SU1068891A1 - Adaptive control system of object with non-stationary characteristic,for example,arc steel melting furnace - Google Patents

Abstract

ADAPTIVE CONTROL SYSTEM OF AN OBJECT WITH NON-STATIONARY CHARACTERISTIC, FOR EXAMPLE, ARC STEEL-MELT-STEAM FURNACE, containing an actuator, two sensors, four low-pass filters, two delay blocks, four comparison blocks, a test signal generator, connected in series, the first multiplication block, a black delay block, four delay blocks, four comparison blocks, a test signal generator the second multiplication unit, the division unit and the integrator, the sixth comparison unit in series, the first extrapolator and the first adder, the first, second, third and fourth multipliers, the outputs on the first inputs of the seventh, eighth and ninth comparison blocks and the second adder, the first module of the module definition, the output of which is connected to the second input of the division unit through the second adder, a sionum relay, the output of which is connected to the second input of the second multiplication unit , the output of the control object is connected through the second and second connected in series. low frequency filter with the first input of the third comparison unit, the output of the actuator is connected to the input of the control object And through the first sensor to the input of the first low frequency filter, the integrator output is connected to the first input of the first multiplication unit, which in order to improve the accuracy the fifth, sixth and seventh setting knobs, the second and third extrapolators, the inverse object model, two quadrs, the And element, the third and fourth delay blocks, four memory blocks, the tenth, eleventh and the twelfth comparison block, the second module definition block, the first and second switches (Oh, key, serially connected timer, exponential dependence implementation block, thirteenth comparison block and limiter whose output is connected to the actuator input, the output of the second low-pass filter is connected to the second inputs of the seventh, eighth and ninth units of comparison, with the entrance of the third extrapol TRR, the output of which is connected through the series-connected second block per 00 00 holders, the third block compare The fourth memory unit and the second switch with the second input of the fifth, from the comparison unit, the output of the first low-pass filter are connected to the first inputs of the first and second blocks, the first comparison unit, through the first delay unit to the first input of the sixth comparison unit, sequentially the second extrapolator, the third delay unit, the first block of comparison, the third memory block and the first switch to the inputs of the first module for determining the module, the signal number and the second input of the first block

Description

multiplying, the output of the second setting device is connected via the second comparison unit to the second inputs of the third and fourth true memory blocks, to the control inputs of the first and second switches, the output of the first comparison unit is connected to the second input of the first switch and with the second input of the second comparison unit, the output of the third comparison unit is connected to the second input of the second transfer switch, the output of the seventh unit, the comparison is connected via the first memory unit to the second input of the thirteenth comparison, output D of which is connected to the first input of the limiter, the output of the eighth comparison block through the second memory block to the first input of the tenth comparison block, the second input of which is connected to the output of the exponential dependence implementation block, and the output to the second input of the limiter Y the output of the ninth comparison block connected via reverse model

an object with the second input of the sixth comparison unit and through the first quadrant connected in series, the third low-pass filter, the eleventh comparison block and the AND logical unit with the control key input, the output of the first extrapolator connected in series through the fourth delay unit, the fourth comparison unit, the second the quad, the fourth low-pass filter and the twelfth comparison unit with the second input of the And element, the output of the sixth comparison booth is connected to the second input of the fourth comparison unit, the outputs of the sixth and The seventh setting devices are connected to the second inputs of the eleventh and twelfth comparison blocks, the output of the first adder is connected to the third input of the limiter, the integrator's output is connected to the auxiliary input of the inverse object model, and the output of the test signal generator is connected to the second input of the first adder.

. . one

The invention relates to automatic control and regulation, in particular, to adaptive control systems, and can be used to build control systems by technical objects, which are described by the series connection of the pure delay link and the first-order inertial even with varying gain (transmission). Objects are subject to the influence of uncontrolled external influences, the structural and statistical properties of which significantly change during the delay time interval.

An example of such a class of objects is an electric arc furnace for electric steel, if we consider the problem of controlling its electric mode. The regulating effect in this case is the movement of the electrodes, and the output variable of the object is the current or electric power of the furnace. The transmission coefficient of the specified control channel is changed 2-3 times during the course of the shop. The object is subject to the influence of non-stationary uncontrolled disturbances caused, in particular, by changes in the charge transfer parameters and the supply voltage.

The purpose of regulation is to ensure the invariance of the output variable from changes in external influences and the gain of the control object.

A known adaptive system for regulating the electric mode of an electric arc furnace, comprising a series-connected electric arc furnace, a unit for determining a derivative of an adjustable variable,

0 a dividing unit, a correction signal generating unit, a controller and a control derivative determining unit, the output of the electric arc furnace being connected to the second

5 by the input of the regulator, the output of which is connected to the input of the electric arc furnace, the output of the detection control output unit is connected to the second input of the SI division unit.

The disadvantage of the system. The control accuracy is low due to the fact that when adjusting the controller settings, the delay in the control channel is not taken into account AND the derivative of the controlled variable is divided by the derivative of the control action determined at the same time. In addition, measuring noise is not taken into account, which leads to large Errors in the definition of derivatives.

Closest to the present invention is an adaptive extreme control system comprising a control object connected in series, a first sensor, a first low frequency filter, a first comparison unit, a second low frequency filter, a third comparison unit, a fourth comparison unit, a first multiplication unit, a division unit, an integrator fifth unit of comparison, first scaling unit, sixth unit of comparison, extrapolator, first adder, actuator, second sensor, third low-frequency filter, seventh unit of comparison, the first delay unit, the fourth low-frequency filter, the eighth comparison unit and the second multiplication unit, the output of which is connected to the second input of the fourth comparison unit, the third sensor, the fifth low-pass filter, the ninth comparison unit, the second scaling unit, the second adder, the second delay unit and the third scaling unit, the output of which is connected to the second input of the first comparison unit, the fourth sensor, the sixth low-pass filter, the tenth comparison block and the third mass the stacking unit, the output of which is connected to the second input of the second adder and through the first adaptation unit with its additional input, the output of the first scaling unit is connected through the second adaptation unit to its additional input, the output of the second adder, is connected to the second input of the seventh comparison unit and the second input of the first an adder, the third input of which is connected to the output of the generator of test signals, the output of the fourth low-frequency filter is connected to the second input of the sixth comparison unit, the output of which is connected To the second inputs of the first, second, and third adaptation blocks, the first input of the third adaptation block is connected to the extrapolator output, and the output to the extra extrapolation input a, the output of the eighth comparison unit is connected via a signal relay to the second input of the first multiplication unit, through the allocation unit modulo and the third adder - with the second input of the division unit; the integrator output is connected to the second input of the second multiplication unit; the outputs of the first, second, third and fourth setters are connected to the second inputs, respectively, nine tons th, the tenth, the first block-Cf. g Neny and third adder, the first comparing unit output is connected to the input of the third vtoryumu b.loka Cf.

the output of the first delay unit to the second input of the eighth comparison unit, the second output of the control object to the input of the fourth sensor, the first input of the control object to the output of the actuator, the second input to the input of the second

G21 sensor.

In the known adaptive control system, the effects of changes in the controlled external effects and the indirect output variable are subtracted from the target output variable of the control object, then the increments of the corrected target output variable and the control influence relative to their current values are determined. Based on the calculated increments, estimates are given by the alternating coefficient of the extremal control object. Using alternating -. the coefficient and the current average value of the control action are determined by the Tpe6yeNttiie control actions at the elapsed time intervals. The required control actions are extrapolated to the upcoming control integrals, algebraically summed with corrections for changes in controlled external actions and test signals, and sent to the executive body for implementation.

A disadvantage of the known adaptive system when using it for the class of objects in question is the low control accuracy due to the fact that the dynamic properties are not taken into account. object due to averaging of variables over a large time interval, and. by the fact that test signals are constantly being supplied.

 invention - noBbmjeHHe control accuracy.

This goal is achieved in those in an adaptive control system containing an actuator, two sensors, four low-pass filters, two delay blocks, four comparison blocks, a generator of test signals, the first multiplication block, the fifth highlight of the comparison, the second multiplication block, block division and integrator, sequentially included sixth unit of comparison, first extrapolator and first adder, first second, third and fourth setters, the outputs of which are connected respectively to the first inputs of the se the eighth and eighth and ninth comparison blocks and the second adder, the first unit of definition of the module, the output of which is connected via the second summat to the second input of the division unit, the signal-relay, the output of which

connected to the second input of the second multiplication unit, the output of the control object is connected via a sequentially connected second sensor and a second low-frequency filter to the first input of the third block of the same, the output of the actuator is connected to the input of the control object and through the first sensor to the input of the first low-frequency filter, output The FIFTH, the sixth and the second and the third extrapolator controllers, the inverse model of the object, two quadrators, the logical AND block, the third and fourth the third delay block, four memory blocks, the tenth, eleventh, and twelfth comparison blocks, the second module definition block, the first and second switches, a key, sequentially connected timers, an exponential dependence realization block, the thirteenth comparison block, and a limiter whose output is connected to the input actuator, the output of the second low-pass filter is connected to the second inputs of the seventh, second and ninth comparison blocks, with the input of the third extrapolator, the output of which is connected via a series the second block of the delay, the third block of comparison, the fourth memory block and the second switch with the second input of the fifth block of comparison, the output of the first low filter are often connected to the first inputs of the first and second memory blocks, the first comparison block 1, through the first block of - to the first input of the sixth comparison unit, through the successively connected second extrapolator, the third delay unit, the first comparison unit, the third memory block and the first switch to the inputs of the first module definition unit, the signal-relay and, the second the input of the first multiplying unit, the output of the master control unit is connected via the second comparison unit to the second inputs of the third and fourth memory blocks, to the control inputs of the first and second switches, the output of the first comparison unit is connected to the second input of the first switch and through the second unit; the module with the second of the second comparison unit; the output of the third comparison unit is connected to the second input of the second switch; the output of the seventh comparison unit is connected via the first memory unit to the second, the input of the thirteen comparison unit eni, the output of which is connected to the first input of the limited l, the output of the eighth comparison unit

through the second memory block to the first input of the tenth comparison unit, the second input of which is connected to the output of the exponential dependence implementation unit, and the output to the second input of the limiter, the output of the ninth comparison unit is connected via the reverse object model to the second input of the sixth comparison unit and through successively included the first quad, the third low-frequency filter, the eleventh comparison unit and the logical block I - with the control input of the key, the output of the first extrapolator is connected through sequentially on s fourth delay block, the fourth block of comparison, a second squarer, a fourth low-pass filter and twelfth sravneQ audio unit with the second input of logic

And, the output of the sixth comparison unit is connected to the second input of the fourth comparison unit, the outputs of the sixth and seventh setters are connected to the second inputs of the eleventh and twelfth comparison blocks, the output of the first adder is connected to the third input of the limiter, the output of the integrator is to the auxiliary input of the reverse object model, the output of the probe signal generator is connected via a key with the second input of the first adder.

Introduction of new block, B and communication

5 allows to improve the accuracy of the control system, adapt the ratio of transmissions and the control channel without introducing test signals, predicting the working trajectories of control actions and their corresponding outputs, and also applying test signals to the predicted trajectories of the operating controls, if the latter do not tolerate significant changes. In addition, the system quickly adjusts the limitations on the minimum and maximum allowable values of the control actions,

Q out of which violate the normal course of the process.

The drawing shows a block diagram of an adaptive system for regulating an object with a non-stationary characteristic, for example, an electric arc furnace,

The adaptive control system contains the executive body 1, the control object 2, the first sensor 3, the second sensor 4, the first

setting device 5, second setting device 6, first low-frequency filter 7, second low-frequency filter 8, seventh comparison block 9, eighth block

5 10 comparisons, fifth setting unit 11, second comparison unit 12, timer. 1 first memory block 14, second memory block 15, second extrapolator 16, third delay block 17, first comparison block 18, second module definition block 19, third memory block 20. first switch 21, third extrapolator 22, second delay unit 23, third comparing unit 24, exponential dependence implementation unit 25 thirteenth comparing unit 26, demarcating comparing unit 27, first delaying unit 28, first module determining unit 29, signal-switching relay 30 first multiplying unit 31, fourth unit 32 memories, limiter 3 fourth master 34, second total p 35, second switch 36, sixth inhibitor 37, fifth compare block 38, eleventh compare block 39, third low-pass filter 40, first quad 41, second multiplication block 42, logical block AND 43, twelfth block 44 of comparison, fourth Liltr 45 low frequency, second quad 4b, dividing block 47, 48-test signal generator, key 49, seventh master 50, fourth delay block 1, fourth comparison block 52, integrator 53, first adder 54, first extrapolator 55, sixth block 56 comparisons, inverse model 57 of the object, ninth block 58 is comparable to and three This unit is 59. In the drawing it is indicated: U - control action; V - uncontrolled external influences; Y is the output variable of the control object; 3 - timer on signal. . 1. The low-frequency filter is made in the form of a series-connected comparison unit, a limiter and a tegrator whose output is connected to the first input of the comparison unit and is the output of the low-frequency filter whose input is connected to the second input of the comparison unit. The memory unit is implemented on standard logic elements and has two inputs: informational and input recording permission. When a signal arrives at the second input, information is recorded. Extrapolators are made in the form of real forcing links. The generator of test signals is presented, in a particular case, by a multivibrator, generating rectangular pulse signals. The switch contains the adder, the closing and disconnecting keys, the informational inputs of which are connected to the information inputs of the switch, the control inputs - with - the control input of the switch, the outputs of the CJ terminal connected to the inputs of the adder, connected to the output of the switch. The adaptive control system of an object with a non-stationary characteristic contains subsystems that perform the functions of adjusting the transmission coefficient of the control channel, determining the moment of connecting the generator, test signal generator, promptly specifying the limitations of the control actions, and generating a direct control effect. The transmission coefficient of the control channel is adapted from the data on the increments of the control action and the output variable with respect to their extrapolated values, which makes it possible to obtain good estimates of the coefficient in the closed-loop control system during its normal operation. It also provides for the application of test signals in order to adapt the transmission coefficient with a significant deterioration in the quality of the regulator. . The adaptation of the transmission coefficient is as follows. The value of the output variable V is measured by a second sensor .4 and the received signal is fed to a second low-pass filter 8, where the measurement noise is suppressed. The output of the second low-pass filter 8 is extrapolated for a period of time by the third extrapolator 22. The interval t of time t is chosen so that the transient caused by the modified control action, i.e. equal to (2-3) T, where t and T are the constant times of pure delay and inertia of the control channel. The extrapolated signal is delayed in the second delay block 23 by an interval of time f and subtracted in the third comparison block 24 from the output of the second low-pass filter.8. At the output of the third block 24. comparison, a signal is obtained about the increment of the output variable relative to its extrapolated value, which is fed to the first (informational) input of the fourth memory block 32 and to the second input of the second switch 36. Similarly to the output variable, the value of the control action is measured by the first sensor 3 and the received signal is fed to a low frequency filter 7. The primary signal of the first low-pass filter 7 is extrapolated in the second entropolator 16 for a time period T /, is delayed in the third delay unit 17 for the same time interval and subtracted in the first comparison unit 18 from the output signal of the first low-frequency filter 7. At the output of the first comparison unit 18, a signal is received on the increment of the control of the control action relative to its extrapolated value, which is fed to the information input of the third memory block 20 and the second input of the first switch 21.

The adjustment of the transmission coefficient of the control channel is made only in the case when the increments uU have a significant value, which indicates a significant change in the control action. At the moment of time when the signal o1di1 exceeds the specified value, the signals olAUl and iY through the first 21 and second 36 switches enter the coefficient calculation blocks. If the signal about does not exceed a predetermined value, then in blocks 20 and 32 of the memory, signals about a and aV are stored at the time when the signal | qU 1 equals the specified value. With this; A target, a signal about a predetermined value uU from the output of the fifth setpoint generator 11 is fed through the second determination unit 19 to the first input of the second comparison unit 12, where it is subtracted from the output signal of the first comparison unit 18. If the output signal of the second comparison unit 12 is larger., Zero, then the first 21 and second 36 switches connect their second inputs to the output, and the signals V and V get through these switches for further processing. At this time, the second inputs of the third The 20 and fourth 32 memory blocks receive a signal prohibiting signal storage. When the output signal of the second comparator unit 12 becomes less than zero (crosses through zero), it is at this time that the signals for signaling and iY are recorded, the switches 21 and 36 are connected your exits from the first and input for further processing and receives signals from the outputs of the third 20 and fourth 32 memory blocks.

The adjustment of the transmission coefficient of the control channel is carried out by the expression

/ C YttVicftVuU & Vaiqn iU (t

):

dfl-, 1

V uUCtH

Qt4

T

- permanent integration time;

e-variable integration;

5 - constant coefficient; C.-1 - Signum function.

To implement expression (1), the output of the third memory block 20 (di) is fed to the inputs 5 of the first multiplication unit 31, the signal globule 30 and the first unit 29 of the module definition. In the first multiplication unit 31, the signal about uU (i.) Is multiplied with the signal about t (4) by the incoming

0 s. the integrator output 53. The signal of the resulting product is subtracted in the fifth comparison block 38 from the LP (i) signal coming from the output of the second switch 36. The signal

S about the obtained difference is multiplied in the second block 42 by multiplying the signal of S, qt Ü.U. (-t), which is generated at the output of the signal relay 30, the output signal of the unit 29, the module or the module is summed in the second adder 35 with the output signal 5JI of the fourth setpoint. 34. In block 47 dividing the output signal of the second, block a 42 multiplying is divided

5 to the output of the second adder 35 and the received signal is fed to the integrator 53 with the Ti2 integration time constant. At the output of the integrator 53, a signal is received about the current value of the transmission coefficient K, which is fed to the auxiliary input of the inverse object model 57.

To generate a control action from the output signal

5 v of the second low-pass filter 8 in the ninth comparison block 58, subtracts the signal о on the set value of the output variable, and the signal on the obtained difference is fed to the input of the inverse model 57 of the object without delay. At the output of the object's inverse model 57, a .sy (tt) signal is obtained. To correct the control action, which is subtracted in the sixth comparison block 56 from the output of the first delay block 28 and (t-tr) about the actual control at the time (tt) impact. As a result, a signal is received about the delayed evaluation of the ideal control action, i.e.

,to{

ua-t ua-tVFt oC4 ((t) i,

about

U

where and (t-t) - an assessment of the ideal

control action;

toD 1 - mathematical operator of the inverse model of the object without delay

The signal U is fed to the input of the first extrapolator 55, to which M is extrapolated to the interval

time, then is summed in the first adder 54 with the output signal of the generator 48 test signals, if the key 49 is closed / and through the limiter 33 with the operatively refined boundaries goes to the executive authority 1 for implementation.

The test signal generator 48 produces pulsed-type pulses of duration t + (3–4) T in situations where the control extrapolation errors are insignificant and the variable trick control error reaches a large value. Such situations arise when the estimate of the transmission coefficient of the object does not correspond to the actual value of this coefficient; therefore, in these cases, a more thorough adjustment of the transmission coefficient is needed, for which additional test signals are applied.

To connect the test signal generator 48 from the output of the ninth comparing unit 58, the adjustment error signal is fed through the first quad 41 to the third low-pass filter 40, the output of which corresponds to an estimate of the current control error dispersion. From this signal in the eleventh comparison unit 39, the output signal of the sixth driver 37 about the permissible value of the estimate of the variance of the control error is subtracted. The received difference signal is fed to the first input of logic block 43. To determine the extrapolation error of the control action, the output signal of the first extrapolator 55 is delayed in the fourth delay delay block 51 by the extrapolation and deducted in the fourth block 52 comparing the input signal of the first extrapol torus 55. The signal about the extrapolation error passes through the second quadrant 46, the fourth low frequency filter 45, is subtracted in the twelfth comparison unit 44 from the output of the seventh unit 50 o permissible znach1enii estimation error variance extrapolated and applied to the second input of AND logic unit 43. If the input signals of the logical AND unit .43 positive, i.e. control extrapolation errors

insignificant, and the adjustment errors of the output variable are large,

.to key 49 closes and a generator of 4 test signals provides an action

and the input of the first adder 54; Otherwise, the signals from the generator 48 test signals are not received. The input of the first adder 54.

Restrictions on the lower and upper L values of the control action are assigned from the analysis of the output variable of the object pack 1). Thus, for example, when regulating the electric mode of an electric arc furnace, restrictions on the movement of electrons are caused by the current: if the electrodes are lowered very low, then a short

0, the closure and current magnitude significantly increases, but if the electrodes rise high, then the arc breaks and the current value becomes zero. At the same time, during melting: the level of the metal charge is lowered and, therefore, both the upper and lower limits on the control action should be reduced during smelting.

The output signal Y of the second low-pass filter 8 is applied to the determination of the upper limit. the second input of the seventh block 9 cfr-. where it is subtracted from the output of the first setting device 5 and the received signal goes to the control second input of the first block. 14 memories. If the output of the seventh comparison block 9 becomes greater than zero, i.e. there is a gap arc / then.:

0, a control signal from the output of the first low frequency filter 7 at the moment of arc rupture is stored in the first memory block 14. From the output of the first memory block 14

5, the signal goes to the second input of the thirteenth comparison unit 26. At the first input of this unit of comparison. The signal comes from the output of the block 25 for the realization of the exponential dependence, the output signal of which decreases exponentially with time, starting from a certain moment determined by the NW signal, including timer 13. In particular, this is the time of the beginning of the next steel melting. In thirteenth block 26, the output of the exponential dependence block 25 is subtracted from the output of the first block 14

0 memory, the result is. signal 6 is the upper limit of the control action. This signal goes to the first input of the limiter 33. 5

The value of the lower limit is determined similarly. However, in the BOCbhfOM comparison unit 10, the output of the second setpoint 6 is subtracted from the signal Y. If the signal becomes positive /, then a short circuit occurs at that time and the signal Y is stored in the second memory block 15. From the output of the second memory block to the tenth

five

in comparison unit 27, the output signal of the exponential dependence implementation unit 25 is subtracted. The signal of the difference obtained is the lower limit of the control action and is fed to the second input of the limiter 33.

The application of the proposed adaptive system for regulating the volume with a non-stationary characteristic in the regulation of electrical

A large-volume electric arc furnace mode allows (compared to the known base object), as shown by simulation results, to increase furnace productivity by an average of 1% and reduce electricity consumption by 2.5% and electrodes by 2%. you can SAVE 200 thousand rubles. per year per oven.

Claims (1)

ADAPTIVE SYSTEM OF REGULATING AN OBJECT WITH NON-STATIONARY CHARACTERISTIC, FOR EXAMPLE, ARC STEEL FURNACE, containing an actuator, two sensors, four low-pass filters, two delay units, four comparison units, a test signal generator, sequentially connected, the first unit of multiplication, the fifth, fifth a multiplication unit, a division unit and an integrator, the sixth comparison unit, the first extrapolator and the first adder, the first, second, third and fourth adjusters, the outputs of which are connected to the first inputs of the seventh, eighth and ninth comparison blocks and the second adder, the first module determination unit, the output of which through the second adder is connected to the second input of the division unit, a siunum relay whose output is connected to the second input of the second multiplication unit, the output of the control object connected via a second sensor and a second connected in series. low-pass filter with the first input of the third comparison unit, the output of the executive body is connected to the input of the control object and through the first sensor with the input of the first low-pass filter, the integrator output is connected to the first input of the first multiplication unit, characterized in that, for the purpose to increase the accuracy of regulation, the fifth, sixth and seventh adjusters, the second and third extrapolators, the inverse model of the object, two quadrators, the I element, the third and fourth delay blocks, four memory blocks, the tenth, eleventh and two are introduced into it twentieth comparison blocks, second block determining the $ module, first and second switches, a key, a timer in series, an exponential realization block, thirteenth comparison block and a limiter whose output is connected to the input of the actuator, the output of the second low-pass filter is connected to the second inputs of the seventh , the eighth and ninth comparison blocks, with the input of the third extrapolator, the output of which is connected through the second delay block, the third comparison block, the fourth block memory and a second switch with a second input of the fifth comparison block, the output of the first low-pass filter is connected to the first inputs of the first and second memory blocks, the first comparison block, through the first delay block to the first input of the sixth comparison block, through the second extrapolator connected in series, the third delay unit, the first storage unit, the third memory unit and the first switch - to the inputs of the first module definition unit, the signal relay and the second input of the first multiplication unit, the output of the fifth setter * is connected through the second comparison unit to the second inputs of the third and fourth memory blocks, to the control inputs of the first and second switches, the output of the first comparison unit is connected to the second input of the first switch th through the second module determination unit - to the second input of the second comparison unit, the output of the third comparison unit is connected to the second input of the second neper switch, the output of the seventh block, comparison is connected through the first memory block to the second input of the thirteenth comparison unit, the output of which is connected to the first input of the limiter, you One of the eighth comparison block through the second memory block is connected to the first input of the tenth comparison block, the second input of which is connected to the output of the exponential implementation block, and the output is to the second input of the limiter, the output of the ninth comparison block is connected via the inverse model of the object to the second input of the sixth block of comparison and through the first quadrator, the third low-pass filter, the eleventh comparison block and the logical block I - connected in series with the key control input, the output of the first extrapolator is connected through the fourth delay unit, the fourth comparison unit, the second quadrator, the fourth low-pass filter and the twelfth comparison unit with the second input of the element And connected in series, the output of the sixth comparison unit is connected to the second input of the fourth comparison unit, the outputs of the sixth and seventh adjusters are connected to the second inputs of the eleventh and the twelfth comparison blocks, the output of the first adder is connected to the third input of the limiter, the output of the integrator is to the additional input of the inverse model of the object, the output is eratora test 'signal is coupled through the switch to a second input of the first adder.