SU1149213A1 - Adaptive control - Google Patents

Abstract

ADAPTIVE REGULATOR containing a setting device, an input adder connected by the first input to the output of the control object, and the second input to the output signal of the control device, the first and second multiplying devices, the first inputs of which are connected to the output of the input adder, the first amplifier and integrator, nofj, connected by inputs the outputs of the first and second multipliers, respectively, and the output adder, the inputs of which are connected respectively to the outputs of the first amplifier and the integrator, and the output to the input of the object, characterized in THAT, In order to improve the ACCURACY and quality of adaptation in terms of interference and simplify the technical implementation of the controller, it additionally contains a low-pass filter, first and second static non-linear links, first and second splitters, and a second amplifier, the output of the output adder through serially connected low-pass filter and The first static nonlinear link is connected to the first input of the first dividing device, the second input of which is connected to the output of the setting device and the input of the second static first nonlinear link, the output of the first dividing device is connected to the input of the second amplifier and the first. 4 WITH the input of the second dividing device, the second input of which is connected to the second output of the second static nonlinear link, the outputs of the second usiW and the second dividing device are connected respectively to the second inputs of the first and second multiplying devices,

Description

i

This invention relates to aztoma-TJwecKOMy regulation and can be used in process control systems and variable control systems, for example, in food control sterilization process control systems.

There is an adaptive regulator that implements the PROPORTANT AND INTEGRAL REGULATION REGULATION, with the settings of the regulator L being tunable depending on the characteristics of the transition process,

The disadvantage of this controller is the low accuracy of adjusting S interference conditions.

Closest to the proposed is an adaptive controller containing a setting device, an input controller connected by the first input to the output of the control object, and the second input to the output of the controller, the first and second multiplying devices, the first inputs of which are connected to the output of the input adder, the first amplifier and an integrator connected by inputs to the outputs of the first and second multiplier devices, respectively, and the output adder whose inputs are connected respectively to the outputs of the first amplifier and the integrator, and the output - to the entrance of the object. The adjustment of the coefficients for the lance and integral components of the control law is carried out on the basis of processing information 5 about the response of the system to the probe signal.

A disadvantage of the known controller is the complexity of implementation associated with the method used for estimating object parameters, which involves the presence of a test signal generator, a differentiator, and logic devices for the absolute and maximum values of functions. In addition, in the presence of interference, the accuracy of the controller is reduced due to the use of a differentiator and logic devices.

The aim of the invention is to improve the accuracy of the adaptive controller in terms of interference and simplify the technical implementation with known dependencies between the parameters of the steady state

132

control and parameters of the transfer function of the object.

This goal is achieved by the fact that the adaptive controller, the content setting device, the input adder connected by the first input to the output of the control object, and the second input to the output of the setting device, the first and second multiplying devices, the first inputs of which are connected to the output of the cjT aTOpa, the first amplifier and integrator connected by inputs to outputs of the first and second, respectively

multiplying devices, and an output adder, whose inputs are connected respectively to the outputs of the first amplifier and integrator, and the output to the input of the object, additionally contains a low-pass filter, the first and second static nonlinear links, the first and second separating devices and the second amplifier, and the output of the output adder series-connected low-pass filter and the first static nonlinear link; connected to the first input of the first dividing device, the second input of which is connected to the output of the setter and the input of the second static nonlinear link, the output of the first dividing device is connected to the input of the second amplifier and the first input of the second dividing device, which springs are connected to the second inputs of the first and second multipliers

devices, the second input of the second nonlinear dividing device is connected to the output of the second static link.

The drawing shows a functional diagram of the proposed adaptive controller.

The controller contains setpoint 1, input 2 and output 3 adders, first amplifier 4, integrator 5, first 6 and second 7 multipliers

devices, low-pass filter 8, the first 9 and second 10 static nonlinear links, the first 11 and second 12 separating devices and the second amplifier 13.

The outputs of the object 14 regulation. and setter 1 is connected to the input of the adder 2, the output of which is connected to the first inputs of the first 6 and second 7 multipliers, the outputs of which, respectively, through the first amplifier 4 and the integrator 5 are connected to the inputs of the output adder 3, the output of which is connected to the input of the object 14 and through consequently connected low-pass filter 8 and the first static non-linear link 9 is connected to the first input of the first dividing device 11, the second input of which is connected to the output of the setting device 1. The output of the first dividing device 11 Connected to the input of the second amplifier 13 and the first input of the second dividing device 12. The output of the setpoint 1 through the second static nonlinear link 10 is connected to the second input of the second dividing device 12. The outputs of the second amplifier 13 and the second dividing device 12 are connected respectively to the second inputs of the first 6 and second 7 multiplying devices. The adaptive controller is designed to control the objects described by the transfer function, such that the cTR + retriggeration time c and the time constant T vary proportionally, T i. - const. Evaluation of two object parameters, namely, constant time and gain K, provides the necessary information for adjusting the controller. In contrast to the method for estimating object parameters in a known adaptive controller based on processing information about the transition process, it is proposed to evaluate the parameters by input and output signals of the object in the established mode. Estimation of the gain of the object K is carried out on the basis of the static characteristic of the object of the article D Chst J

-set input

and

set signal object jl

-setting off

1 {CT signal of the object, equal to 55 signal from the setpoint x,

f - known for the object

static nonlinearity;

2 .L

H 472

2T К |, - coefficient at the proportional component of the law of regulation; K, is the coefficient of the integral component. c is a parameter depending on the parameters of the technological process. The object gain is the derivative of the steady state output of the steady state E-wave signal. K.bfl -, (1) auycr ts, y t and tshha vfazheniye (t) 1 / DiustGi, Uyol Pitsts, Uhh) Based on the formula (2), an estimate of the gain K is performed. The estimate of the time constant of the object is proposed as) the output level of the object equal to the signal from the setpoint generator. For many industrial facilities, in particular for autoclaves, the dependence of the time constant on the steady state output signal T ClUycr is known. : (4) This dependence is implemented in the proposed device. According to estimates of the constant time and gain factor, the adjustment factors of the controller are adjusted. The tuning algorithm is based on the principle of achieving in the system a degree of stability close to the maximum when controlling an object described by the transfer function. . As is well known, s, the maximum degree of stability is achieved at (T ' r-2Tr-tI + 0 i Chti111 k = 1;

When otnongeniya - 1 formula (5)

t

with sufficient accuracy are approximated by simplified expressions

O, -54 tons 0./T

to,-.

TG1tb (7)

one)

which realiztots in the proposed method.

The adaptive controller works in the proper manner.

The device consists of a control loop and an optimal tuning circuit. In the control loop, consisting of the input gateway 2, two multiplying devices 6 and 7, the first amplifier 4, the integrator 5 and the output sum $ ator 3, the proportional-integral control law is realized. The control error signal received at the output of the input adder 2 as the difference between the signals from the object 14 and the setting device 1, the output of the first amplifier 4 generates a signal proportional to the control law component, and the output of the integrator 5 is the signal of the integral component. The sum of these signals from the output of the output adder 3 is fed to the input of the object 14. Multiplier devices 6 and 7 are used to enter into the control loop the proportional and integral coefficients generated in the optimal control loop settings of the controller coefficients. The output of the first multiplier 6 is the product of the input control error signals and the proportional component coefficient, and the output of the second multiplier device 7 is the product of the control error signals and the integral component ratio.

The optimal tuning loop consists of a low-pass filter 8, two static non-linear links 9 and 10, two separating devices 11 and 12, and a second amplifier 13. The first static non-linear

link 9 implements the function f (3), and its input signal is the output signal of output 5 of adder 3, which is passed through a low-pass filter 8. The input signals of the first splitter device 11 are the signal from setpoint 1, which characterizes the steady-state output signal of the object, and the output the signal of the first static nonlinear link 9, and for convenience of tuning, the first signal goes to the separating input, and the second to the multiplying input, i.e. the output signal is an estimate of the reciprocal of the gain of the object.

The second static nonlinear link 10 implements the formula (4).

0 The coefficient K (6) is the output of the second amplifier 13, the own gain of which is realized depending on the ratio

5 rj,

The input signal of the second amplifier 13 is the output signal of the first dividing device 11, which is an estimate of the reciprocal of the gain of the object K.

The tuning factor K y (7) represents the co6ofi output of the second dividing device 12, dividing the signal from

5 setting devices 1 to the signal from the first dividing device 11.

The coefficients of the Kl and Cc settings are introduced into the temperature control loop using the first 6 and second 7 multipliers.

Using the method of estimating the parameters of an object associated with an implementation known for a number of

5 technological processes of dependencies between the parameters of the object and the parameters of the established process should lead to a significant simplification of the tuning contour, and the implementation of optimal settings by the formulas (6) and (7) - to increase the accuracy of the adaptive controller.

Claims (1)

ADAPTIVE REGULATOR, comprising a master, an input adder connected by a first input to the output of the control object, and a second input to a master output, the first and second multipliers, the first inputs of which are connected to the output of the input adder, the first amplifier and integrator connected by inputs to the outputs, respectively the first and second multiplying devices, and an output adder, the inputs of which are connected respectively to the outputs of the first amplifier and integrator, and the output to the input of the object, characterized in that, in order to improving accuracy and quality of adaptation in the conditions of interference and simplifying the technical implementation of the controller, it additionally contains a low-pass filter, first and second static nonlinear units, first and second dividing devices and a second amplifier, the output of the output adder through the series-connected low-pass filter and S first static a nonlinear link is connected to the first input of the first dividing device, the second input of which is connected to the output of the setter and the input of the second static nonlinear level, the output of the first divider is connected to the input of the second amplifier and first input of the second divider, a second input coupled to an output of the second static nonlinear element, the outputs of the second amplifier and the second divider are connected respectively to the second inputs of the first and second multipliers _(> ί