RU2649791C1 - Multi-parameter fuzzy processor for automatic regulators and method for synthesis of control signal - Google Patents

Multi-parameter fuzzy processor for automatic regulators and method for synthesis of control signal Download PDF

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RU2649791C1
RU2649791C1 RU2017111665A RU2017111665A RU2649791C1 RU 2649791 C1 RU2649791 C1 RU 2649791C1 RU 2017111665 A RU2017111665 A RU 2017111665A RU 2017111665 A RU2017111665 A RU 2017111665A RU 2649791 C1 RU2649791 C1 RU 2649791C1
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control
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control signal
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Николай Леонидович Дембицкий
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Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский авиационный институт (национальный исследовательский университет)"
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00Details not covered by groups G06F3/00 – G06F13/00 and G06F21/00
    • G06F1/26Power supply means, e.g. regulation thereof
    • G06F1/32Means for saving power
    • G06F1/3203Power management, i.e. event-based initiation of power-saving mode

Abstract

FIELD: control systems.
SUBSTANCE: invention relates to real-time control of complex objects and fast flowing processes with a multiparameter dependence of the control function, which can not be represented by a mathematical model in the form of differential equations. Proposed multi-parameter fuzzy processor for automatic control systems is characterized by the fact that it contains N phase-shifters, to which the N parameters of the control object are fed, memory block, N rows of the same type of device for calculating control signals that perform parallel calculation of the values of the control function.
EFFECT: increased speed of control while reducing hardware redundancy.
2 cl, 1 dwg

Description

The invention relates to the field of real-time control of complex objects and fast processes that cannot be represented by a mathematical model in the form of differential equations. The technical result is an increase in control performance while reducing hardware redundancy, in the unification of the structure of fuzzy controllers when changing the number of parameters of the control object.

A clear logical controller is known for controlling technological processes [Patent RU No. 2445669, IPC G05B 13/02], in which the controller includes a fuzzifier with seven inputs, a logic output unit with predetermined membership functions of clear terms of variables, the input of which is provided with input and output variables, as well as discrete input and output variables of the control object, defuzzifier, actuator, control object and feedback sensor. The comparing device is implemented as part of the conditional part of the production rules of the fuzzy inference unit. To increase accuracy and speed, the input and output variables of the controller are represented by a set of clear terms, and an additional increase in the speed of the controller is achieved by automatically positioning the ANY-TIME algorithm to the beginning of the rule production system with the highest response frequency. The expansion of the control functions of the controller is achieved through the use of discrete and output variables of the control object in the antecedents of production rules.

The disadvantages of this controller are: a sequential method of processing production rules reduces the speed of the controller, the use of a rectangular shape of the membership function reduces the accuracy of regulation in the fuzzy region. Known three-position controllers with an adaptive middle position [Patent RU No. 2220432, IPC G05B 13/02, G05B 11/18], in which the non-contact connection of the functional link reconfiguration is achieved by connecting it to the output of the three-position controller with fixed positions in parallel with the amplification link with gain K ≥2 and the subsequent supply of the total signal of these two parallel branches to a saturation-type link with a unity gain and saturation signals equal to the values of the extreme positions Foot three-position control relative to the average.

The disadvantages of this controller are: the use of the integration circuit reconfiguration function, which reduces the speed of regulation when the controlled variable (parameter) runs out of the dead band (zone), the applicability of the controller with only one parameter of the control object.

A known method of forming a fuzzy control action [Patent No. 2514127, IPC G05B 19/00], according to which a fuzzy adaptive positional method for automatically controlling objects with discrete actuators is proposed, implemented by a logical controller and consisting in the formation of control parameters according to fuzzy rules and the supply of these parameters control on the object, and the formation of control parameters is divided into two levels, on the first of which, using fuzzy logic, it is localized (Allocated) control range, in which will be further adaptation, the localization of the control range is performed by determining the main (base) control parameter values of the range according to the formula

Figure 00000001
, where U ad1 is an adaptable control parameter, U o and U k are control parameters in two extreme (opposite) states of the object,
Figure 00000002
normalized equivalent state of the object (
Figure 00000003
at B o
Figure 00000004
at B k , where B o is the initial state of the object, B k is the final state of the object), taken as the value of the adaptive average position parameter in this range, and at the second level, the value of the control parameter is determined using an adaptive three-position control method.

The disadvantages of this method is the limitation of the characteristics of the state of the control object by one parameter, the sequential processing of production rules that reduces performance, and the use of only a discrete actuator.

The closest in technical essence to the invention are a method and device for constructing fuzzy logic systems [Patent No. 2417442, IPC G06N 7/02], in which a sequence of fuzzy logic rules is first formulated, then a numerical characteristic is assigned to each of these rules — an indicator of control quality, and the fuzzy logic rules are implemented on the basis of a trained neural network, information signals or signals from the control object are fed to the inputs of the neural network, while at its output a sequence of signals or a sequence of instructions and recommendations, where a trained neural network is a trained large artificial neural network, each of the fuzzy logic rules being implemented as a separate fragment of a trained large artificial neural network (domain), where the number of domains corresponds to the number of fuzzy logic rules and, in addition, contains a certain excess number of backup domains, one of the domains acting as an arbiter and commuting the outputs of the domains with the outputs of the neural network, taking into account the indicator achestva management.

The disadvantages of this method and device is the technical complexity of the domain neural network, which is implemented using computer components. Computer components require software processing, which is also a significant drawback of the device, since they significantly reduce the speed achieved by parallelizing the processing of production rules.

The purpose of the present invention:

- improving the speed of computing the value of the control signal;

- simplification of the structure of fuzzy control devices. The technical result of the claimed method and device for its implementation:

- increased performance due to hardware parallelization of the calculation of the value of the fuzzy control function;

- unification of processing units of fuzzy regulation rules.

The technical result in a patented method for synthesizing a control signal in the region of fuzzy values of the control function is achieved by the fact that the original values of the control signal

Figure 00000005
at discrete points in the region of variation of the parameters U 1 , U 2 , U 3 , ..., U N of the control object are known in advance as a result of experimental or theoretical studies of the N- dimensional control function, the current values of the parameters of the control object U a 1 , U a2 are determined in the control process , ..., U a N , using N phase identifiers determine the belonging of the parameters of the control object U a 1 , U a 2 , ... U a N to the intervals U 1 min ≤U a 1 , <U 1 max , U 2 min ≤U a 2 < U 2 max , ..., U N min ≤U a N <U N max between adjacent discrete points of the area of variation of the parameters of the control object, in the interval ale [ U 1 min , U 1max ) calculate 2 N -1 intermediate values of the control signal
Figure 00000006
, and the desired value of the control signal
Figure 00000007
is in the same proportion to the pair of values of the control signal
Figure 00000008
Figure 00000009
and
Figure 00000010
, as well as the value of U a 1 to the values of U 1 min and U 1 max respectively, where
Figure 00000011
with an even value of the integer part of the expression
Figure 00000012
and
Figure 00000013
when odd, j varies from 2 to N , in the interval [ U j min , U j max ] calculate 2 N -j intermediate values of the control signal
Figure 00000014
, and the desired value of the control signal
Figure 00000015
is in the same proportion to a pair of intermediate values of the control signal
Figure 00000016
and
Figure 00000017
, as well as the value of U aj to the values of U j min and U j max, respectively, at the Nth step, the final value of the control signal F y is calculated, and the desired value of the control signal F y is in the same proportion to the pairs of values of the control signal
Figure 00000018
and
Figure 00000019
as well as the value of U a N to the values of U N min and U N max respectively, the control signal F y is transmitted to the object control device.

The technical result in the patented multi-parameter fuzzy processor is achieved by the fact that it contains N fuzzifiers, a memory block, N rows of control signal computing devices, the first row contains 2 N - 1 control signal computing devices, jth row 2 N - j control signal computing devices, the first input of the jth fuzzifier is connected to the jth input of the multi-parameter fuzzy controller and to the third input of each of the devices for calculating the control signals of the jth row, inputs 2 through K +1 of the jth fuzzifier are connected with correspondingly to the outputs from ( j -1) ⋅ K +1 to jK of the memory block, the second output of the jth fuzzifier is connected to the first input of each device for computing control signals of the jth row and to the jth input of the memory block, the first output the jth fuzzifier is connected to the second input of each device for calculating the control signals of the jth row, the output N × K +1 of the memory block is connected to the fourth input of the first device for calculating the control signals of the first row, the output N × K +2 of the memory block is connected to the fifth input first control signal computing device s of the first row, (N × K +2 i -1 ) -th output of the storage unit is connected to the fourth input of i-th control signal calculating unit of the first row, (N × K +2 i) th output of the storage unit is connected to a fifth input the i- th device for calculating the control signals of the first row ( j varies from 1 to N , i varies from 1 to 2 N-1 ), the output of the first device for calculating the control signals of the first row is connected to the fourth input of the first device for calculating the control signals of the second row, the output of the second devices for computing control signals of the first row under for prison to the fifth input of the first control signal calculation device of the second row output (2 i -1) -th calculating unit control signals j-th row is connected to a fourth input of the i th control signal calculation device (j +1) -th row, yield 2 j- th device for calculating the control signals of the j- th row is connected to the fifth input of the i- th device for calculating the control signals of the ( j +1) -th row, the output of the device for calculating the control signals of the N- th row is connected to the output of a multi-parameter fuzzy processor.

In the patented method, the values of the control signal

Figure 00000020
obtained as a result of experimental or theoretical studies of the behavior of the control object at discrete points of the N- dimensional region of the change in the values of the set of parameters of the control object { U 1 , U 2 , U 3 , ..., U N }, where k i is the number of the parameter U i in the discrete models of the N- dimensional domain. The instantaneous values of the parameters U a 1 , U a 2 , ..., U a N are received from the control object. Using the fuzzifier, the intervals U 1 min U a 1 < U 1 max , U 2 min U a 2 < U 2 max , ... , U N min U a N U N max belong to the values of the parameters of the control object with respect to neighboring discrete points of the N- dimensional region. In the interval [ U 1 min , U 1 max ] using 2 N -1 devices for calculating the control signals of the first row, 2 N -1 values of the control signal are calculated by the formula

Figure 00000021
,

where i is the number of the control signal computing device in the first row,

Figure 00000022
Figure 00000023
,
Figure 00000024
Figure 00000025
- extreme values of the parameters of the control object, limiting the selected subdomain in the discrete model of the N- dimensional region,

Figure 00000026
,

In the interval [ U j min , U j max ] using 2 N - j devices for calculating the control signals of the jth row, 2 N - j values of the control signal F are calculated by the formula

Figure 00000027

where i is the number of the control signal computing device in the jth row ( j varies from 2 to N ). Using the device for calculating control signals in the Nth row, the final value of the control signal F y is calculated, which is transmitted to the object control device.

The structural diagram of a multi-parameter processor (hereinafter referred to as the processor), intended for control systems and automatic control of technical and technological objects, is shown in figure 1. The device contains N fuzzifiers 1, N rows of control signal calculating devices (DCS) 2, a memory block 3. In the first row there are 2 N -1 UVUS 2, in the jth row 2 N - j UVUS. Each row of UVUS is connected with its corresponding fuzzifier number.

Consider the processor. Before starting work in the control mode, the values of the control signal are stored in the processor memory block 3, which are received and recorded in advance according to the results of experimental or theoretical studies of the N- dimensional control function F. Each discrete point is represented in the memory block by a tuple.

Figure 00000028
where F is the value of the control signal, and
Figure 00000029
- values of the parameters of the control object. Tuples define a set of rules for choosing the value of a control signal at discrete points. Each parameter of the control object U j can take one of the fixed values at discrete points
Figure 00000030
where K is the number of rules for each parameter. Between the discrete points of the control area are areas of uncertainty in which the control signal takes fuzzy values. The task of the processor is to determine the values of the control signal F in the areas of uncertainty.

In control mode, the current analog values of the parameters of the control object are received at the processor inputsU a one ,U a 2 , ...,U a N that are transmitted to the first inputs 1one fuzzifiers corresponding to parameter number 1. Inputs from 121st toK + 1 j-th fuzzifier are connected respectively to outputs from 4( j -1) ⋅ K +1,..., four j K  memory blocks from which analog values come

Figure 00000031
 parameters of the control object at discrete points of the change regionjth parameter of the control object. Using fuzzifiers 1 determine the ownership of each parameter of the control objectU a one ,U a 2 , ...,U a N  intervalsU one min U a one <U one max ,U 2 min U a 2 <U 2 max , ...,U N min U a N <U N max between adjacent discrete points of the area of change of the parameters of the control object. From outputs 1o1and 1o2 fuzzifiers selected boundary values of the subdomain of the current parameters of the control object (U one min ,U one max ), (U 2 min , U 2 max ), ..., (U N min ,U Nmax ) are fed to inputs 2one and 22 UVUS located in the rows corresponding to the fuzzifier. From exit 1o2 jfuzzifier of valueU j min  fed to input 5 j  block 3, setting the starting address of the selected subdomain of the current parameter valueU aj  management object. Using start addressU one min ,U 2 min , ...,U N min  from the selected subdomain, memory unit 3 extracts the values of the control signal
Figure 00000032
 all discrete points in the cornersN-dimensional cube of the selected subdomain bounded by the interval values of the parameters of the control object (U one min ,U one max ), (U 2 min ,U 2 max ), ..., (U N min ,U N max )

From memory block 3 with outputs 6 1 , ..., 6 S , where S = 2 N , the values of control signals are transmitted to the UVUS of the first row:

Figure 00000033
output 6 2 i -1 and
Figure 00000034
Figure 00000035
from exit 6 2 i , where

Figure 00000036
,

i - the number of UVUS in the first row, j - the number of the parameter U (varies from 2 to N ). A signal is transmitted to the fourth input of the 2 4 i- th UVS of the first row

Figure 00000037
a signal is transmitted to the fifth input of the 2 5 i- th UVS of the first row
Figure 00000038
At the output of i-th UVUS in the first row is the intermediate value of the control signal
Figure 00000039
, which is calculated by the formula (1). When j > 1, the fourth signal is transmitted to the fourth input of the 2 4 i- th UVS of the j- th row
Figure 00000040
a signal is transmitted to the fifth input of the 2 5th i- th UVC of the jth row
Figure 00000041
At the output of the i- th UVUSS of the jth row there will be an intermediate value of the control signal
Figure 00000042
, which is calculated by the formula (2). In the Nth row, the output of the UVUS 2 will be the value of the control signal F y , which is transmitted to the processor output.

Fuzzifiers and UVUS are implemented on analog circuits containing comparators, controlled keys, analog computing circuits, situational processors [Patent No. 2541850, IPC G06G7 / 25]. The memory block is implemented on digital-to-analog circuits and microprocessors. Limitations on the number of parameters of the control object is determined only by the applied element base. The proposed method is effective with the monotonous nature of the control function in the intervals between adjacent experimental values in the N- dimensional region of its definition.

The use of this invention will reduce the response time of existing automatic controllers used to control complex technical and technological objects with fast-moving processes, through parallel hardware processing of the rules for calculating the control function.

Claims (2)

1. The method of synthesis of the control signal in the region of fuzzy values of the control function, in which the initial values of the control signal
Figure 00000043
at discrete points in the region of variation of the parameters U 1 , U 2 , U 3 , ..., U N of the control object are known in advance as a result of experimental or theoretical studies of the N-dimensional control function, in which the current values of the parameters of the control object U a 1 are determined in the control process, U a 2 , ..., U a N , using N phase identifiers determine the parameters of the control object U a 1 , U a 2 , ..., U a N to the intervals U 1min ≤U a 1 <U 1max , U 2min ≤U a 2 < U 2max , ..., U Nmin ≤U a N <U Nmax between adjacent discrete points of the area of variation of the parameters of the control object, in the interval [U 1min , U 1max ] calculate 2 N-1 intermediate values of the control signal
Figure 00000044
, and the desired value of the control signal
Figure 00000045
is in the same proportion to the pair of values of the control signal
Figure 00000046
and
Figure 00000047
, as well as the value of U a 1 to the values of U 1min and U 1max, respectively, where
Figure 00000048
with an even value of the integer part of the expression
Figure 00000049
and
Figure 00000050
when odd, j varies from 2 to N, in the interval [U jmin , U jmax ] calculate 2 Nj intermediate values of the control signal
Figure 00000051
, and the desired value of the control signal
Figure 00000052
is in the same proportion to a pair of intermediate values of the control signal
Figure 00000053
and
Figure 00000054
, as well as the value of U a 1 to the values of U jmin and U jmax, respectively, at the Nth step, the final value of the control signal F y is calculated, and the desired value of the control signal F y is in the same proportion to the pairs of values of the control signal
Figure 00000055
and
Figure 00000056
as well as the value of U a N to the values of U Nmin and U Nmax, respectively, the control signal F y is transmitted to the object control device.
2. A multi-parameter fuzzy processor containing N fuzzifiers, a memory block, N rows of control signal calculating devices, the first row contains 2 N-1 control signal computing devices, jth row 2 Nj control signal computing devices, the first input of the jth fuzzifier is connected to the jth input of the multi-parameter fuzzy controller and to the third input of each of the devices for calculating the control signals of the jth row, inputs 2 through K + 1 of the jth phase detector are connected respectively to the outputs from (j-1) ⋅K + 1 through j ⋅K memory block, the second you the jth fuzzifier stroke is connected to the first input of each jth row control signal computing device and to the jth memory block input, the jth fuzzifier is connected to the second input of each jth row control signal computing device, output N × K + 1 memory block is connected to the fourth input of the first device for calculating the control signals of the first row, the output N × K + 2 of the memory block is connected to the fifth input of the first device for calculating the control signals of the first row, (N × K + 2i-1) -th output of the block memory connected to the fourth input to the ith device for calculating the control signals of the first row, the (N × K + 2i) -th output of the memory block is connected to the fifth input of the i-th device for calculating the control signals of the first row (j varies from 1 to N, i varies from 1 to 2 N-1 ), the output of the first device for calculating the control signals of the first row is connected to the fourth input of the first device for calculating the control signals of the second row, the output of the second device for calculating the control signals of the first row is connected to the fifth input of the first device for calculating the control signals of of the ith row, the output of the (2i-1) -th device for calculating the control signals of the j-th row is connected to the fourth input of the i-th device for calculating the control signals of the (j + 1) -th row, the output of the 2nd jth device for calculating the control signals of the j row is connected to the fifth input of the i-th device for calculating the control signals of the (j + 1) -th row, the output of the device for calculating the control signals of the N-th row is connected to the output of a multi-parameter fuzzy processor.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2708008C1 (en) * 2019-06-18 2019-12-03 Федеральное государственное автономное образовательное учреждение высшего образования "Сибирский федеральный университет" Plant for dehydration of sewage sludge by freezing

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RU2417442C2 (en) * 2008-12-19 2011-04-27 Учреждение Российской академии наук Институт конструкторско-технологической информатики РАН (ИКТИ РАН) Method of constructing fuzzy logic systems and device for implementing said method
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Publication number Priority date Publication date Assignee Title
RU2212046C2 (en) * 2001-03-01 2003-09-10 Физический институт им. П.Н.Лебедева РАН Optoelectronic processor
RU2417442C2 (en) * 2008-12-19 2011-04-27 Учреждение Российской академии наук Институт конструкторско-технологической информатики РАН (ИКТИ РАН) Method of constructing fuzzy logic systems and device for implementing said method
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2708008C1 (en) * 2019-06-18 2019-12-03 Федеральное государственное автономное образовательное учреждение высшего образования "Сибирский федеральный университет" Plant for dehydration of sewage sludge by freezing

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