SU1578696A2 - Adaptive control system - Google Patents

Abstract

The invention relates to automatic control systems and can be used for linear dynamic control objects with variable parameters. The invention allows to improve the quality characteristics of the system due to the adaptive tuning of the feedback loop. The system contains a control object 1, a coefficient setting block 2, an adder 3, two multipliers 4, 6, an integrator 5 and a quad 7. 7. Il.

Description

The invention relates to automatic control systems and can be used for linear dynamic control objects with a wide range of unknown, constant or slowly changing in time parameters, and is an improvement of the invention by ed. St. No. 1019400.

The purpose of the invention is to improve the quality characteristics of the system.

The drawing shows a functional diagram of an adaptive control system.

The adaptive control system comprises a control object 1, a coefficient setting unit 2, an adder 3, a first multiplier 4, an integrator 5, a second multiplier 6 and a quadrator 7.

Adaptive control system operates as follows.

The dynamics of processes in the control object is described by equations of state and output

X = АХ + BU, У - LX, where, Х-п - dimensional state vector of the object;

Y-m - dimensional vector of the output measured coordinates;

U is the scalar control action;

A, L, b are matrices and a vector of dimensions (n × n), (w × n), (n × 1), respectively, depending on the vector of unknown parameters.

The controller is connected to the object and · = C.g * .y, where C is the adjustable parameter of the controller;

g is a numerical vector chosen from the condition of the Hurwitz polynomial g * L (lnP-A). ⁺ b degrees (n-1) with positive coefficients, where (1pR-A) ^{+ is the} adjoint matrix.

Controller parameter C is adjusted in accordance with the adaptation algorithm.

С = -К ( _₽ * уГL where К> 0..?

The signals from the output of the control object are supplied to the corresponding inputs of the coefficient setting unit 2, which is a block of multipliers.

In block 2 of setting the coefficients, the signal is multiplied from the output of control object 1, y. at a constant coefficient ^ ;. The signals from the outputs · block 2 of the coefficient setting are supplied to the corresponding inputs of the adder 3, where they add up. The signal from I * 1 of the output of the adder 3 8 V ~ zLg; V The signal from the output of the first multiplier 4 (g * y) 2 is received.

² ® to the input of squared 7.

In quadrator 7, the signal (g * y) ^{2 is} multiplied from the output of the first multiplier · 4 by the same signal.

The signal (g * y) ^Y from the output of the quadrator is fed to the input of the integrator 5, where it is integrated. The signal C from the output 'of the integrator 5 is fed to the input of the second multiplier 6. In the second multiplier 6, the signal g * y is multiplied from the output of the adder 3 by the signal C s. integrator output 5. The signal Cg * y from the output of the second multiplier 6 (control signal) is fed to the input of control object 1.

Thus, the introduced quadrator 7 makes it possible to amplify the feedback signal ^- with a large mismatch and smooth it with the value of the mismatch signal instantly unity, which leads to an improvement in the quality characteristics of the adaptive control system.

Claims (1)

Claim Adaptive control system auth. St. No. 1019400, distinguished by the fact that, in order to improve the quality of the transition process, a quad is introduced into it, and the output of the first multiplier is connected to the input of the integrator via a quad.