SU1239686A1 - Control system for objects with delaying - Google Patents

Abstract

The invention relates to the field of automatic control and makes it possible to solve problems of optimal control of a system for objects with delay containing an integrating element. The purpose of the invention is to increase the quality of regulation. The goal is achieved by the fact that the integrator, which is installed at the output of the second adder, is introduced into the system containing the regulator, two adders, the correction link, the model of the control object, the delay link with the inverter. 2 il. to with from O) 00 about:

Description

"

The invention relates to automatic control and allows solving the problems of optimal control of an adaptive system for objects with delay.

The purpose of the invention is to increase the quality of system regulation.

FIG. 1 is a block diagram of a control system for objects with a delay; neither FIG. 2 - the predicate structure and transient processes occurring in it.

The system contains a PID controller 1 whose input is connected to the output of the first adder 2, and the controller output is connected to the input of the control object 3 and to the model 4 input of the object (represented by an elementary aperture link) 5 output of the model 4 of the object is connected to the input of the correction link 5 and with the input of the standard unit 6 Zapzdgoani BPZ-2M with inv.tortor, the outputs of which are connected to the inputs of the second adder 7, the output of which is connected to the input of the first adder through an integrating element 8.

The control system operates as follows.

In the steady state regulation, the coordinate X is equal to the reference signal X and the error signal 6 is zero. When a disturbance E arrives at the object 3, the adjustable coordinate X begins to change.

At the output of the first adder 2, a mismatch signal appears that is fed to the controller input. A regulating action is formed at the output of controller 1, which passes to the input of the control object 3 and to the input of the object model 4, which is included in the predicate.

The transfer function of the predictor with the regulator has the form w,; (p) -jiiM (

..) Wo ,, (p) (Tr

where Wn (p) is the transfer function. (P)

. W

OB1

hum torah

transfer function of an object model without delay;

c - the delay of the object. Suppose that the control object 3 has a transfer function of the type "

".. (t; p-1T) p- ™

where K,

- coefficient of object amplification; TQ is the time constant of the object. Then the transfer functions of the links of the predicate chain are model 4 objects (aperiodic link)

oB.M (P -fflT (3)

5 (aperiodic corrective link: link)

delay unit 6 with inverter,

(four)

15

W, /, p) -e integrating link 8

(five)

W

, g (r) -r- (6)

The predicate chain consisting of the object model 4, the delay unit 6 with the inverter, and the integrator link 8 is similar to the object transfer function and is used to compensate the object output signal. Control is effected by a signal passing through a chain consisting of object model 4, corrective link 5 and integrating link 8. There is no delay in this chain and its influence on the control process is excluded. In order to clarify the physical meaning of the corrective element, transients are considered in the utrigade

3.5

Sp; pV-- g

(7)

FIG. 2 shows the predicate structure diagram (7) and transients occurring in it. It was found that there is no static error in the system, i.e. in the steady state at the output of the integrating link 8, the signal Xj which is fed to the input of the first adder 2 is equal to zero only if the value of the constant time of the corrective link is equal to the value: no delay, and also if these parameters and the conversion factor of the integrating link are unchanged in the time of the transient process of the system and if between these links there are no links with. variable parameters.

From the listed conditions it can be seen that the output of the integrating element from the composition of model 4 of the object is due to the elimination of a static error, which can be in the case of variation of the parameters of the links of the predictor (7) when building an adaptive model.

When building the proposed device, it is necessary to implement a regulating known device. At the same time, the regulator W. (p) is selected from the condition of the best quality of regulation by the chain of the predicate, which includes the model D of the object, the corrective link 5 and the integrating link 8.

Claims (1)

Invention Formula Control system for delayed objects containing regulator 396864 a torus whose input is connected to the output of the first adder, and the controller output is connected to the input of the control object and to the input of the object model, 5 the output of the object is connected to the first input of the first adder, the output of the object model is connected to the input of the correction link and to the input of the delay unit with an inverter, the outputs of which are connected cooTBetcTBeHHo with the first and second inputs of the second adder, characterized in that, in order to regulate the quality of regulation, an integrating one is entered into it t5 link, the input of which is connected to the output of the second adder, and the output - to the input of the first adder. .g. f Xi 2 Compiled by P. Kudr vtsev Editor N. Rogulich Tehred O. Gortvay Corrector M, Maksimishinets ---- - "---------- ------- - ---- --------- .----------- -------. -----. - ..-. “-.-,.,, -. Order 3395 / A8 Circulation 836 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4