SU1298711A1 - Control system - Google Patents

Abstract

The invention relates to coordinate and parametric feedback control systems. The purpose of the invention is to increase the accuracy of the system. The control system of the NIN contains the control object 1, the first 2 and second 3 actuators, the sensor 4, the first block 5 of the delay, the second regulator 6, the second filter 7 of the low frequency, the second block 8 of the comparison, the model 9 of the object without delay, the first 10 and the second 11 adders, the fifth comparator unit 12, the first controller 16, the first low frequency filter 17, the first comparator unit 18, the first unit 19, the second delay unit 20, the scaling unit 21, the third comparator unit 22, a constant source 23. 1 il. 3 with cl

Description

1 12

The invention relates to automatic control and regulation, and can be used to build control systems for objects characterized by the presence of delays in the coordinate control channels; coordinate and parametric uncontrolled disturbances, the latter of which change much slower than the first; regulatory influences on the coordinates and parameters of the control object.

It is assumed that the disturbed motion of the object is described by the model

) + x (t) k. U (t- t;) + (t); y (t) k, (t) x (t); k, (t) (t) + f (t),

where x (t) is valid output1.1e

object variables at the time of continuous time;

y (t) - measured output variables of the object}

UnCt),

U (t) - coordinate and parametric regulating effects;

K (t).

1 (t) - coordinate and parametric

unchecked indignations;

T to K - time constants; k and ko are the transmission coefficients of the control channels of the coordinates and parameters of the control object i

The purpose of the invention is to improve the accuracy of the system,

The drawing shows a block diagram of the control system.

The control system with coordinate and parametric connections contains the first control object 1 and the second 3 actuators, sensor 4, the first block 5 of the delay, the second regulator 6, the second

low-pass filter 7, second block

3 comparisons, model 9 of the object without delay, the first 10 and the second 11. adders, fifth comparison unit 12, second setting unit 13, extrapolator 14, fourth comparison unit 15, first controller 16, first low frequency filter 17, first comparison unit 18, first setting unit 19, second delay unit 20, scaling unit,

12

the third comparison unit 22, a constant source 2.

In addition, the first and, (coordinate) and second Uj (parametric) regulating actions and y - output adjustable coordinate are also indicated.

The first 16 and second 6 controllers operate in accordance with, for example, the proportional-integral law of regulation, Extrapolator 14 can be represented as a real boosting link, and the object model 9 as an inertial link. Sensor 4 can be, for example, a strain gauge transducer, and actuators 2 and 3 can be ac motors.

The control system with coordinate and parametric feedback works as follows.

The signal on the output coordinate y (t) of the control object 1 measured by the sensor 4 in the first adder 10 is summed algebraically with the output signal of the object model 9 without delay, and the result is a signal y (t) on the output coordinate of the model control contour. The signal (t) is subtracted in the first comparison unit 18 from the signal of the first setter 19 about the set value of the output coordinate of the control object 1. In the first low-frequency filter 17, the high-frequency disturbance of the output signal of the first comparison block 18 is suppressed, which hinders the accuracy of its further conversion From the first (low-frequency filter 17, the signal goes to the first regulator 16, for example, with a proportional-integral control law, in which a signal about the regulating effect U is generated, (t-6) of the model circuit, an object that is important for adjusting model 9 without lag.

U, (t-) in the second comparison block 8 subtracts the time delayed signal U (t) from the output of the second adder 11, the signal of the difference obtained is fed to the input of the object model 9 without delay)

The signal U (fc- t) contains effects of coordinate and parametric uncontrolled disturbances and changes in the task to the output coordinate of the object. To exclude from U, (t- t)

effects of changes in the task from the output of the first setter 19 in the third comparison unit 22 subtracts a constant signal, in particular, about the average value of the task. The signal of the received changes is recalculated in the scaling unit 21 to changes in the first control action, delayed by the time from / to the second delay unit 20 and subtracted from the signal U (t-c) in the fourth comparison unit 15. In order to take into account changes in the output coordinate when generating the first regulating action, the high signal of the scaling unit 21 is summed algebraically in the second adder with the signal (t-tr) extrapolated with the help of the extrapolator 14 and fed to the first executive mechanism 2.

To extract the effects of parametric uncontrollable disturbances from the signal u (t-r), it is filtered using a second low-pass filter 7. However, in advance from the signal u (t- o), in the fifth comparison unit 12 its reference value is subtracted, the signal of which comes from the output of the second setter 13. The reference value of the signal U (tt) is determined when the system is started, as the average value U ( tC) at a predetermined interval at the known coefficients of the 4x model of the object 1 of the regulation, which are installed in the model 9 of the object without delay. The output signal of the second low-pass filter 7 is fed to the second controller 6, the regulating action of which is aimed at stabilizing the parameters of the object I being regulated. The output signal of the second controller 6 is fed to the second executive

mechanism 3, which changes in the desired direction the parameters of the object, in particular, as in the example with non-Editor H, Bobkova

Circulation A, Laschev

Tehred I.Popovich Proofreader O.Lugov

Order 886/49. Circulation 864 Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

Production and printing company, Uzhgorod, st. Design,

12987114

A discontinuous metering device changes the tension of the conveyor belt.

The introduction of new blocks and connections allows to increase the control accuracy of the output coordinate by stabilizing the parameters of the control object.

Claims (1)

Invention Formula 0 A control system containing the first setting device, the first delay unit, the first actuator connected in series, the control object, the sensor, the first sum — 5 torr, the first comparison block, the first (low-pass filter, the first torus, the second comparison block and the object model without lag, the output of which is connected to the second input of the first adder, the output of the first setter is connected to the second input of the first comparison unit, the input of the first actuator is connected through the first delay unit to the second input of the second a comparing unit .otlichayuscha in that in order to increase the accuracy of the system, it introduced a second adder, the second sensor za- sequentially included  source of constant signal, third comparing unit, scaling unit, second delay unit, fourth comparing unit, fifth comparing unit, second low frequency filter, second regulator and second executive mechanism, the output of which is connected to. the second input of the control object, the output of the first controller is connected via series-connected 40, the fourth block, the comparison, the extrapolator and the second adder with the input of the first actuator, the output of the scaling unit is connected to the second input of the second adder, the output 45 the first control device is connected to the second input of the third comparison unit, the output of the second control device is connected to the second input of the fifth block c) equalizing.