additionally introduced into each channel). In this case, from (27) we have P _n = 0.967. Thus, the reliability of the proposed relay controller P _p = 0.967 is higher than the reliability of the known relay controller p ₁ = 0.9.

The proposed set of features in the solutions considered by the authors was not found to solve the problem and does not follow explicitly from the prior art, which allows us to conclude that the technical solution meets the criteria of "novelty" and "inventive step" Standard elements can be used as elements for the implementation of the device amplifiers, integrators, relay elements, comparing devices, adders, AND elements, OR elements, keys, multipliers, majority devices, circuits you module Elena.

Literature

1. RU Patent 2223528 cl. G05B 11/14, 2004

2. RU Patent 2,385,480 cells. G05B 11/14, 2010

3. Utkin V.I. Sliding modes and their application in systems with variable structure. M .: Science, 1981 from 33-240.

4. RU Patent 2005330, Cl. H03K 19/23.

Claims (1)

A relay controller comprising a device for generating an optimal transmission coefficient and a serially connected positional deviation signal bus, a first comparator, a multiplication device, an adder, an integrator, a second comparator, a first relay element and a relay signal driver with a delay for switching off and a second relay element connected in series and limited integrator, the output of which is connected to the inverting input of the second comparison device, the output of which is is dined with the input of the second relay element, while the integrator output is connected to the inverting input of the first comparator device and the first input of the optimal transmission coefficient generating device, the second input of which is connected to the bus signal of the rate of change of positional deviation and the second non-inverting input of the adder, and the output of the optimal coefficient generating device transmission connected to the second input of the multiplication device, characterized in that it additionally introduced 2m (m = 1, 2, ...) similar reg itinerators, each of which additionally contains a majority device, a key and a module allocation circuit, while the output of the majority device is connected to the output signal bus, with the third input of the optimal transmission coefficient generating device and the input of the module allocation circuit, the output of which is connected to the key control input, the output which is connected to the inverting input of the adder, and the signal input of the key is connected to the output of the first relay element, the output of the shaper of the relay signal with a delay to turn off the connection nen the first input device and corresponding majority majority device inputs other channels.

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