SU1295365A1 - Control system for objects with delay - Google Patents

Abstract

The control system of the object with a delay at the entrance and in the states is in the field of automatic control and regulation. The purpose of the invention is to improve the accuracy of regulation. The control system contains the control object I, the executive unit 2, the sensor 3, the second 4, the third 15 and the first 19 adders, the fifth 5, the third 7, the second 9, the fourth 13, the first 16 delay blocks, the second 6 and the first 18 of the direct model channel without

Description

: delays, third 8, fourth 12, second 17 and first 22 subtraction units, second 10 and first 14 models of recycling without delay, second II and first 20 extrapolators, regulating unit 21 and setting unit 23. In the control system using object models estimated and extra 1295365

reduced disturbance is polished, and the negative effect of recycling is eliminated. The characteristic equation of the system does not contain delays, which makes it possible to increase the coefficients of the regulating unit and improve the accuracy of the adjustment. 1 silt

one

The invention relates to automatic control and regulation and can be used for automatic control of recycled objects containing delays at the inlet, as well as in the forward and reverse recirculation parts and subject to the influence of uncontrolled disturbances and controlled 1f disturbances at a given input.

The dynamics of the object along the control channel is described by the transfer function.

eiElei:

cf (P) -TiTp- ys -Tif t ye-- .-. РР

(one)

where c (p) is the transfer function of the forward channel of the recirculation part of the object without delay; Cf (p) - transfer function in

positive feedback (reverse channel) circuits without delay;

 C i ogi o p is the lag time, respectively, at the input of the object, in the forward and reverse channels of the recirculation part of the object. The parameters of model (1) are practically unchanged in time, and uncontrolled disturbances have nonstationary statistical properties. The purpose of the regulation is to ensure the invariance of the output coordinate of the object from the controlled N & 1X and uncontrolled perturbations. An example of these objects is the drum granulators of the charge preparation departments of metallurgical enterprises.

The purpose of the invention is to improve the accuracy of regulation.

The drawing shows a block diagram of the control system (where U (t) is the regulating influence at the t-th moment of time; y (t) is the output of the control object; (O (t) is an uncontrolled disturbance).

 The control system of the object with a delay at the input and in the states contains the object 1 control, the executive unit 2, the sensor 3, the second adder 4, the fifth block 5 delay, the second model 6 forward channel without delay, the third block 7 delay, the third block 8 subtractors, second delay unit 9, second non-delayed recycling model 10, second extrapolator 11, fourth subtraction unit 12, fourth delay unit 13, first late recycling model 14, third adder 15, first delay block 16, second block 17 subtraction, first model 18 pr th channel without lag, the first adder 19, first extrapolation torus 20 -regulates unit 21, the first block 22 vychita-- audio, dial 23.

Models 6, 10, 14, and 18 of the forward channel and non-delay recycle are presented, for example, as a series connection of inertial links. The control unit 21, in particular, with the proportional-integral control law, is implemented as a parallel connection of the integrator and the scaling unit. Extrapolators 1I and 20 are represented by real forcing links. As an executive

Unit 2 can be, for example, a continuous weighing dispenser, and as a sensor 3, a continuous weighing instrument.

The proposed system works as follows.

The control action produced by the control unit 21 in the loop closed through the first model 18 of the forward channel without delay is extrapolated by the first extrapolator 20 for the time (C - The control effect is excluded from the extrapolated control; 12 in the subtraction unit 12, the recycling effect forecast. This prediction consists from the recycle converted in the first model 14 without delay of the extrapolated estimate of the uncontrolled perturbation co (t) obtained at the output of the second extrapolar And, and the effect of regulating air Action from the output of the second model of the 6th direct channel without taking into account the delay. The extrapolation error of the regulating action is recalculated into the first model of the 18th forward channel without delaying in increments of the output variable of the object and algebraically summed with it in the first adder 19.

In order to implement the described algorithm of operation of the system, the output y (t) of the control object 1 is measured by the sensor 3 and the received signal is summed in the first adder 19 with the output signal of the first straight channel model 18 without delay. The output signal of the first adder 19 about the natural-model input is subtracted in the first subtraction unit 22 from the signal of the setting device 23 about the specified output value and is fed to the input of the regulating unit 21, for example, with the proportional-integral control law. The output of the regulating unit 21 is extrapolated for a lag time at the input C of the object and in the forward channel about the recirculation part, i.e. C oh-Gy, and goes to the input of the fourth subtraction unit 12 and to the input of the first delay unit 16. The delayed time (C + Cd) in the first block 16 of the delay is subtracted in the second block 17 subtraction from the output signal of the controller 21, and in

As a result, a signal is generated on the error of the extrapolation of the regulating action, which is converted by the first model 18 of the forward channel without delay to the output correction signal y (t).

To evaluate the uncontrolled disturbance O (t), the signal with the regulating action U (t) is transformed by the complete model of the control object 1 containing the second adder 4, the fifth delay unit 5,

a second model of the 6th forward channel without delay, a second model of 10 recycling without delay, a second delay unit 9 and a third delay unit 7. In the third block 7 delay

the delay T is simulated at the input of the object, in the fourth block 5 the delay is t, and in the second block 9 the delay is o ,. The output signal of the third block 7 delay about

the evaluation of y (t) without the effect of G3 (t) is subtracted in the third subtraction unit 8 from the signal of the sensor 3 o y (t), thus a signal is obtained on the evaluation of co (t). This signal is extrap

is lumped by time with the second extrapolator 11 and summed up in the third adder 15 with the output of the second model of the 6th forward channel without lagging about the predicted

on the effect of the regulatory action U (t). Thus, at the output of the third adder 15, a signal is obtained .yCt + c) about the time predicted value

output y (t) of the object 1 regulation. The signal yCt + C n) is converted in the first model of 14 recycling without delay, delayed by time in the fourth block 13 for

and subtracted in the fourth block: subtracting 12 from the output signal-1 of the first extrapolator. This eliminates the negative effect of recycling the object. Output signal

the fourth subtraction unit 12 is supplied to the executing unit 2, which is used to change the substance or energy entering the control object 1.

To analyze the control system of the object with a delay at the input and in the states, first write the operator expression of the output signal of the third adder 15

U (p) EPR) U (P)

)

1 -qj (p) e-P °. Cf (p)

gd fj2 P is the transfer function V (p) (p).

(3)

second extrapol toor. Then, subject to the adequacy

Under the condition ea (p1-6, .model. Object, we obtain the operator

get the expression to exit the object

 , (p) {Hf (p) l-f ,, (p) e-P (y (p) .. JJ.

l + Cp (p) f (p) ×, (p) f ,, (p) -f (p)

...., „..,. y (p)

/ h

y (p)

1 + H o (R (R

where f (p), fg, (p) are the transfer functions of the respective regulating unit and the first extrapolator;

master input

system.

From (4) it can be seen that the characteristic equation of the system with respect to the master input and the input of the uncontrolled perturbation

 + (o (p) (p) 0 does not contain a delay, and therefore

It is possible to increase the gain of the regulating unit 2, which improves the control accuracy. If we accept fg 1, then the days of a static object transients end when a stepwise disturbance is applied at the master input for time (s + s), and at the input of the uncontrollable disturbance None - for 2 (o + 0o), i.e. -transition processes end in minimum time and the system is optimal in the sense of minimizing the transient time. Formula of invention

The control system for objects with delay, containing a sensor, the first model of the forward channel without delay, the first model of recycling without delay, sequentially connected executive unit, the object of regulation, sensor, first adder, first subtraction unit, control unit, first extrapol torus, the first delay unit and the second subtraction unit, the second recycling model connected in series

po

7) (p), (2)

(3)

(four)

0

five

0

c 5

0

five

without delay, the second delay unit and the second adder, successively included the third delay unit and the third subtraction unit, the output of the setter is connected to the second input of the first subtraction unit, the output of the regulating unit to the second input of the second subtraction unit, the output of the first direct model channel without delay - to the second input of the first adder, is distinguished by a - so that, in order to improve the accuracy of regulation, the second extrapolator, the fourth subtraction unit, the fourth delay unit, in series the delay unit, the second model of the forward channel, without delay, and the third adder, the output of which is connected through the first recycle model without delay and the fourth delay unit is connected to the first input of the fourth subtraction unit, the sensor output through the serially connected third subtraction unit and the second extrapolar the torus is connected to the second input of the third adder, the output of the second model of the forward channel is connected without delay to the input of the third delay unit and to the input of the second model of recycling without delay , The output of the second subtraction unit is connected to the input of the first model of the forward channel without delay, the output of the first extrapolator is subtracted through the fourth block; 1and it is connected to the second input of the adder and the input of the execution unit, the output of the second adder is connected to the input of the fifth delay unit.

Claims (1)

Claim A regulation system for objects with delay, containing a “*” sensor, the first direct channel model without delay, the first recycle model without delay, the executive unit connected in series, the regulation object, the sensor, the first adder, the first subtraction unit, the control unit, the first extrapolator, the first delay unit and the second subtraction unit, the second recycle model connected in series to the input of the third block zai to the input of the second retard model, the output of the second subtraction is connected. with the input of the direct channel model without