SU1092464A1 - Regulator - Google Patents

Abstract

A REGULATOR containing a first adder, a proportional-differential link, an integrator, a second adder, a switch block, the output of the first adder is connected to the input of a proportional-differential link and the first input of an integrator, the outputs of a proportional-differential link and an integrator are connected respectively to the first and second inputs of the second adder , the output through the capacitor is connected to the second input of the integrator and the closing contacts of the switch unit, the opening contact of which is connected to the third .1 an integrator input, characterized in that, in order to increase the reliability of the regulator, a divider, for example, "wiring and nonlinear element" is inserted into it, with Rda and Dltel voltage connecting to the fwiFigrator output ,. the nonlinear element is one.} The output connects to the midpoint of the voltage divider, and the other to the third, S the input to the second adder.

Description

The invention relates to automatic regulation, in particular, to analog proportional-integral-differential-differential (PID) control devices, and the Cree of automation of various industrial processes can be used.

An analog regulating device is known which forms the PID control law and additionally contains operation mode switches and a node for so-called unaccented switching from manual to automatic mode and back to Cli

However, the known device has a complex interdependent relationship between dynamic settings, which makes it difficult to operate and less accurate.

It is also known to have an analog regulating device that forms the M-law of regulation and contains an integrator, an output amplifier, and a mode switch that provides a shock-free switching 12.

The specified device does not contain a proportional-differential link (PD-link), which makes it functional.

Most of the technical features of the present invention are an analog regulator unit, containing the first adder, PD-vveno, integrator, second adder, capacitor, switch block, the output of the first adder is connected to the input of the PD-link and the first: input the integrator, the outputs Shch1.-zena integrator connect e1-gy, respectively, with the first and second inputs of the second adder, the output of which is through the condens (the connection is connected to the second input of the integrator and the closing contacts of the switch block, the disconnecting contact is connected with the third input of the integrator.

In the position of the switch, the manual etching of the integrator is transformed into an amplifying link, since the inverter's separate input of the amplifier is turned out to be connected to a common pin (ground). With the 5 JUM element, cyMMainp and a capacitor objjaayioT integrator for manual control input signals.

For a remote controller, unreliable operation in the manual EIR mode is characteristic, which means that in the event of a failure of the adjustable parameter or sensor of theNteTpa or when the connection line is closed,

The sensor or setpoint adjuster cannot keep the set value of the output sitnal, which leads to a disturbance of the technological process.

The output signal Ug ,, of this controller is determined by the expression

-8ЫХ- д - 2 и)

and

to,

1 - transmission coefficient

de second adder on the input connected to Sh.-vvenu {

To ") the transmission of the second adder on the input, podyuszchennoz to 1shtegratO

RU

- output signal PD-vein,

and and

PA

-exhaust with caught up with stegrato-u

ra.

Taking into account the fact that with abrupt changes in the signal at the input of the PDL, and consequently, at the inputs of the first adder, connected to the parameter 1kku of the parameter and the parameter sensor, and also at their failures, at the output of the PDA, it sets the maximum signal + (J, equal to the saturation voltage of the microcircuit. From (1) you can determine the desired value of the output signal of the t-integrator

(2)

(and „and,. + k, and.

(2:

a) the transfer factor K ,, in the controller is equal to 1. The output signal of the integrator and to set the output rep / l of the torus bg,.,. U at max gave the flax value of the output signal of the PD link is equal to

and

and

ISBfeiK moiT.

m

 .2 and

: h)

l moix 1

m

The output signal of the integrator can also change only to U, vi, therefore, the retractor does not provide 5 work in the first place to change the output signal j, which leads to disruption of the technological process. To prevent disruptions of the technological process caused by the unreliable operation of the controller, in these systems, the backup of the manual sensor and the remote control units are interrupted.

As can be seen from the formula (2), the value of the output integrator IJ; It is possible to increase the transfer coefficient Kj of the adder input, interconnect} to the integrator output, but in this case it is necessary K to increase the integrator integration time constant for automatic operation of the controller, which will require an increase in the same number of times the resistor or capacitor ratings of the integrator. In the first case, this leads to a deterioration in the metrological characteristics of the regulator, and in the second, to an increase in its dimensions. The purpose of the invention is to increase the reliability of the torus. The goal is achieved by the fact that the regulator containing the first adder has a nponop ration-differential 11th link, one integrator, a second adder, a capacitor, a switch block, the output of the first adder is connected to the proportional-differential input on the first input of the integrator, outputs and Ш1 of the integrator are connected respectively to the first and second inputs of the second adder, the output of which through a capacitor is connected to the second input of the integrator and the closing contacts of the switch block, whose expanding contact with a voltage divider and a nonlinear element, a zener diode, a voltage divider connected to the integrator output, and a nonlinear element connected to the midpoint of the voltage divider, and the other to the third input of the second adder. The drawing shows the scheme of the proposed regulator. The regulator contains the first adder 1 GSh-link 2, the integrator 3, the second adder 4, the capacitor 5, the block 6 switches with closing and opening contacts, the voltage divider 7 and a non-linear element 8, for example, a zener diode. The regulator works as follows Automatic control mode. The signals of the task X and the parameter Hz are fed to the inputs of the first adder 1, at the output of which the error signal is generated. The signal mismatch E is fed to the input of the PD-link 2 and the first input 9 of the integrator 3, the output signals of which are respectively fed to the first 10 and second 11 inputs of the second sum of 4. The output signal of the last is generated-the control signal in accordance with the PID law regulation. In the automatic control, the modulator in the blo: ss 6 malleable mode is in position A, therefore, the second input 12 (non-consecutive) of the integrator 3 is connected with a common switch from the automatic control mode to the manual use of the switch in the control switch. 6 switches in position P, while the third input 13 of the integrator 3 is connected to the common one, and the output of the second adder 4 through the connector 1 connects to the second input 12 of the miTorrator 3, forming an analog integrator for the manual control The events + U, - U are input to the manual control sfflTerpaTopa via the closing contacts M or B of the 6-block switch. Switching from automatic mode-v. The manual control is carried out buzulno with the preservation of the output value of the second adder 4 at the time of the switching mode. This is ensured by the fact that the capacitor 5 with aBTOMaTvraecKOM control is charged up to the velcgchina output of the second adder 4, At the time of switching from automatic control to manual voltage on the capacitor 5, and consequently, at the output of the second adder, saved elx; regardless of our signal at the first input 1O of the second adder 4 from the output of the PD-link 2, the Output ciirnaa PD-link 2 KON is retired by feedback through the capacitor 5 and the amplifier with the open-loop feedback of the integrator 3, In the manual taravlen11 mode, the regulator can be controlled á only with manual signals. Switching from control to automatic is also unstressed, since the capacitor in integrator 3 is connected between the common bus and the output of the amplifier and is charged to such high power that when switched to automatic control and the hedge sum of 2 to integrator 3 is not changes the previous value of the output signal of the second adder 4, Nom1shal) 1 The range of variation of the input signal i of the knots of the regulator. x, executed on the operative amplifiers, is in the range from 6G7O to plus 60-70% of the maximum The values of the output signal U. Del 11l. 7 voltage is configured so that the opening of the nonlinear element 8 occurs at a voltage at the output of the integrator 3, which is within Uu, but less than U, therefore, the voltage divider 7 introduced into the regulator circuit and nonlinear element 8 is not affect the operation of the regulator in the automatic mode, as well as in the manual-control mode, if the output voltage of the integrator 3 is within the nominal range for varying the output signal. Suppose that the regulator is in manual control mode, the reference signal X is equal to the parameter L signal and the output of the second adder 4 signal is, for example, plus U, then, at the output of the first adder 1 and the output of GSch-entered 2 output voltage equal to zero, and the output voltage of integrator 3, as follows from formula (2), is equal to minus. (J. If the parameter sensor fails, a negative signal is set at the output of the first adder 1 and, which results in a signal plus U followed by a drop in value plus U, Change output In this case, the integrator 3 signal is aimed at compensating the output signal of the main switch 2, i.e. the output signal of the integrator 3 has a more negative value, which leads to the nonlinear element 8 opening and an increase in the gear ratio of the signal from the integrator 3 output to the output of the second adder sa is due to the entry into operation of an additional 1signal formed by a divider 7 voltage and a nonlinear element 8. In this case, the sigfing transfer agent sig; the output from the integrator 3 is determined by yo (formula where Kjzl is the transmission coefficient Adder 4 at input 11, connected 1u to integrator 3J K - transfer coefficient of adder 4 over the supplementary channel (input 14) -, Transmission coefficient over the additional channel K is determined by an expression that does not lead to where and is the output voltage of the integrator 3 ; Ug is the opening voltage of the nonlinear element 8; fb is the transfer coefficient of the divider 7-; R. 4-Гр- total resistance of the voltage divider 7 and the nonlinear element 8, the feedback of the second adder 4. As can be seen from the expression (6), the transmission coefficient K with increasing voltage Up increases sharply, which allows to compensate The PDBen signal 2 with a slight increase in the output signal of the integrator 3. Thus, the introduction of a de-voltage and non-linear element into the controller eliminates the possibility of loss of manual control and loss. It generates an indication of the setpoint value of the output signal of the regulator in the event of a malfunction in the external circuits of the regulator, which increases the reliability of the regulator as a whole, and consequently, of the regulating system and eliminates the possibility of disrupting technological knowledge.

Claims (1)

'' A REGULATOR containing a first adder, a proportional-differential link, an integrator, a second adder, a block of switches, an output of the first adder is connected to an input of a proportional-differential link and the first input of an integrator, the outputs of the proportional-differential link and integrator are connected respectively to the first and second inputs the second sum of the matator, the output of which through a capacitor is connected to the second input of the integrator and the closing contacts of the switch block, the breaking contact of which is connected to the third an integrator input, characterized in that, in order to increase the reliability of the regulator, a voltage divider <S and a nonlinear element are introduced into it, and the voltage divider is connected to the integrator output, ®. a nonlinear element is connected at one terminal to the midpoint of the voltage divider, and at the other to the third input of the second adder. Oh with N3>