RU2475798C1 - Combined robust control system for non-stationary dynamic objects - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: disclosed is a combined robust control system for non-stationary dynamic objects, having a coefficient unit, first, second and third adder units, a parallel compensator filter, first and second multipliers, a delay unit, a control object whose outputs are connected to corresponding inputs of the coefficient unit; inputs of the adder unit are connected to corresponding outputs of the coefficient unit; the output of the adder unit is connected to the input of the parallel compensator filter, the output of which is connected to both inputs of the first multiplier and the second input of the second multiplier, wherein the output of the first multiplier is connected to the first input of the second adder unit and the first input of the third adder unit; the output of the second adder unit is connected to the second input of the third adder unit and the input of the delay unit, the output of which is connected to the second input of the second adder unit; the first input of the second multiplier is connected to the output of the third adder unit; the output of the second multiplier is connected to the input of the control object.

EFFECT: providing dissipative stability of the investigated system for unstable objects with non-periodic external and parametric perturbations.

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Description

The invention relates to technical cybernetics and can be used in control systems for a priori indefinite non-stationary dynamic objects in periodic modes.

The closest technical solution to the proposed one is a combined adaptive control system for dynamic objects with periodic coefficients (RF patent No. 2441266, Official bulletin. “Inventions and utility models.” - 2012, No. 3, - prototype), containing a block for setting coefficients, first, the second and third summing blocks, a parallel filter compensator, the first and second multipliers, the delay unit, an integrator, an object of regulation, the outputs of which are connected to the corresponding inputs of the coefficient setting unit, the inputs of the block the summation windows are connected to the corresponding outputs of the coefficient setting block, the summation block output is connected to the input of the parallel compensator filter, the output of which is connected to both inputs of the first multiplier and the second input of the second multiplier, the output of the first multiplier is connected to the integrator input and to the first input of the second summation block, the second the input of the second summing unit is connected to the output of the delay unit, the output of the second summing unit is connected to the input of the third summing unit and to the input of the delay unit, the second input of the third summing unit is connected to the output of the integrator, the output of the third summing unit is connected to the first input of the second multiplier, the input of the control object is connected to the output of the second multiplier.

However, the disadvantage of this system is the loss of performance if there are parameters in the non-stationary control object that are non-periodic functions of time.

The technical problem to be solved by the claimed invention is aimed at expanding the class of dynamic objects, in particular, ensuring the dissipative stability of the system under consideration for unstable objects with non-periodic external and parametric disturbances and a difference in the orders of the numerator and denominator of the transfer function exceeding unity.

The solution of this problem is achieved by the fact that the integrator is excluded from the system containing the coefficient setting unit, the first, second and third summing units, the parallel filter-compensator, the first and second multipliers, the delay unit, the integrator, the regulation object, and the object outputs regulation are connected to the corresponding inputs of the coefficient setting unit, the outputs of which are connected to the inputs of the first summing block, the output of the first summing block is connected to the input of the parallel filter a-compensator, the first and second inputs of the first multiplier, as well as the second input of the second multiplier are connected to the output of the parallel filter-compensator, the output of the first multiplier is connected to the first input of the second summing unit and to the first input of the third summing unit, the output of the second summing unit is connected to the second the input of the third summing block and with the input of the delay block, the output of which is connected to the second input of the second summing block, the output of the third block is connected to the first input of the second multiplier ia, the output of the second multiplier is connected to the input of the regulatory object.

The exception from the integrator system allows you to build a system, firstly, a simpler structure in comparison with the prototype and, secondly, workable in the presence of non-periodic external and parametric disturbances.

The invention is illustrated by drawings, where figure 1 shows a block diagram of a control system; figure 2 is a block diagram of a parallel filter compensator. The system contains: regulation object 1, coefficient setting unit 2, first summing unit 3, parallel filter-compensator 4, first multiplier 5, second summing unit 6, delay unit 7, third summing unit 8, second multiplier 9, y ₁ , ..., y _m are the outputs of the regulatory object, u is the scalar control action.

The object of regulation is described by the equations

где x(t) - n-мерный вектор состояний объекта регулирования;

where x (t) is the n-dimensional state vector of the regulatory object;

A (t + T) - non-stationary state matrix with periodically changing parameters;

T is the period of change of the state matrix parameters;

b (t) is the non-stationary control vector;

f (t) is the vector of external constantly acting disturbances satisfying the condition

;

;

;

;

y (t) is the m-dimensional vector of the output coordinates of the regulatory object;

* - transpose symbol;

L is the output matrix;

u (t) is the scalar control action;

α ₀ is the m-dimensional vector of coefficients of the coefficient setting unit 2 satisfying the condition: a polynomial of degree n-1 α ₀ ^* α (λ) is stable with a positive leading coefficient, where α (λ) is the numerator of the transfer function of the control object.

Using the criterion of hyperstability of V.M.Popov, it can be shown that the control loop, implemented in a combined way in the form

where χ _lane (t) is the adjustable coefficient of the control loop;

χ _rob (t) is the robust part of algorithm (2);

γ ₀ , γ ₁ - some constant positive values;

provides dissipative stability of the system.

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, inside which the ith input signal is multiplied by a constant given coefficient. The signals from the output of the unit for setting the coefficients 2 go to the inputs of the first summing unit 3, where they add up. The output signal of the first summing unit 3 is fed to the input of the parallel filter-compensator 4 with a functional diagram corresponding to figure 2. In each of the summation blocks 10 (j = 1, 2 ... k-1, where k is the difference in the orders of the numerator and denominator of the transfer function of the control object 1), the signal from the output of the first summation block 3 and the corresponding signals received from the outputs of the integrators 11 _j . The signal from the output of each summing block 10 _{j is} fed to the input of the corresponding integrator 11 _j and to the corresponding input of the summing block 12. In the summing block 12, which forms the output of the parallel filter-compensator 4, the output signals of each integrator 11 _j and each summing block 10 _{j are} added . The signal from the output of the summing unit 12 is fed to both inputs of the first multiplier 5 and to the second input of the second multiplier 9. The output signal of the first multiplier 5 goes to the first input of the third summing unit 8 and to the first input of the second summing unit 6, the output signal of which is fed to the input delay unit 7 and to the second input of the third summing unit 8. The signal from the output of the third summing unit 8 goes to the first input of the second multiplier 9, the output signal of which is fed to the input of the control object 1.

The technical result is to ensure the dissipative stability of the cyclic control system with non-periodic external and parametric disturbances, as well as the difference in the orders of the numerator and denominator of the transfer function of the control object that exceeds unity.

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

Claims (1)

Combined robust control system for non-stationary dynamic objects, comprising a coefficient setting block, first, second and third summing blocks, a parallel filter-compensator, first and second multipliers, a delay block, a control object, the outputs of which are connected to the corresponding inputs of the coefficient setting block, block inputs summation is connected to the corresponding outputs of the coefficient setting unit, the output of the summation unit is connected to the input of the parallel filter of the compensator, the output of which connected to both inputs of the first multiplier and the second input of the second multiplier, characterized in that the integrator is excluded from the system, while the output of the first multiplier is connected to the first input of the second summing unit and to the first input of the third summing unit, the output of the second summing unit is connected to the second input of the third the summing unit and with the input of the delay unit, the output of which is connected to the second input of the second summing unit, the output of the third summing unit is connected to the first input of the second multiplier, exit a second multiplier coupled to the input of the controlled object.

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