SU1123020A1 - Adaptive forecasting control - Google Patents

Abstract

A) ADAPTIVE FORECASTING REGULATOR, contents Bj nj04eHHbie sequentially, the first element of the comparison, the first low frequency filter, the inverse object model, the second element of the comparison, the third element of the comparison, the second low frequency filter and the extrapolation element sequentially included, the first 8 adder, the executive body 9, the third filter of the 10th low frequency and the first element of the 11th delay, the output of which is connected; to the second input of the second 4 elements of the comparison, the fourth low-frequency filter, in series, the first scale Irrational element, the second delay element, the output of which is connected to the second input of the third comparison element, a series of first extrapolators, a block of comparison elements and a first block of scaling elements, a fourth comparison element, an inertial link and a second scaling element, the output of which is connected with the first input of the second adder, the remaining inputs of the second adder are connected to the corresponding outputs of the scaled elements of the first block of scaling V elements, the fifth comparison element 22, connected by the first input with the output of the third filter 10 low. frequencies, and the output — with inputs of the blog of delay elements and the second input of the first comparison element of the comparison element block, the second inputs N3 CO of the remaining comparison elements of the comparison element block are connected to the corresponding output outputs of the delayed tvD unit block unit, the output of which is connected to the first input of the fourth comparison element, the first block of adaptation elements, the first inputs of which are connected to the output of the second low-frequency filter, the second move the first element of the first adaptation adaptation unit connected to the output extrapolation torus, the second inputs of the remaining elements of the first adaptation unit to adapt - to the respective outputs of the first extrapolated tori

Description

the extrapolator block, the output of the first adaptation element of the first block of adaptation elements is connected to the additional input of the accumulator, the outputs of the remaining adaptation elements of the first block of adaptation elements are connected to the corresponding additional extrapolator inputs of the first extrapolator block, the adaptation circuit, the first input of which is connected to the fourth filter output low frequency., the second input with the output of the second element of comparison, and the output with the additional input of the first scaling element, the first input The first adder is connected to the output of the second adder; the output of the third comparison element is connected to the second input of the fourth comparison element, characterized in that, in order to increase control efficiency, a fifth low frequency filter, a second extrapolator block, second and third blocks are introduced into it adaptation elements, the third block of extrapolators in series, the block of adders and the second block of scaling elements, and the input of the fifth low-frequency filter is consistent with the output of the first scaling element, and the output - with the first inputs of extrapolators of the third block of extrapolators, with the first inputs of the adaptation elements of the third block of adaptation elements and with the second input of the fifth comparison element, the second inputs of the adaptation elements of the third block of adaptation elements are connected to the corresponding outputs of the extrapolators of the third block of ecotgors, and the outputs - with additional inputs of extrapolators of the third block of extrapolators, the output of the second low-pass filter is connected to the first inputs of extrapolators of the second block of extrapol The first inputs and the first inputs of the adaptive elements of the second block of the adaptation elements, the second inputs of the adaptation elements of the second block of the adaptive elements are connected to the corresponding extrapolator outputs of the second extrapolator block, and the outputs to the corresponding additional extrapolator inputs of the second extrapolator block, vpsod the extrapolation element is connected to the second input of the first adder of the block of adders, and the second inputs of the remaining adders of the block of adder. connected to the corresponding BbLx: with the extrapolators of the second block of extrapolators, the outputs of the scaling elements of the second block of scaling elements are connected to the corresponding inputs of the first adder

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The invention relates to automatic control and regulation MecifOMi, which can be used to build control systems technically and objects that contain significant transport and inertial delays and are subject to the influence of controlled and uncontrollable disturbances, whose characteristics vary over a time lag of transport

It is assumed that the dynamics of the transforming channels of the object class under consideration are sufficiently well approximated by the operator

-RG K -pf

and

sfDi ----: v-e LKo) - at -iifp} hi

 TlplTT T (IP / Ml)

2

the gains kj s w are the time constants T, f of which change little over time,

y is the output variable of the control object;

and, w-regulating effect and controlled disturbance.

The task of control is to ensure the invariance of the output variable of the control object from controlled and uncontrolled external influences, subject to the minimization of management costs.

An example of such facilities is modern blast furnaces, which are influenced by controlled and uncontrolled surges3, 1

. In particular, changes in the chemical composition of the agglomerate, and Cox, among the controlled disturbances, and changes in their particle size distribution, to the number of uncontrolled ones. The control conversion channels and controllability of the potential of the top of the furnace with the output of ng, the cast iron quality indicators are characterized by time constants of the order of 3-7 hours. When blasting by thermal and slag modes of the blast furnace, minimizing the consumption of expensive blast furnace coke and flux additives, . a decrease in consumption of which leads to increased productivity of the unit.

Controllers with indirect measurement and extrapolation of uncontrolled disturbances containing inverse models of objects of corrugation, delay blocks, extrapolators, and comparison blocks are known for these objects.

Such controllers do not provide high precision control because they are not taken into account in a clear-looking form of disturbance.

I-.

Closest to the offer

is a predictive regulator containing a series-connected petrol comparison element, a first low frequency filter, an inverse object model, a second comparison element, a third comparison element, a second low-frequency filter, an extra floor, a first adder, an actuator, a third low filter frequency and the first delay element, the output of which is connected to the second input of the second comparison element, a fourth low-pass filter connected in series, the first scaling element, the second element, delays, all D of which is connected to the second input of the third comparison element, the first extrapolator block in series, the comparison block and the first block of spacer elements, the fourth comparison element in series, the inertial link and the second scaling element, the output of which is connected to the first input of the second adder , the remaining inputs of the second adder

30204

connected to the high-resolution mascapiaofyujsjc- ele1che ts.v izvvogo block scale.chbir} 7y; d1 x elements. fifth fifth comparison element connected by the first echo to the output of the first scaling element, - the second input with the output of the third low-frequency filter, and the output - with the inputs of the elements of the delay block elements

1C of the delay and the second input of the first comparison element of the comparison element block, the second inputs of the remaining comparison elements of the block of the connection elements :: connections to the outputs of the delay of the delay elements block, except for the last delay element of this block, the output of which is connected to the first input of the fourth comparison element ,

2Q first block of adaptation elements, the first inputs of which are connected to the output of the second low-frequency filter, second input of the first adaptation element of the first adaptation block

5 is connected to the extrapolator output, the second inputs of the remaining adaptation elements of the first adaptation block are connected to the extrapolator outputs of the first block of the extruders, the output of the first

“The adaptation element of the first block of adaptation elements is connected to an additional input of the extrapolator, the outputs of the remaining elements of the adaptacion of the first block of elements of the adaptive module I with additional inputs of extrapolation, the adaptation element, the first input of which is connected to the output of the fourth low-frequency filter, the second input to p,; the comparison element, and the output is connected with the kbLM input of the first scaling element, the second input of the first adder is connected to the output of the second adder, the third input is connected to the output of the first .g sshtabiruyuschego element output of the third comparing element is connected to a second input of the fourth comparing element.

In the predictive regulator with the first and second elements of the comparison. The first low-pass filter, the inverse object model, and the delay element are restored with a lag in the evaluation of the ideals of the 5 control reversals.  These estimates are then recalculated to the base conditions of the controlled fires, for which a fourth low-pass filter, a first scaling element, a second delay element, and a third comparison element are used.  The resulting (reduced) estimates of the ideal (Control actions are extrapolated along the trajectory with the help of an extrapolator and the first block of extrapolators.  The control effect, extrapolated for the foreseeable time, is corrected depending on the ratio between the actually realized estimates of ideal ones, as well as between the actually realized and extrapolated estimates of ideal control actions.  For these purposes, a block of comparison elements, a first block of scaled elements, a first and second adders a block of delay elements, a fourth and fifth elements of the comparison, an ineron link, and a second scaling element serve.  The corrected governing impact is recalculated for the conditions of the actual controlled disturbance, for which the connection of the first g-dragging element with the second adder is introduced.  The control action obtained at the output of the Btoporo adder is implemented by the executing authority.  In order to increase the effectiveness of the predictive regulator, the adaptation of the parameters of the extrapolation and the coefficient of the first scaling element is introduced using the corresponding first block of adaptation elements and the adaptation element A.  One of the disadvantages of a well-known predictive regulator is the low control efficiency.  This is due to the high cost of yi asneime due to the fact that regulating actions are generated in the net not only on low-frequency, but on high-frequency disturbances, which can be filtered by the control object due to its inertia.  The trick of the invention is povigay management efficiency.  This goal is achieved by the fact that in the predictive control regulator, which contains 4 successively included the first element of comparisons, the first low-pass filter, is the reverse.  object model, the second element of comparison, the third element of comparison, the second low-frequency filter and the extrapolation element, successively 1 06 included the first adder, the actuator, the third low-frequency filter and the first delay element, the output of KOTOROGO connected to the second input of the second element of comparison , a fourth low-pass filter connected in series, a first scaling element, a second delay element, the output of which is connected to the second input of the third reference element, are connected in series to the first b the extrapolator block, the unit of comparison elements and the first block are scaled 1x elements, the fourth element of the series, the inertial link and the second element, which are scaled in series, the output of which is connected to the first input of the second adder, the remaining inputs of the second adder are connected to the corresponding outputs 1-1 of the first elements a unit of masibulable elements, the fifth comparison element, connected first to the output of the third low-frequency filter and the output to the inputs of the block i of the delay elements i and the second The second input of the remaining elements of the comparison of the block of the comparison elements is connected to the corresponding elements of the delay elements of the block of the delay elements, except for the last delay element of this block, the output of which is connected to the first input of the fourth element of the comparison, the first block of elements adaptations, the first inputs of which are connected to the output of the second low-frequency filter, the second input of the first adaptation element of the first adaptation block is connected to the output the extrapolator, the second inputs of the remaining adaptive elements and the first adaptation block - with the corresponding outputs of the extrapolators of the first extrapolator block; the output of the first adaptation element of the first block of adaptation elements is connected to an additional input of the extrapolator; the outputs of the remaining adaptation elements of the first block of adaptation elements are connected to corresponding additional inputs of extrapolators of the first block of extrapolators, adaptation scheme, the first input of which is connected to the output of the fourth filter low The first frequency Btsfoy input - with the output of the second comparison element, and the output with the additional input of the first, scaling element, the first Bg; one of the first adder is connected to the output of the second adder, the output of the third comparison element - with the second input of the fourth comparison element, the second low frequency filter, the second extrapolator toro block, the second and the third unit of adaptation elements, the third unit of extrapolators in series, the sum – 1ator unit and the second block of scaling elements, and the input of the fifth low frequency filter The ports are connected to the output of the first scaling element, and the output is connected to the first inputs of extrapolators of the third block of extrapolators, the first inputs of the adaptation elements of the third block of adaptation elements and the second input of the fifth comparison element, the second inputs of the adaptation elements of the third block of adaptation elements one. 1; they are connected to the corresponding extrapolator outputs of the third extrapolator block, and the outlets with additional extrapolator inputs of the third extrapolator block, the output of the second low-frequency filter is connected to the first extrapolator inputs of the second extrapolator block and the first inputs of the adaptation elements of the second block of adaptation elements , the second inputs of the adaptation elements of the second block of the adaptation elements are connected to the corresponding outputs of the extrapolators of the second block of extrapolators and the outputs from the corresponding the thin additional inputs of the extrapolators of the second extrapolator block, the output of the extrapolation element are connected to the second input of the first matrix of the block of adders, and the second inputs of the remaining totalizers of the cy block of blockers are connected to the corresponding outputs of the extrapolators of the second block of extrapolators, the outputs of the scaling the elements of the second block the scale of the digging elements are connected to the corresponding inputs of the first adder.  The introduction of new blocks and connections allows extrapolating the controlled perturbations and estimates of the reduced ideal control actions, KraoHMepj HP, interval Pg1m of the syst.  grotto. sg-sd 1t convolution of extra 11ol; fovann of the opposing influences; n: - summing up with non-matching coefficients and FINISH gel: determine the control actions on the basis of the estimates of the control actions obtained in the same way.  The control actions are generated from the wigto-b-negative behavior of the controlled and uncontrolled disturbances, which makes it possible not to react to relatively high-frequency vozm. The controls are filtered out by the control object, and thereby reduce the control costs and generally improve the accuracy of the adjustment.  The drawing shows a block diagram of the proposed controller.  The adaptive predictive controller contains the first comparing element 1, the first low frequency filter 2, the inverse model 3 of the object, the second 4 and the third 5 comparing elements, the second low frequency filter 6, the extrapolation element 7. first adder 8, executive body 9, tr. second low frequency filter 10, first delay element 11, fourth low frequency filter 12, first scaling element 13, second delay element 14, first extrapolation unit 15, block 16 comparison elements, first block 17 scaling elements, fourth comparison element 18, inertial link 19, second scaling element 20, second cy mater 21, fifth comparison element 22, delay unit 23, first adaptation block 24, adaptation scheme 25, fifth low frequency filter 26, second extrapolator block 27, second 28 and the third 29 bl ki elements adapted 1schi third extrapolation unit 30 tori cy matopov block 31 and second block 32 scaling elements.  The adaptation circuit 25 comprises a DC signal source, a series-connected delay element, a quadrant, an adder, a division element, an integrator, a multiplication element and a comparison element, the second input of which is connected to the second input of the adaptation circuit 25, and the output to the second input of the division unit , the output of the non-current source of the constant signal is connected to the second input of the adder, the input of the delay unit is connected to the first input of the circuit 6 adapters, this output to the second input of the multiplication unit, the output of the integrator is connected to the output of the adaptation circuit 6 Cz.  Constant time adaptation blocks 24,28 and 29 sKcrpanonKtopoB each contain a constant signal source, a first scaling element, serially inclusive cervical elements, a first integrator, a first delay element, a second comparison element, a division element, a second scaling element, a third comparison element, the second integrator, the second delay element, the fourth comparator element and the cyi-shator whose output is connected to the second input of the division element, and the input to the decoder of the constant sigqle output of the first integrat The speaker is connected to the BtopoMy input of the second element of the comparison, the output of the second integrator to the second input of the fourth hryvnen and through the first masvgabkrz. element to the second input of three. In this comparison element, the first and second inputs of the a / gaptation element are connected with the first and second inputs of the first comparison element, the output of the third element of the comparison module is connected to the output of the adaptation element 41.  Pa are indicated in the drawing and (increment of coitro iray disturbance at the ith instant of time relative to the controversial (basic) level; U vyksdna variable control object; - task for the output AC. e nush; uCtf - controlling action. Adaptive predictive controller works as follows. The measured signal output Y {t o6beKTa from the first element 1 is calculated by subtracting signal 6 of the reference. (t | Ha output variable.  The received signal arrives at a low-frequency filter 2, in which high-frequency interference is suppressed, which increases the accuracy of further signal conversion.  From the output of the first low-frequency filter 2, the signal is transmitted to the model 3 of the object without cracking,.  in particular, the proportional differential is 010 but.  The output signal of the inverse model 3 of the object is subtracted by the second comparison element 4 from the output signal of the first delay element 11, about the actual control actions implemented in (H: -1D) th time; time.  As a result, the output of the second comparison element 9 appears to signal an estimate of the ideal control action u (i. t). U (t-r) F; Y (tbY (t), (21 sG where U (if) is the estimate of the ideal controlling effect.  ,  at the moment of time (tt}, T is the transport time delay i F is the inverse model of the object without delay). The increment signal of the controlled disturbances U) (ir) is fed to the input of the fourth low-pass filter 12, where high-frequency noise is suppressed and then multiplied to first KALK. (tab element 13 on the coefficient Cc of recalculation of the increments of controlled disturbances 3 increment of the control action.  The output of the first mayting element 13 is delayed by the time / C in the second delay element 14 and subtracted in the third comparison element 10 from the signal U {t-E} from the output of the second comparison element 4.  The output signal of the third comparison element 5 is an ideal control signal oiienKe, calculated by calculation to the basic level of the controlled perturbation (the signal of the reduced control action).  In order to extrapolate the above exclusion effect, the third element of the comparison element 5 is fed to the second low-pass filter 6, which is averaged over the time interval 41Г (1 / 10-1 / 20) T for the 3KCTpanojM4HH trajectory of this signal with a finite number of Extrapolian Tori, The output of the second low-pass filter b is fed to the extrapolator 7 and to the distractors of the second block 27 Extrapol toroV; performed, nagfimer, in the form of force :: 2 yeniyev.  Extrapolator 111 17 signal is extrapolated for a time interval (.  i in the extrapolator 27-1 of the second block 27 extralpoles for the time interval (+), in the extrapolator 27- K for the time interval (up to), where I- Q and G is the memory interval of system K-2 - a Similar to the above control The trajectory of the adjustments of the control actions on the increments of the controlled disturbances is extrapolated to the seals.  For this, the output signal of the first scaling element 13 is averaged over the time interval DT in the low-pass filter 26 and extrapolated in the extrapolator 30-0 of the third block 30 extrapolators for the time interval of the LAN, in the extrapolator 30-1 for the time interval 2 &; V and in the extrapolator 30-K for the time interval KLT.  The output signals of the extrapolators of the second extrapolation unit 27 are summed with the corresponding output signals of the extrapolators of the third block 30 of ectrapolators in the adders of the block 31 of adders.  At the output of the block 30 of adders, an extrapolated to the interval of the memory of the system of the trajectory of the control action is obtained, due to the controlled and uncontrolled disturbances.  In order to obtain the control action, the obtained trajectory is convolved at the current time by means of summing the control action at particular points in time. first totalizer 7.  The coefficients in the scaling elements of the second block 32 of the scaling elements are chosen so that they diminish into the future, for example, exponentially and reflect the dynamics of the control channel and the accuracy of extrapolation of excitations, 1 The remaining blocks of the adaptive prediction controller are 0; 2 for Realization of corrective feedback. To this end, the difference between the actually reduced and the ideal reduced is determined: the impact is 5: the effect on the time interval oT (iQ) to (t-tf ,. a also the difference between the actually reduced and extrapolated reduced control actions in the range from (i-r) to t.  Using a cana model. control set without delay is predicted to influence the resulting differences on y-z. . ots, nyu variable of the control object.  The change found by the output variable is converted by a P-star (proportional controller) to the feedback control adjustment.  To implement the described logic, the output signal path of the second filter 6 is extrapolated using the first block 15 of the extrapolators of the low filter 6: frequencies in the time interval from (t-t) to t.  In the extrapolator 15-1 of the first extrapolator block 15, extrapolation is performed.  at time (), in extrapolator 15-2 at time (-f - t - b. Zdt :) j in the extrapolator iS-n-time nominate (t-jr- + dfh) -fc.  The signal of the correction of the control action on the increments of the controlled disturbances from the output of the low frequency filter 4 is subtracted in the fifth comparison element 22 from the signal of the control action effected from the output of the third low frequency filter 10.  The output signal of the fifth comparison element 22 is delayed in the delay element 23-1 of the delay element block 23 by the time interval / gr in the delay element 23-ti + 1 - by the time interval (n-1) -4t- in the delay element 23-h by for the itdS time interval. , In block 16 of the comparison elements, the difference between the trajectories of the m - extrapolated and actual reduced controls on the time interval from () to -t is determined.  For this, in the comparison element 16-1 a block of 16 comparison elements from the output signal of the extrapolator 15-1 of the first block 15 of extrapolators, the output signal of the fifth comparison element 22 is outputted; in the comparison element 16-2, the output signal of the block delay element 23-1, 23 delay, in the 16-g element, the output signal of the delay element 23-n-1 is compared.  The signals of the received differences x are multiplied by the weighting coefficients in the corresponding scaling elements of the first block 17 of scaling elements and summed in the second adder 23-2 s. In the fourth comparison element 18, the output signal of the 23 delay element is compared block 23 delay elements.  The signal from the output of the vertical comparison element 18 is converted into the inerdaonic link 19, multiplied by the weighting factor in the second scaling element 20 and fed to the second adder 21, at the output of which a feedback control correction signal appears.  The output signal of the second summation 21 is supplied to the odan from the inputs of the first adder 7, where algebraically cjMMHpyeTCH with the control action calculated from disturbances.  The control obtained in this way is implemented with the help of the executive body 9 and arrives at the control object.  Due to the fact that the structural and statistical properties of estimates at i. Changes in control actions and vary, all extrapolators are adapted.  Provided that the operator of each extrapoltator is represented by an expression.   , (3) Tj is the extrapolation interval; Tf is a constant of the time of the forcing unit, adaptation of T can be carried out according to the law f (F tf (9 and 0-a.  , „D t - A lh (c) 4X (e) d6 t-A.  N t (e) sZEEL tfseme IJVJ i-xit-2 /.  4X {ei «x ().  where X is (the input signal of the extrapolator, X (v) is the output signal of the extrapolator; D, B, are constant values.  When adapting extrapolators, the input and output signals are fed to the inputs of the adaptation elements, the outputs of which are fed to the additional inputs of extrapolators.  To implement expression (4) in the adaptation elements, the input signal of the second input of the adaptation element is obtained in the first comparison element from the input signal of the second input. The signal from the obtained difference lH is integrated in the first integrator, B is delayed by the first delay element at time A, and then the second comparison element is subtracted from the output of the first integrator.  As a result, a signal appears on the output of the second reference element about the numerator of the second member of the right-hand side of expression (4).  Similarly, using the second integrator, the second delay element and the fourth comparison element, the output of the third comparison element is processed on the value of the denominator,.  The output of the fourth reference element is summed in the adder with the output signal B, coming from the output of the constant signal source.  As a result, the denominator of the second term in the right-hand side of expression (4) appears.  In the division element, the output signal of the second comparison element is divided by the output signal of the adder, then multiplied in the second scaling element by a constant coefficient s3 and subtracted in the third element of the comparison and the output signal of the second integrator multiplied in the first scaler element by a constant factor 1 /, A, At the output of the third comparison element, a signal appears on the value of Tf which is output by the adaptation element.  The variability of the characteristics of the control object with respect to the controlled disturbances is taken into account in the adaptation of the recalculation coefficient Kc of the first scaling element 13.  To do this, the inputs of the adaptation circuit 25 are supplied with signals from the output of the second comparison element 4 and the output of the fourth air interface.

Claims (1)

ADAPTIVE FORECASTING REGULATOR containing the first comparison element _β , the first low-pass filter, the inverse model of the object, the second comparison element, the third comparison element, the second low-pass filter and the extrapolation element in series, the first 8 adder, actuator 9, third filter 10 low frequency and the first element 11 delay, the output of which is connected to the second input of the second 4 comparison elements, the fourth low-pass filter, the first scaling element, the second delay element, the output of which is connected to the second input of the third comparison element, the first extrapolators block, the comparison element block and a first block of scaling elements, a fourth comparison element, an inertial link and a second scaling element, the output of which is connected to the first input of the second adder, the remaining inputs of the second adder are connected to the corresponding outputs of the scaling elements of the first block of scaling elements, the fifth comparison element 22 connected by the first input to the output of the third filter 10 is low. frequency, and the output with the inputs of the block of delay elements and the second input of the first-comparison element of the block of comparison elements, the second inputs of the remaining comparison elements of the block of comparison elements are connected to the corresponding outputs of the delay elements of the block of delay elements, with the exception of the last delay element of this block, the output of which is connected to the first input of the fourth comparison element · * the first block of adaptation elements, the first inputs of which are connected to the output of the second low-pass filter, the second input 1 of the first ele The adaptation time of the first adaptation unit is connected to the output of the extrapolator, the second inputs of the remaining adaptation elements of the first adaptation unit are connected to the corresponding outputs of the extrapolators of the first unit 1123020 of the extrapolators, the output of the first adaptation element of the first block of adaptation elements is connected to an additional input of the extrapolator, the outputs of the remaining adaptation elements of the first the block of adaptation elements are connected to the corresponding additional inputs of the extrapolators of the first block of extrapolators, the adaptation circuit, the first input of which is connected to the output of the fourth low-pass filter, the second input to the output of the second comparison element, and the output to the additional input of the first scaling element, the first input of the first adder is connected to the output of the second adder, the output of the third comparison element to the second input of the fourth element comparison, characterized in that, in order to improve control efficiency, a fifth low-pass filter, a second block of extrapolators, a second and third blocks of adaptation elements, a follower are introduced into it about included third block extrapolator, an adder unit and a second ^unit: scaling elements, wherein the fifth filter input low frequency is connected to the output of the first scaling element, and an output - to the first inputs extrapolator third block ekstrapolyato trench, with the first input element adaptations third block elements' adaptation and with the second input of the fifth comparison element ^ the second inputs of the adaptation elements of the third block of adaptation elements are connected to the corresponding outputs of the extrapolators of the third block of the extrapol tori, and the outputs with additional inputs of the extrapolators of the third block of extrapolators, the output of the second low-pass filter is connected to the first inputs of the extrapolators of the second block of extrapolators and the first inputs of the adaptation elements of the second block of adaptation elements, the second inputs of the adaptation elements of the second block of adaptation elements are connected to the corresponding outputs of the extrapolators of the second block extrapolators, and the outputs with the corresponding additional inputs of the extrapolators of the second block of extrapolators, output the extrapolation element is connected to the second input of the first adder of the adder block, and the second inputs of the remaining adders of the adder block are connected to the corresponding outputs of the extrapolators of the second extrapolator block, the outputs of the scaling elements of the second block of scaling elements are connected to the corresponding inputs of the first adder, ί