SU1541555A2 - Adaptive regulator - Google Patents

Abstract

The invention relates to automatic control and regulation, can be used to create automatic control systems for dynamic objects, and is an improvement of the invention according to the author N1339487. The purpose of the invention is to increase the stability of the regulator. The regulator contains a scaling unit 1, blocks 2, 10, module definitions, multiplication unit, blocks 3, 4 of sign determination, second derivative calculation unit, adders 6.13, averaging link 11, inverter 12. The zone is entered into the control law of the controller insensitivity, which reduces the influence of higher harmonics in the input signal of the regulator. 3 il.

Description

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The invention relates to automatic control and regulation, can be used to create automatic control systems.

dynamic objects and is an improvement of the invention but auth.St. No. 1339487.

The purpose of the invention is to increase the stability of the regulator.

FIG. 1 shows a block diagram of the proposed adaptive controller that implements control with a zero harmonic linearization coefficient; in fig. 2 shows a constructive implementation of a second derivative calculation block; in fig. 3 - graphs of transients in the control system when using the known device and the proposed adaptive controller as a controller.

FIG. 1-3, the following notation is accepted: 8 (O is an error signal equal to the difference between the output variable of the control object at time t and the task to the output variable; Ј (t) is the first derivative of (t); g (t) - the second derivative of Ј (t); U (t) is the regulating influence; fi (t) is the disturbing influence; Ј (t) is the error signal when a known device is used in the system; y (t) is the error signal when using the proposed U; (t) is the control signal when a known device is used in the system; U2 (t) is the control signal for and Using the system of the proposed controller.

The adaptive controller contains a scaling unit 1, the first module 2 determining module, the first and second blocks 3 and 4 of the sign determining unit 5 calculating the second derivative, the first adder 6, multiplication unit 7, differentiators 8 and 9, the second module determining module 10, averaging link 11, the inverter 12, the second adder 13, the key 14

Adaptive controller works as follows, i

The error signal Ј (t) is fed to the input of the scaling unit 1, where it is multiplied by a constant coefficient K. From the output of block 1, the signal goes to the input of the first unit 2 of the module definition, resulting in the output of block 2 forming the amplitude component of the control signal I KЈ ( t) | .

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At the same time, the error signal is fed to the input of the first en-ka detector, and as a result, the signal signЈ (t) is obtained. In addition, Ј (t) is fed to the input of the differentiator 8, as a result, the signal Ј (t) is received at its output, which is fed to the input of the differentiator 9. At the output of the differentiator 9 of the second derivative calculation unit 5, the signal (t) is received. The signal from the output of block 5 is fed to the input of block 4. As a result, the signal sign Ј (t) is formed at its output. Next, the output signals of blocks 3 and 4 are fed to the corresponding inputs of the first adder 6, the sign component of the control signal sip, nЈ (t) + signЈ (t) is formed at the output of the last one.

The signals from the outputs of blocks 2 and 6 are fed to the corresponding inputs of block 7, at the output of which a control signal | KЈ (t) | x (sign Ј (t) + signЈ (t)).

In this case, the error signal (t) is fed to the input of the second module 10 for determining the module; as a result, the signal Ј (t) | . The signal from the output of block 10 is fed to the input of the averaging unit 11, where it is averaged. At the output of the link 11, a signal lЈ (t) l is generated, which is fed to the input of the inverter 12, where it is inverted and multiplied by a constant coefficient K ,. As a result, the output of the inverter -12 receive the signal K, | Ј (t) | . The signal from the output of the inverter 12 and the signal from the output of the block 10 are fed to the corresponding inputs of the second adder 13. At the output of the adder 13, a signal is received l & (t) l - - K, lЈ (t) | which defines the deadband width of the adaptive controller and is a control signal for enabling or disabling the control key 14.

The signal from the output of block 7 is fed to the input of the controlled key 14.

The signal from the output of block 13 is fed to the control input of the key 14. At the same time, if Ј (t) (- K, | Ј (t) l 0, then the key 14 is closed, and at its output a signal is generated

jKЈ (t) | (signЈ (t) + signЈ (t)).

If | Ј (t) l - K, (F7t) l 0, then

key 14 is open, and a zero signal is generated at its output.

The signal at the output of the control key 1 4 is the control signal of the adaptive controller.

To form a dead zone instead of / Ј (t) | you can use the values of |) (t) l at the local extremum points.

Claims (1)

An increase in the value of the coefficient K., which determines the width of the dead zone, makes it possible to maintain stability with an increase in the overall gain of the regulator. Invention Formula Adaptive controller auth.St. No. 1339487, different L. five In order to increase the stability of the controller, the second module of the module definition, the second adder, the key, the averaging link and the inverter are inserted into it, and the input of the adaptive controller is connected to the input of the second module of the module connected by the output to the first input of the second adder and to the input of the averaging unit, the output of which through the inverter is connected to the second input of the second adder, the output of which is connected to the control input of the key connected by the information input to the output of the multiplication unit, the output of the key is output ode adaptive regulator. .