SU1265694A1 - Automatic control system - Google Patents

Abstract

The invention relates to electrical: regulation systems and can be used to adjust the physical parameters of various objects. The aim of the invention is to improve the accuracy of the adjustment. The automatic control system contains an offset controller, two dividing units, three multiplication units, two relay elements, two adders, a signal level limiting unit, an actuator, an adjustment object, an error sensor, a functional converter and a delay element. These nodes, connected in accordance with the task, achieve the goal using the effect of nonlinear formation, which consists in the fact that the degree of forcing depends both on the rate of change of the controlled coordinate and on the magnitude of its deviation from the given value (L value, and polarity). the control signal is determined only by the error signal. This allows filtering by increasing the delay interval, not introducing additional phase distortion when generating the control signal N9 2 ill. With the joint venture about with 42)

Description

The invention relates to electrical control systems and can be used to control the physical parameters of various objects.

The purpose of the invention is to increase the accuracy of the adjustment.

FIG. 1 is a block diagram of the automatic control system; Fig. 2 shows the static characteristic of the signal level limiting unit.

The system contains a 1. displacement setting unit, the first 2 and second 3 division blocks, the first 4 and second 5 multiplication blocks, the first 6 and second 7 relay elements, the first 8 and second 9 adders, the 10 signal level limiting unit, the third execution multiplier 11 the organ 12, the control object 13, the error sensor 14, the functional converter 15, the delay element 16.

The system works as follows.

The deviation signal of the measured value of the adjustable coordinate X from the set value Xj, generated by the error sensor 14 according to the expression -X, through the third multiplication unit 11, where it is multiplied with the gain gain factor, which is formed at the output of the signal level limiting unit 10, goes to the actuator 12 , providing a change in the adjustable coordinates of the object 13 adjustment in the direction of reducing the mismatch.

The variable gain factor circuit operates as follows.

. The error signal and X from the error sensor 14 is fed to the inputs of relay elements 6 and 7, having, static characteristics of the form

lH bo, yH 0

for relay element 6;

lH 0, X 0

for the relay element 7. The error signal X is also fed with a minus sign to the first input of the adder 8, where it is summed with a constant value X formed by the displacement setpoint device 1 connected to the second input of the first adder 8. The offset value is selected from

, + S,

6 - the permissible value of the transfer control in the system. Thus, at the output of the first adder 8, a signal is generated

y (t).

which enters the input of the dividend first block 2, the division and the input of the divider of the second block 3 division, as well as through the delay element 16 to the input of the divider of the first division block 2 and the input of the dividend second block 3 division. As a result, at the output of the first block 2 division, the ratio

, y (tL ..

1 y (t-r)

and at the output of the second division unit 3 a relation is formed

g

y (ty

de y (t) is the signal from the first code

adder 8 at the current time;

y (t-i) is the signal from the output of the first adder 8, passed through the delay element 16, i.e. the signal is shifted in time by an amount T determined by the setting of the delay element 16.

G signals and

g

characterize the pace

changes in the value of Y, and consequently, and the magnitude of the mismatch lx.

After multiplying the signal r by the signal Ud from the output of the first relay element 6 in the first block 4, cleverly:: and multiplying the signal by the signal U from the output of the second relay element 7 in the second block 5 multiplying, the signals are added to the first and second inputs of block 9

Ub

f, n

from the first block of multiplication 6,

from the second multiplier 7, and at the output of the second adder 9 a signal is generated

 which is fed to the input of the functional Converter 15 that implements the function

where K is a constant coefficient.

After limiting in block 10, the signal level limitation, the static characteristic of which is shown in FIG. 2, the signal Z is fed to the second input of the third multiplication unit 11, where it is multiplied with the error signal X.

At the output of the multiplication unit 11, a control signal is generated.

.Z,

where Z is the variable gain factor of the controller, which is a non-linear function of the rate of change of the adjustable coordinate.

Taking pictures of the features of the operation of the variable gain factor Z circuit.

Dp forming a variable factor Z, forcing a given sign both at a positive signal X from the error sensor 14 and at a negative signal lH, the signal R at the input of the functional converter 15 is formed so that at positive dX

R ..- y (tn

and with negative l X

y (t-l).

y (ty

2

This is ensured by multiplying the signal r from the output of the first dividing unit 2 and the signal U of the first relay element 6 on the first block 4 multiplying, multiplying the signal r from the output of the second block 3. And the signal Y, the second relay element 7 on the second multiplying unit 5, then summing up these signals in the second adder. Thus, taking into account the static characteristics of the relay elements 6 and 7, we obtain at lX O

- Oh, at d x o

  one,

those. with L, the relation is used

g. . 1 ylt-t)

and dx-; 0 uses the ratio r.

2 y (t)

The signal from the displacement setpoint 1 eliminates the appearance of zeros at the input of the first 2 and second

The 3 division units, as well as along with the degree K implemented by the functional converter 15, the maximum limit value U of the signal level limiting unit 10 (Fig. 2), is a tuning parameter of the control system.

The effect of non-linear force is that the degree of force depends both on the rate of change of the controlled coordinate and on the magnitude of the deviation of the adjustable coordinate from the desired value, and the polarity of the control signal is determined only by the error signal. This allows filtering by increasing the delay interval, not introducing additional phase distortion when generating the control signal.

Invention Formula

Automatic control system containing the first relay

element, two multiplication units, functional converter, first adder and sequentially connected actuator, control object and error sensor, characterized in that, in order to improve accuracy, two division blocks are introduced into the system, delay element, displacement setter, second relay element , the second adder, the signal level limiting unit and the third multiplication unit, the output of the first adder connected to the first inputs of the first and second

Claims (1)

The claims a with a negative Δ X This is achieved by multiplying the signal r ₇ from the output of the first division block 2 and the signal of the first relay element 6 on the first multiplication block 4, multiplying the signal r ₂ from the output of the second division block 3 and the signal U _{7 of the} second relay element 7 on the second multiplication block 5, followed by summing these signals in the second adder. Thus, taking into account the data, an automatic control system containing the first relay element 45, two multiplication units, a functional converter, a first adder and a serially connected executive body, an object of regulation and a mismatch sensor, characterized in that, in order to increase accuracy, into the system two division blocks, a delay element, a bias adjuster, a second relay element, a second sum55 mater, a signal level limiting block, and a third multiplication block are introduced, the output of the first sum The ora is connected to the first inputs of the first and second division blocks and the input of the delay element, the output of which is connected to the second inputs of the first and second division blocks, the output of the first division block is connected to the first input of the first multiplication block, the second input of which is connected to the output of the first relay element , the output of the second division unit is connected to the first input of the second multiplication unit, the second input of which is connected to the output of the second relay element, the outputs of the first and second multiplication units are connected respectively to the first and the second inputs of the second adder connected by the output to the input of the functional Converter, the output of the functional Converter through the block level limit 5 signal is connected to the first input of the third multiplication unit, connected by the output to the input of the executive body, the output of the mismatch sensor is connected to the inputs of the first relay element 10, the second relay element, the first adder and the second input of the third multiplication block, the output of the bias regulator is connected to the second input of the first sum 15 torus. ,