SU1529176A1 - Control system self-adjustable by input signal - Google Patents

Abstract

The invention relates to self-adjusting on the input signal automatic control systems and can be used when the form and parameters of the input action vary over a wide range. The purpose of the invention is to improve the accuracy of the system under conditions of uncertainty in the structure of the useful input effect. The self-adjusting on the input signal control system contains a series-connected adder 1, controller 2, a control object 3, the output of which is connected to the second input of the adder 1, the output of which is through a series-connected band-pass filter 4, quadrant 5, multiplication unit 6, amplifier 7, block extracting square root 8, multiplication unit 9, adder 10, controller 11, control object model 12, quad 16, amplifier 14 is connected to the first input of adder 15. New is the introduction of bandpass filter 4, quad 16, function nogo transducer 18, multiplying unit 9, the amplifier 14, the square root extracting unit 8, a white noise generator 19, an adder 15, a controller 11, a control object model 12 and its associated data elements of the new bonds. 4 il.

Description

one

(2O 4316660 / 24-24

(22) 07/03/87

(46) 12/15/89. Bul No. 46

(72) I.A.V.Arkhangelsky, Yu.I.Mishchenko,

R.I. Prokofieva and S.V. Topilsky

(53) 62-50 (088.8)

(56) USSR Author's Certificate 439788, cl. G 05 B 13/02, 1974.

(54) SA-JUSTIFIED BY INPUT SIGNAL CONTROL SYSTEM

(57) The invention relates to self-adjusting on the input signal automatic control systems and can be used when the type and parameters of the input action change over a wide range. The purpose of the invention is to improve the accuracy of the system under conditions of uncertainty in the structure of the useful input effect. The self-adjusting on the input signal control system contains a series-connected adder J, controller 2, a control object 3, the output of which is connected to the second input of the adder 1, the output of which is through a series-connected band-pass filter 4, quadrant 5, multiplication unit 6, amplifier 7, unit extracting square root 8, multiplication unit 9, adder 10, controller 11, control object model 12, quad 16 and amplifier 14 are connected to the first input of adder 15. New is the introduction of band-pass filter 4, quad 16, a function tional transducer 18, multiplying unit 9, the amplifier 14, the square root extracting unit 8, a white noise generator 19, an adder 15, a controller 11, a control object model 12, and the data elements obuslovlennk new bonds. 4 pe.

(/;

with

00

sj

O5

/ "/

The invention relates to automatic control systems (ACS) that are self-adjusting on the input CHfHany and can be used in cases when the form and parameters of the input action change over a wide range.

The aim of the invention is to increase the accuracy of the system. conditions of uncertainty on the structure of the beneficial effect.

FIG. J is a structural diagram of a control system that is self-tuning on the input signal; Fig.2 graphs of the amplitude-frequency characteristics of the bandpass filter 1 W .. f (CO) I and the system error

I PF

: wpfco) r

and spectral densities

desired signal S and interference in FIG. 3 is a block diagram of a functional converter; figure 4 - graphs of the average square of the output coordinates of the prototype H and the proposed system And from time

The self-adjusting input control system of FIG. 1) contains adder 1, whose input is provided with a useful impact x. And interference from section Vcod of adder 1 is connected via serially connected controller 2 and control object 3 to the second input of adder 1, and . Through a serially connected bandpass filter 4, quad 5, multiplication unit 6, amplifier 7, square root extraction unit 8, multiplication unit 9, adder 10, controller 11, control object model 12, quadrant 13 and amplifier 14 with the first input adder 15 and through quad Rattor 16 with the second input of the adder 15, the output of which is connected to the second inputs of the controllers 2 and 11 through the adjusting unit 17 and the functional input 18 to the second input of the multiplication unit 6 The white noise generator 19 is connected to the second input of the multiplication unit 9, and the output of the model 12 control object - with the second input of the adder 10.

FIG. 3 marked: 18.1 - amplifier; 18.2 - reference voltage source; 18.3 - adder; 18.4 - squared rectifier); 18.5 - the amplifier.

Denote the transfer functions of the controller 2 and the object 3 of the control Kp and Wj, respectively. Then the transfer function by mistake

W (P)

1 + KpWo (P)

(I)

Analysis of expression (1) shows that with various transfer functions of the control object, the transfer function of the system by mistake has many times more bandwidth than the transfer function of the system in the output coordinate of the control object.

We select the transfer function of the band-pass filter

15

Wn.p (P)

Tj, p.

1 + 2 | „T„ Р

The bandpass filter is designed to isolate the noise component of the input signal. The tuning frequency of the band-pass filter (Fig. |) Is chosen to be much larger than the maximum frequency of the useful input action, therefore, only the disturbance is concentrated in the passband of the bandwidth filter.

Dispersion of the signal at the output of the bandwidth with regard to the transfer function of the system in error (J) is

H

(t) - -2 I Snlw (j «) |

-O | Wn, y (JW) | doO. - (3)

The parameters T ,,, of the bandpass filter are chosen such that the amplitude-frequency characteristic of the system by error Wc (j03) in the passband

The bandpass filter Wp (jQ) changed insignificantly (Fig. 2). In this case, the emission (3) can be written in vvde

, lWg (j (Oj

(BUT)

- the square of the amplitude-frequency characteristic of the system by mistake when OE "- ;;; -.

Expression (4) in view of (2) has

vvd

55 51, (t). -§-4W | iicP ll.,

p-p

(five)

From the expression (5) follows the estimate of the spectral density of interference

1 () .aS.-pij-ij i --.-. (6)

where W .. (JCO) is the transfer function of a shaping filter consisting of blocks 10-12:

  JjSy From expression (6) it follows that to form an estimate of the spectral density of the interference, it is necessary to estimate the variance from the output of the quad 5, by a variable factor

)

to

fp

  1T „

Iwc

. ,) The coefficient (7) is formed by the rational converter 18 according to FIG. 1, the dispersion of the signal ki at the output of the adder 1 has

G 1

2

tM

 & p (O + G (t)

-of- I (jco)

-ta oo

+ S, W (jQ) rdcO,

(AT)

- - 2

where O (t), SU (t) - signal dispersion

errors caused by interference and useful signals, respectively.

Since the spectral density of the noise is white noise and does not depend on frequency, the dispersion of the noise component of the signal O, (t) (8) is determined by the method of a shaping filter with transfer functions

  GGK (RG

to the input of which an estimate of the interference signal from the white noise generator 19 (Fig. 2) with a spectral density Srg.

The criterion of the self-tuning circuit is the expression

c; J (t) - & J (t) 0.

To obtain at the output of the adder 15 a signal corresponding to the Wiener-KolMogorov method, it is necessary, according to the expression C8), from the estimate of the error variance of the error signal CT (t), to exceed twice the interfering component

D

(31M. C1M - 2G (t) Cr, (t)).

529176

Doubling the interference component is measured in the gain value of amplifier 14:

To generate a signal estimate

interference with the required spectral density

The importance of S is used by the relation n, -nn (t)

gays

(t), (11)

where m is the scale factor;

S is the level of the spectral density of the signal at the output of the white noise generator.

25

15

20

Provided that the scales of the electronic components of the self adjusting system and the white noise generator coincide, m 1.

li in this case, the expression (11) takes the form

n (t) K7-Pgen (O, (12)

where K is an amplifier 7 with a coefficient

one

gain

gays

35

The proposed control system does not require a change in its structure depending on a change in the structure 30 of the useful input action.

The control system operates as follows.

The useful signal and noise is fed to the input of adder 1, from the input of which the signal goes to the first input of regulator 2. From the output of the last, the control object 3 is fed to the second input of adder I.

dd Error signal from the output of adder 1 through a band-pass filter 4, quad 5, multiplication unit 6, amplifier 7, square root extraction unit 8, multiplication unit 9, adder 10, control circuit II, control object model 12, quad 13 and amplifier 14 is fed to the first input of the adder I5 and through the quad 16 to the second input of the adder 15, from the output of which the signal mismatch signal through the adjusting block 17 goes to the second outputs of the regulators 2 and 11, as well as through the functional} th converter 18 to the second input of the block 6 multiply. From the output of the white-white generator 19, a random signal is fed to the second input of the multiplier 9. The signal from the output of the model 12 of the control object is fed to the second input of the adder 10.

55

F o rmula of the invention

A self-adjusting input control system containing two quadrants, a first adder connected in series, the first input of which is the system input, the first controller, the control object, the output of the control object connected to the second input of the first adder, the output of which is connected through the first Quadrator to the first the input of the second adder, the output of which is connected to the second input of the first regulator through the adjustment block, the output of the second quadr is connected to the second input of the second quadrant via the first amplifier torus, characterized in that, in order to improve the accuracy of the system, it contains a band-pass filter, a third quad, two multiplication blocks, a functional preag AV o.f o.t

generator, second amplifier, square root extraction unit, white noise torus generator, third adder, second regulator, control object model, the output of the first adder through a series-connected band-pass filter, the third quad, the first multiplication unit, the second

the amplifier, the square root extraction unit, the second multiplication unit, the third adder, the second controller and the control object model are connected to the input of the second quad, the code of the trimming unit is connected to the second sico- dom of the second controller and through the functional converter to the second input of the first multiplication unit, The white noise generator is connected to

the second input of the second multiplication unit, and the output of the model of the control object — with the second input of the third adder.

FIG. If

Claims (1)

SUMMARY OF THE INVENTION A self-adjusting control system for an input signal comprising two quadrators connected in series to a first adder, the first input of which is an input to the system, a first controller, a control object, an output of a control object connected to a second input of a first adder, the output of which is connected through a first quadrator to a first input the second adder, the output of which through the tuning block is connected to the second input of the first regulator, the output of the second quadrator through the first amplifier is connected to the second input the house of the second adder, characterized in that, in order to increase the accuracy of the system, it contains a bandpass filter, a third quadrator, two multiplication units, a functional converter, a second amplifier, a square root extractor, a white noise generator, a third adder, a second regulator , a model of the control object, and the output of the first adder through a series-connected bandpass filter, a third quadrator, a first multiplication unit, a second amplifier, a square root extraction unit, a second multiplication unit, a third adder, the second controller and the model of the control object is connected to the input of the second squared output of the tuning unit is connected to the second input of the second controller and through a functional converter with the second input of the first multiplication unit, the output of the white noise generator is connected to the second input of the second multiplication unit, and the output of the model of the control object is connected to the second the input of the third adder.