SU1432455A1 - Multifunction regulator - Google Patents

Abstract

The invention relates to automation and can be used in the creation of systems for regulating thermal power and electric power facilities and processes, as well as in controlling the drives of machine tools and mechanisms. The purpose of the invention is to improve the quality of regulatory processes and expand the scope of use. The regulator contains the first amplifier 1, differentiation unit 2, first rectifier 3, second rectifier 4, first 5, second 6, third 7 and fourth 8 adders, voltage divider 9, variable gain amplifier 10, nonlinear unit 11 of type natspit, second amplifier, 12, inertial link 13, actuator 14. The goal is achieved by introducing into the channel control structure a functional transformation of two coordinates consisting of two adders 7 and 8, two rectifiers 3 and 4, voltage divider 9, neli eynogo type saturation unit 11 and the amplifier 10 with a variable gain coefficient. As a result, it is possible to vary the gain of the regulator depending on the mode. 1 il. t i /)

Description

  Z

00

tc

(

ate

1143

The invention relates to automation and can be used in the creation of control systems by heat-and-power and electric power facilities and processes, as well as in the control of the drives of machines and mechanisms.

The purpose of the invention is to improve the quality of control processes and expand the field of use.

In the drawing there is a block diagram of the regulator.

Regulator contains first effort

The input signal X is fed to the inputs of the amplifier 1., the block 2 of the differentiation and the adder 7. At the WTO input of the adder 7 receives a signal

body 1, differentiation unit 2, trans-} 5 X. Output signals of amplifier 1

3 and 2 second rectifiers, the first 5, the second 6, the third 7 and the fourth 8 adders, the voltage divider 9, the amplifier 10 with variable gain, the nonlinear unit 11 of type 2020, the second amplifier 12, the inertial link 13, actuator 14.

The transfer functions of the regulator blocks have the form of the first amplifier 1 W (P) -K, where K, is the gain of amplifier J of differentiation unit 2 W (P), where Kj is the gain of the differentiator; amplifier 10 with variable gain W, o (P) KjCX), where K.CX) is the adjustable gain factor, the second amplifier 12 W, (P) 7 D K, is the gain factor, inertia

25

thirty

whom level 13 W ,, (P)

6 th

 De 35

the gain and constant time of this link; 14 W .. (P)

where Tu is the time constant of the integra: rovani.

. Denote the output signals of the first amplifier 1 X block 2 differential. Cycling 2 X, the first adder 5 Xj, the third adder 7 X the first rectifier 3 X, the divider 9 voltage Xtt, the fourth adder 8 X ,.

40

45

 6 second

th element

rectifier 4 X ,, nonlinear saturation

1t type

and I (iniiei paioitspsh: With variable coefficient

booster

volume gain X ,, inertial link

13 X ,,, the second adder 6 K ,.

Then the equations of the regulator signals are

X, + X + | Hb1

L4

 IX, - X,

MO

Ho 1x, | ix. - X,

7

55

X

and

y

And l ,,,

and the differentiation unit 2 is placed on the adder 5, and from the adder 7. to the input of the rectifier 3. From the output to the receiver 3, the signal goes to the ne input of the adder 8, to the second input of the signal from the output of the switch 9. From the output of the adder 8, the signal goes to the input of the rectifier From the output of the rectifier 4 the signal goes to the input of a nonlinear unit 11 of a type, the tip, from the output of which is to the second input of the amplifier 10 with a variable gain factor, the input of which receives a signal from the adder 5. The output of the amplifier 1 is connected by a variable gain to the input of the adder 6, the output of which is connected to the input of the amplifier 12 covered in Operative link 13 according to the law of negative feedback. The output of the amplifier 12 is connected to the input of the actuator

At the initial connection of the regulator to the volume of the amplifier 10, the variable gain factor reduces the small coefficient of laziness, which contributes to the smooth control of the control object along the limit area and gradually transitioning it to the stabilization mode. As input inputs from X and Xj decrease, the gain of amplifier 10 increases, and in the stabilization period, with certain levels, using a non-linear saturation block, it is optimal for this mode of stabilization.

As is well known, amplifiers with an adjustable gain increase it in direct proportion to the input signal, while at the same time the practice of automatic control systems indicates that for PL

K ,, X ,, X.

K „X,„ with X. „X

 °

what

where is x

0

one

a value defining the transition to stabilization mode is permissible.

The regulator operates in the following manner.

The input signal X is fed to the inputs of the amplifier 1., block 2 differentiation and the adder 7. The second input of the adder 7 receives the signal

X. Output signals amplifier 1

5 X. Output signals amplifier 1

0

five

0

five

0

five

five

and the differentiation unit 2 goes to the adder 5, and from the adder 7 - to the input of the rectifier 3. From the output of the rectifier 3, the signal arrives at the first input of the adder 8, to the second input of which a signal comes from the output of the divider 9. From the output of the adder 8 the signal is fed to the input of the rectifier 4. From the output of the rectifier 4, the signal is fed to the input of a nonlinear block 11 of the type, the tip of which is output to the second input of the amplifier 10 with a variable gain, the first input of which receives a signal from the adder 5. The output of the amplifier is 10 s variable coefficient Amplifier amplifier is connected to the input of the adder 6, the output of which is connected to the input of the amplifier 12 covered by the inertial link 13 according to the law of negative feedback. The output of the amplifier 12 is connected to the input of the actuator 14.

When the regulator is initially connected to the volume of the amplifier 10 with a variable gain, a small gain is established, which contributes to the smooth acceleration of the control object along the boundary of the region of limitation and its gradual transition to the stabilization mode. As the input signals X, and Xj decrease, the gain of amplifier 10 increases, and in stabilization mode with certain errors using the nonlinear block 11 of the nastia type, it becomes optimal for this stabilization mode.

As is well known, amplifiers with controlled gain increase it directly in proportion to the input signal, while the practice of automatic control systems indicates that for smooth 31

for its acceleration it is necessary to change the gain factor from smaller to larger. Since the control error during acceleration along the coordinates X and X, varies from maximum to minimum, then using elements 3, 4, 9, and 11, the dependence on the control error is inversely proportional. The initial gain of the controllable amplifier 10 can be set sufficiently high, 40-80 times less than the gain in the stabilization mode, and later on the controller will automatically select the necessary coefficient to cover the allowable area of the limits m.

It is known that the transfer function of the PID controller is

1 + T (P

one

+ t; -р), (1). and

gain factor; Laplace operator; constant integration time,

constant differentiation time. transfer function

TiR +

T "P

laliP.

(2)

The transfer function of the controller, taking into account the transfer functions of the blocks, is equal to

W fP) - WpW - x (pj

K5 (X ,, j) j,

1 +

() J

K ,, J

From the comparison it follows that

) Cr (X); T,

expressions (2) and (4)

 .

to,

TJ-i

Kili.

to,

(four)

(5) should be calculated T

 k, t, 5)

to.

K. Ta

Thus, the change in Kj (X) does not change the value of the other parameters of the controller.

By introducing into the channel regulator structure a functional two-coordinate transformation of two adders, two rectifiers, a voltage divider, a nonlinear block such as saturation, and an amplifier with a variable gain, it is possible to change the gain of the regulator, which allows tori three optimal modes: acceleration, braking and stabilization, improve the quality of control processes, reduce the amount of equipment, increase functional flexibility and expand the scope of use.

Claims (1)

20 claims . ; 25 thirty with 35 40 45 50 T 55 A multifunction controller containing the first amplifier, the differentiation unit connected in series and the first adder, the second adder connected in series, the second amplifier and the inertial link, the first input of the multifunctional regulator are connected to the input of the first amplifier and the input of the Differentiation unit, the output of the first amplifier is connected to the second input of the first the adder, the output of the second amplifier is connected through an actuator with the output of the multifunctional regulator, the output of the inertial link Connected to the second input of the second adder, characterized in that, in order to improve the quality of the regulation processes and expand the field of use, a voltage divider and successively connected third adder, first rectifier, fourth adder, second rectifier, nonlinear block are introduced into it type saturation and variable gain amplifier, the second input of the multifunctional controller connected to the first input of the third adder, the second input of which is connected to the input of the differential block Hovhan, the output voltage divider is connected to the second input of the fourth adder, the first adder output is coupled to the second input of the amplifier peremenni gain amplifier whose output is connected to the input of the second amount of the torus.