RU2495469C2 - Automatic control system - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: disclosed is an automatic control system, having a control object, a first comparator, inputs of which are connected to an input signal source and the output of the control object and a summation device, the first input of which is connected through a modulus extractor and a first amplifier to the output of the first comparator, the second input is connected to a device for setting a constant transfer ratio, and the output is connected to the first input of a first multiplier, the second input of which is connected to the output of the first comparator, the output of the first multiplier is connected to the positive input of a second comparator, the output of which is connected to the input of the control object. The negative input of the second comparator is connected through a second amplifier to the output of the second multiplier, the first input of which is connected through a differentiator to the output of the control object, and the second input is connected through a rooting device to the output of the summation device.

EFFECT: high speed of operation and accuracy of the system while maintaining a modular optimum for any system error values.

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Description

The present invention relates to automatic regulation. A known system of automatic control (Popov EP Theory of nonlinear systems of automatic regulation and control. Science. 1988, p. 8 Fig. 1.1.6), in which the control signal is the sum of the system error signals and the square of the system error. A disadvantage of the known systems is that with a change in the transmission coefficient of the system with a change in the error, the stability margins of the system change, the oscillation changes, which forces to reduce the total transmission coefficient, to reduce accuracy and speed.

Systems of subordinate regulation are also known (Frere F. and Ottenburger F. Introduction to electronic regulation technology. "Energy" 1973) in which, due to sequential corrective devices, the systems are tuned to a modular optimum. The disadvantage of these systems is the dependence of the settings and characteristics of the systems on the uncompensated time constant, on which the transmission coefficient and system speed depend.

The problem to be solved is the elimination of the dependence on the error of the system characteristics of the adjusted system, which is tuned to the modular optimum, for all values of the system error.

The technical result is an increase in speed and accuracy of the system while maintaining a modular optimum at any system error values.

This technical result is achieved in that in an automatic control system containing a first comparison device, the inputs of which are connected to the input signal source and the output of the system, the control object and the first summation device, the first input of which is connected through the module selection device and the first amplifier to the output of the first device comparison, and the second input is connected to a constant gear coefficient setting device, and the output is connected to the first input of the first multiplying device, the second input One of which is connected to the output of the first comparison device, the output of the first multiplying device is connected to the positive input of the second comparison device, the output of which is connected to the input of the control object. The automatic control system is characterized in that the negative input of the second comparison device through the second amplifier is connected to the output of the second multiplier device, the first input of which is connected through the differentiator to the output of the control object, and the second input is connected through the root extraction device to the output of the summing device.

Figure 1 shows a diagram of an automatic control system. The automatic control system contains a control object 1, a first comparison device 2, the inputs of which are connected to the input signal source 3 and the output of the control object, a summing device 4, the first input of which is connected through the module selection device 5 and the first amplifier 6 to the output of the first comparison device 2, the second input of device 4 is connected to a constant factor reference device 7, and the output is connected to the first input of the first multiplying device 8, the second input of which is connected to the output of of the second comparison device 2, and the output is connected to the positive input of the second comparison device 9, the output of which is connected to the input of the control object 1, and the negative input through the second amplifier 10 is connected to the output of the second multiplier device 11, the first input of which is connected through the differentiator 12 to the output of the object regulation, and the second input is connected through the root extraction device 13 to the output of the summation device.

The automatic control system works as follows: in the first comparison device 2, the control error ε = g-x is detected, where g is the input signal coming from the source 3 of the input signal, x is the adjustable coordinate coming from the output of the control object 1.

. На второй вход устройства суммирования поступает сигнал С₁ с устройства задания 7 постоянного коэффициента, в итоге на выходе устройства суммирования 4 формируется сигнал $$U_1=C_1+C_0\left|\epsilon \right|$$

, а на выходе первого множительного устройства 8 формируется сигнал $$U_2=\epsilon \left(C_1+C_0\left|\epsilon \right|\right)=\epsilon \cdot k_1\left(\epsilon \right)$$

, который соответствует введению в цепь ошибки ε звена с коэффициентом передачи, меняющимся с изменением этой ошибки. Одновременно с этим формируется сигнал обратной связи по скорости изменения регулируемой координаты U₃=k₃px.A signal is generated at the first input of the summing device 4 using the module isolation device 5 and the first amplifier 6 $${\mathrm{FROM}}_0\left|\epsilon \right|={\mathrm{FROM}}_0\epsilon \cdot sign\epsilon$$

. The second input of the summing device receives a signal C ₁ from the job device 7 constant coefficient, as a result, a signal is generated at the output of the summing device 4 $$U_{\mathrm{one}}=C_{\mathrm{one}}+C_0\left|\epsilon \right|$$

, and at the output of the first multiplier device 8, a signal is generated $$U_2=\epsilon \left(C_{\mathrm{one}}+C_0\left|\epsilon \right|\right)=\epsilon \cdot k_{\mathrm{one}}\left(\epsilon \right)$$

, which corresponds to introducing into the error circuit ε a link with a transmission coefficient that varies with this error. At the same time, a feedback signal is formed according to the rate of change of the adjustable coordinate U ₃ = k ₃ px.

будет иметь вид: $$Ф\left(p\right)=\frac{x}{g}=\frac{1}{\frac{1}{k_1{k}_o}{p}^2+\frac{k_3}{k_1}p+1}.$$

As a result, the transfer function of a closed system with the transfer function of an open system $$W\left(p\right)=\frac{k_0}{p^2}$$

will look like: $$F\left(p\right)=\frac{x}{g}=\frac{\mathrm{one}}{\frac{\mathrm{one}}{k_{\mathrm{one}}{k}_o}{p}^2+\frac{k_3}{k_{\mathrm{one}}}p+\mathrm{one}}.$$

в виде Т²p²+2ξТр+1 и приняв как при настройке на модульный оптимум $$\xi =\frac{1}{\sqrt{2}}$$

, получим $$T=\frac{1}{k_1{k}_o},$$

Introducing the denominator $$F\left(p\right)$$

in the form of T ² p ² + 2ξТр + 1 and taking as when setting to modular optimum $$\xi =\frac{\mathrm{one}}{\sqrt{2}}$$

we get $$T=\frac{\mathrm{one}}{k_{\mathrm{one}}{k}_o},$$

и требуемый коэффициент обратной связи по скорости $$2\xi T=\frac{\mathrm{one}}{\sqrt{2k_{\mathrm{one}}{k}_o}}=\frac{k_3}{k_{\mathrm{one}}}$$

and required speed feedback coefficient

соответствует настройке на модульный оптимум при любых значениях ошибки ε и коэффициента передачи $$k_1={С}_1+{С}_0\left|\epsilon \right|$$

. $$k_3=\sqrt{\frac{k_{\mathrm{one}}}{2k_o}}=\sqrt{\frac{{\mathrm{FROM}}_{\mathrm{one}}+{\mathrm{FROM}}_0\left|\epsilon \right|}{2k_o}}$$

corresponds to tuning to modular optimum at any values of error ε and transmission coefficient $$k_{\mathrm{one}}={\mathrm{FROM}}_{\mathrm{one}}+{\mathrm{FROM}}_0\left|\epsilon \right|$$

.

, чем достигается увеличение быстродействия, при малых ошибках обеспечивается малый коэффициент передачи за счет С₀ и тем самым малое влияние помех и в то же время настройка на модульный оптимум при любых ошибках и всех коэффициентах передачи. При обычной настройке на модульный оптимум отклонение коэффициента передачи от оптимального значении ведет или к уменьшению быстродействия или к недопустимой колебательности системы.As a result, in the automatic control system with large errors ε, a large transmission coefficient is ensured due to $${\mathrm{FROM}}_0\left|\epsilon \right|$$

which achieves an increase in speed, with small errors, a small transmission coefficient is achieved due to C ₀ and thereby a small influence of interference and at the same time, tuning to a modular optimum for any errors and all transmission coefficients. In normal tuning to a modular optimum, deviation of the transmission coefficient from the optimal value leads either to a decrease in speed or to an unacceptable oscillation of the system.

Claims (1)

An automatic control system comprising a control object, a first comparison device, the inputs of which are connected to the input signal source and the output of the control object, and a summing device, the first input of which is connected through the module extraction device and the first amplifier to the output of the first comparison device, and the second input is connected to the device setting a constant transfer coefficient, and the output is connected to the first input of the first multiplier device, the second input of which is connected to the output of the first device Comparison properties, the output of the first multiplier device is connected to the positive input of the second comparison device, the output of which is connected to the input of the control object, characterized in that the negative input of the second comparison device through the second amplifier is connected to the output of the second multiplier device, the first input of which is connected through the differentiator to the output the regulation object, and the second input is connected through the root extraction device to the output of the summation device.