RU4841U1 - OPTIMUM REGULATOR - Google Patents

Abstract

1. An optimal controller containing a comparison adder, the first input of which is connected to the output of the feedback unit with the control object, and a driver of the output signal, the output of which is the output of the controller, characterized in that a control action regulator, a parameter change determination unit for a given the time interval, the unit for determining the switching moments, the unit for determining the correction signal, the output of which is connected to the control input of the control unit, the output of which the second is connected to the second input of the comparison adder, the output of which is connected to the first input of the unit for determining the switching moments, to the input of the unit for determining the parameter change at a given time interval and to the input of the output signal shaper, the outputs of the unit for determining the parameter change at a given time interval are connected respectively to the second and the third inputs of the unit for determining the switching moments, the output and group of outputs of which are connected to the corresponding inputs of the unit for determining the correction signal. 2. The controller according to claim 1, characterized in that the block for determining the correction signal with an odd exponent of the equation of the control system contains inverters, multipliers by two, a single signal generator, a multiplier, an adder and serially connected controlled delay elements, the output of the adder is connected to the first input of the multiplier, the second output of which is the input of the block, the output is the output of the block, the input of the first controlled delay element and the drive input of the adder are connected to the output of the unit of the single signal, you x

Description

OPTIMUM REGULATOR

The device relates to the field of control and can be used in control channels of aircraft, electric robots and in the automation of technological processes.

Known optimal speed controller containing a comparator, the output of which is connected to a relay element representing the driver of the output signal, the output of which is the output of the controller, the output of the feedback unit with the control object is connected to the first input of the comparator, the second input of which is connected to the output of the computing unit (1).

This regulator is selected as a prototype.

The regulator operates as follows.

The system error signal is generated in the comparison adder by calculating the difference of the signals at the output of the computing unit and the feedback signal from the control object. Based on the current value of the error signal, the relay element includes control of the object with a certain sign.

The disadvantages of this controller are the extreme complexity of its implementation, especially for objects above the third order, and secondly, the controller is focused only on those cases where the roots of the characteristic equation of the control object are valid.

GO 5 V 11/36

The technical result of the proposal is to increase the control speed, a relatively simple technical implementation, increase the accuracy of regulation, damping systems without loss of speed and obtain the final control time, the ability to adjust the control object of high orders.

The technical result is achieved by the fact that in the optimal controller containing a comparison adder, the first input of which is connected to the output of the feedback unit with the control object, and the output driver, the output of which is the output of the controller, a control action adjuster, a parameter change determination unit for a given time the interval, the unit for determining the switching moments, the unit for determining the correction signal, the output of which is connected to the control input of the control unit, the output of which is connected to the second input of the comparison adder, the output of which is connected to the first input of the unit for determining the switching moments, to the input of the unit for determining the parameter change at a given time interval and to the input of the output signal shaper, the outputs of the unit for determining parameter change at a given time interval are connected respectively to the second and the third inputs of the unit for determining the moments of switching, the output and group of outputs of which are connected to the corresponding inputs of the unit for determining the signal and correction.

In addition, the block determining the correction signal with an odd exponent of the equation of the control system contains inverters, multipliers by two, a unit of a single signal,

a multiplier, an adder and serially connected controlled delay elements, the output of the adder is connected to the first input of the multiplier, the second input of which is the input of the block, the output is the output of the block, the input of the first controlled delay element and the input of the adder are connected to the output of the unit of the single signal, the output of each even controlled the delay element and each odd, except the last, are connected respectively through the same multiplier by two, and the inverter of the same name connected in series and factor of two and a respective adder inputs, the output of the last odd-managed delay element is connected through an inverter to the corresponding titled adder input, control inputs of the controllable delay elements are inputs of block groups.

In addition, the block for determining the correction signal with an even exponent of the equation of the control system contains inverters, two multipliers, a unit of a single signal, a multiplier, an adder and serially connected controlled delay elements, the output of the adder is connected to the first input of the multiplier, the second input of which is the input of the unit, the output is the output of the unit, the input of the first controlled delay element and the adder input are connected to the output of the unit of the single signal, the output of each odd control of a delay element through two inverters and a multiplier connected in series and the output of each even controlled delay element, except for the last, through the same multiplier by two connected to the corresponding inputs of the adder, the output of the last even controlled

the delay element through the same inverter is connected to the corresponding input of the adder, the control inputs of the controlled delay elements are the inputs of the block group.

The functional diagram of the optimal controller is shown in figure 1, the functional block diagram of the determination of the correction signal is shown in figure 2.

The device comprises a control action master 1, comparing the adder 2, an output signal shaper 3, a feedback unit 4 with a control object, a parameter change determination unit 5 at a predetermined time interval, a switching moment determination unit b, a correction signal determination unit 7, a control input device 8 .

The correction signal determination block contains serially connected controlled delay elements 9 9P, inverters 10, two multipliers 11, an adder 12, a multiplier 13, a unit of a single signal 14, an input 15

signal A ,.

The device operates as follows. The output of the controller is the control input of the control object (not shown in the drawing), the output of the control parameter of which is connected to the input of the feedback unit 4 with the control object, which is the information input of the controller. Block 4 is a necessary sign for matching the signal of the control parameter of the control object with the signal processing equipment in the optimal controller. The signal at the output of the feedback block 4 and 0bR. Communication is fed to one of the inputs of the comparison adder 2, the second input of which is fed the signal UHOM (t) from the setter 1

control action. The difference E ,, between the indicated signals, determined in the adder 2, is input to the output driver 3 of the output signal and then as a control signal to the control object (not shown). If it is necessary to generate a control signal in the form of a complex control function, the output signal shaper 3 may consist of a functional converter and a matching element (not shown in the drawing).

This regulator solves the object control problem for various control systems at a given finite time interval. For this, the value of the above difference E0 is supplied to block 5 and b to determine the correction signal in block 7, which is taken into account when generating the signal of the controlled action.

In block 5, the determination of the change in the parameter for a given

time interval calculate the first E0 and E0 second

derived quantities E0. (The order of the derivatives depends on

order of equations, or other mathematical apparatus used to calculate the parameters of the control

impact.) The determination of the values of E0 and E0 (or higher orders) is carried out by any known differentiation unit or programmatically.

The values of the derivatives E0 obtained in this way go to block b for determining the switching moments, where they determine

the values of the switching moments ti, t2, ... and the value of the control parameter X ,.

For example, for the case of an aperiodic control object of the second order, the control process is described by a second-order equation.

X ((ti- 2e-at + 1) + (Her + VD,) O (1)

  1) + (Her + hell /) Oh,

where, A, is the regulation parameter,

TI - time constant of the control object, T2 - time constant of the control object,

"1 - 1 / Ti,

a2 1 / T2,

ti is the switching moment,

ta is the switching moment at a given time interval of speed.

The resulting solutions of the system of equations (1)

the quantities X and ti, t2 ,, .. enter the signal determination unit 7

correction (figure 2), the output of which is formed a correction signal and corr.

Block 7 determine the amount of correction accounting

coming from block 6 of the signal Mt) - changing in the process

the operation of the controller in the range from 0 to +/- 1, 1m велич 1 and the values of the moments of switching control, respectively, ti, t2,. .. calculates the UKoPP value used to change the value

Block 7 contains controllable delay elements 9g - 9p, to the control inputs of which signals corresponding to time ti, t2 / .. are received. tn calculated in block 6.

The delay elements are connected in series, the first signal of the first delay element 9i receives a single signal from the master 14, controlled by input 8. From the outputs of the delay elements, the signals are connected through the inverter 10 and the multiplier by two or directly through the inverter to the adder 12, where the quantities coming from the outputs of the delay elements are added to a single signal in the adder 12, the received signal is multiplied in the multiplier 13 s

the signal A, (t) coming from block 6, and the UKOpp correction signal is generated at the output of block 7.

The received UKOpp signal, which is a function of A, (t), is transmitted to the control unit 1 at a deterministic switching time, and it can also be received by means of a control signal synchronized with the signal at input 8. As a result, the signal in the unit 1 (signal of nominal level) converted to a signal whose shape changes to

depending on the value of A, (t).

The proposed device provides the regulation of the object at a given time interval with a given speed depending on the specified regulation conditions.

1. Atans M., Falb P. Optimal control, M., Engineering, 1968, p. 500, Fig. 729 (prototype).

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Claims (3)

1. An optimal controller containing a comparison adder, the first input of which is connected to the output of the feedback unit with the control object, and a driver of the output signal, the output of which is the output of the controller, characterized in that a control action regulator, a parameter change determination unit for a given the time interval, the unit for determining the switching moments, the unit for determining the correction signal, the output of which is connected to the control input of the control unit, the output of which the second is connected to the second input of the comparison adder, the output of which is connected to the first input of the unit for determining the switching moments, to the input of the unit for determining the parameter change at a given time interval and to the input of the output signal shaper, the outputs of the unit for determining the parameter change at a given time interval are connected respectively to the second and the third inputs of the unit for determining the moments of switching, the output and group of outputs of which are connected to the corresponding inputs of the unit for determining the correction signal.  2. The regulator according to claim 1, characterized in that the block for determining the correction signal with an odd exponent of the equation of the control system contains inverters, multipliers by two, a unit of a single signal, a multiplier, an adder and serially connected controlled delay elements, the output of the adder is connected to the first input a multiplier, the second output of which is the input of the block, the output is the output of the block, the input of the first controlled delay element and the drive input of the adder are connected to the output of the unit of the single signal, the output of each even controlled delay element and each odd, except the last, are respectively connected through the homonymous multiplier by two and sequentially connected simultaneous inverter and multiplier by two with the corresponding inputs of the adder, the output of the last odd controlled delay element is connected through the same inverter to the corresponding input of the adder, control the inputs of the controlled delay elements are the inputs of the block group.  3. The controller according to claim 1, characterized in that the block for determining the correction signal with an even indicator of the degree of control of the control system contains inverters, multipliers by two, a single signal generator, a multiplier, an adder and serially connected controlled delay elements, the output of the adder is connected to the first input a multiplier, the second input of which is the input of the block, the output is the output of the block, the input of the first controlled delay element and the input of the adder are connected to the output of the unit of the single signal, you One of each odd controlled delay element through two inverter and a multiplier connected in series and the output of each even controlled delay element, except the last one, connected to the corresponding inputs of the adder through two of the same multiplier, the output of the last even controlled delay element through the same inverter is connected to the corresponding input of the adder , the control inputs of the controlled delay elements are group block inputs.