SU1012200A1 - Relay-linear regulator - Google Patents

Abstract

RELAY-LINEAR REGULATOR, containing a series-connected relay controller, switch device and actuator. in, each input of the relay controller is connected to the output of the corresponding sensor of the object's state and to the corresponding input of the linear controller, the output of which is connected to the second input of the per-switch device, characterized in that, in order to increase the accuracy and reliability of the relay-linear controller, it contains a signal selector and a serially connected first differentiator device, a first integrator, a first comparator, a second di}) transmission device, a second integrator and a second comparator, under for prison access to upravshyushemu pereklyuchak Oleg Zhegoyev entry device, the first input coupled to an input of the first differentiator, Active signal selector connected to the output of the first comparator, and an output - to a second input of the second integrator.

Description

to

Nd 1 The invention relates to control automation devices, in particular to optimal control systems. A relay controller is known that provides optimum control, for example, in speed, when transferring the state of an object from one point to another. A disadvantage of the known regulator is the presence of self-oscillations in the stable mode. A linear regulator is known that ensures the absence of self-oscillations in the mode of stabilization of the object in the vicinity of the transmission point 2j. The disadvantage of the linear regulator is unsatisfactory speed. The combination of controllers of the relay, used in the transitional mode, and the linear B stabilization mode ensures the quality of the transient process, the effectiveness of filtering of noises and the pairing of disturbances. The closest to the front end is a relay linear regulator containing a series-connected relay regulator, a switching device and an actuator, each input of the relay regulator connected to the output of the corresponding sensor of the object's state and with the corresponding input of the linear regulator whose output is connected to the second input of the switching device Sj. A disadvantage of the known controller is that for the fi-th order on the basis of the information received from the K sensors, ithout use observers Unable CCW hardware realizations Call closed area around the point of course 1fivedeni to fix the entering point defining a state of sites that, in .etu region. In case K К I or when using the observer f 2, such an area is realized by the sensor signals by the devices in which the relations are defined (the ratios (; X i I О-i, where is the signal from the 1st sensor, and | signal5 The implementation of such operations is complicated by the fact that the operation proceeds at low levels of useful signals and a high level of interference. For a poet, the values of a | are not determined by the size of the desired zone, but by the interference. -the front-end regulator. ОО2 The goal is achieved The regulator contains the signal selector and the first differentiator, the after integrator, the first integrator, the first comparator, the second differentiator, the second integrator, and the second comparator connected to the control input of the device, the first input of which is connected to the input of the first: differentiating device, the input selectf signals is connected to the output of the first comparator, and the output to the second input of the second integrator. 1 FIG. I shows the block diagram i of the proposed controller; in fig. 2 process graphs in the system blocks. The system consists of a relay controller I, a linear controller 2, sensors 3 consisting of an object, a switching device 4, an actuator 5, a first differentiating device 6, a first integrator 7, a first comparator 8, a second differentiator of the device 9, a signal selector Yu, a second integrator II and the second comparator 12. The control object is y-dimensional, and to measure its state, the controller contains K sensors 3 of the object state. The first inputs of integrators 7 and 11 are zero. The regulator works as follows. The optimal transient process in the case of an oecc should occur in the Q intervals of the sign of the state of control (the theorem on the I intervals) of the relay controller and then go to the self-oscillatory cycle. The operation of the scheme is based on the fact that the duration of the intervals of the sign of the state of control depends on the initial conditions of the reduction process. H & l less the state of the object differs from the state determined by the exact end point of the coercion, the less the time of each of the intervals of the optimal one, and with increasing mismatch between the start and end points, the time of at least one of any intervals. increase. Therefore, by estimating the time of each of the AND intervals, it is possible to estimate the distance of the state of the object from the final point of the coercion, i.e., to define an area in the y-dimensional space, when it falls into which it is advisable to switch the control to idle. 310 FIG. 2 shows graphs, signals. Digit I denotes the output signal of the relay controller. From the moment O to the moment A, the change in the control to the whole signal providing the transition CIM, from the moment A to the moment B is shown. The change in the control signal to the signal providing the self-oscillatory stabilization mode is shown. The relay controller I dn {) The device fermenting by means of device 6, pulses removed from device 6, solutions 6 (in Fig. 2, marked with 2), is fed to the embedding input of the distributor 7, to the other input of which a constant voltage is applied. At the same time, the output signal of the integrator 7 has a sawtooth shape, the moment of the end of the rise of which is determined by the moment at the pulse travel from device 6 (graph 3 of Fig. 2). The voltage taken from the integrator is compared with the constant voltage K in the first comparator 8. The negative signal selector IO, which can be realized by a diode, passes only negative signals (graph 4, fig. 2). to the input of the second integrator II. At the moments when the amplitude of the first comparator 8 changes, pulses arrive at the integrator's zero input (plot 5) taken from device 9. The voltage from the second integrator 11 reaches the level of voltage Kb embedded in the second comparator 12, provided that comparator 8 receives a negative signal during self-oscillation periods. At time B, when the voltage on the second comparator 12 changes, the switching device 4 switches the actuator to operation from the linear regulator. Times Intervalo & can be-raen and, but in the case when the point defining the state of the object falls into the region of the self-oscillating cycle, the duration of each of the Nervals of the sign-state control does not have to be much higher than the 004 / half-range of self-oscillations. The first ingegrarr 7 and the first comparator 8 otfredel Kug, that the duration of the interval of the sign of control is slightly longer than the half-period of oscillation. From this condition, a voltage value K is selected. In order for the transient process to end, and not several intervals of controlling the cycle, to pass with a short duration, it is necessary that the number of intervals with a duration determined by the half-period of oscillations be greater than And. This is determined by the second integrator II and the second comparator 12. From this condition, a voltage value K, t is selected. Accuracy increase is achieved due to the fact that information about the state of an object is translated into a temporary 6power, which allows to judge about the state of an object in the p-dimensional space, whereas the prototype is able to assess the state only in and out of the measured space # 1 m and changing state. The transition to the time domain also increases the noise immunity of the system, since the additive interference of the sensors is already filtered in the relay controller, and the integrators do not introduce additional interference. In order to eliminate spurious switching of the relay control, a high-pass filter may be provided in front of the diffusing device 6. For the hardware implementation of the proposed, less ElementE is required than for pea K devices to determine the modulus of signals measured by K sensors and K comparators to compare signal amplitudes and build a logical device that processes the comparators. The use of izofeteny allows to reduce the cost of its production and increase the efficiency of the controller in operation. .

i

l p

And m m

-

-:

on

With

"five

S

Claims (1)

RELAY-LINEAR REGULATOR comprising a series-connected relay regulator, a switching device and an actuator, each input of the burdock regulator connected to the output of the corresponding state sensor of the object and to the corresponding input of the linear regulator, the output of which is connected to the second input of the switching device, characterized in that, in order to improve the accuracy and reliability of the relay controller, it contains a signal selector and the first differentiated in series the input device, the first integrator, the first comparator, the second differentiator, the second integrator and the second comparator connected to the control input of the switching device by the output, the first input of which is connected to the input of the first / differentiating device, the input of the signal selector is connected to the output * first comparator, and an output - to _a secondary input of the second integrator rum. ^from 1 1012200 2