SU1587466A1 - Fussy logic regulator - Google Patents

Abstract

The invention relates to automatic control systems and can be used for automatic control of industrial facilities with non-linear characteristics operating under conditions of uncertainty. The regulator generates a control action in accordance with the proportional-integral-differential blurred logic. In order to improve the accuracy of regulation, adders 15, 16, integrator 17, setters of integrals of error 8, block quantizing of integrals of error 11, and block of keys 14 are entered into the controller. 2 Il, 2 Table.

Description

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The invention relates to automatic control systems and can be used for automatic control of industrial, in particular, oil refining and petrochemical facilities with significant nonlinear characteristics operating under conditions of uncertainty, the nature of the uncertainty associated with the lack of necessary information. structure of the object, and with the difficulty of formalizing the factors affecting the quality of the system.

The purpose of the invention is to improve the accuracy of the controller.

Figure 1 shows a generalized functional controller circuit; Fig. 2 shows functional diagrams of quantization blocks (a), elements of And (b), controllable keys (c), and setters (d).

The regulator contains amplifiers 1–3, differentiator 4, block 5 of error handlers, consisting of separate setters from first to t4, t, 14, block 6 of error rate handlers, consisting of separate sensors from first, t, 13 , block 7 control setters, consisting of separate setters from first to, t ,, 13, block 8 setters of the error integral, consisting of separate setters from the first,, block 9, error quantization, consisting of comparators 9.k, -9 .krr ,, continuous-discrete converters and logic elements of the type Prohibit input 9.3i, - 9.3 on the second in the course of operation, the error rate quantization unit 10, consisting of the comparators lO..ky ,, () and logic elements, such as Prohibition 10, 0. 3 gp2, the error integral quantization unit 11, consisting of the comparators 1 1 .k, -1 1 .k. () and the logical elements of the type Ban 1 1. l.jmV block of elements And 12 (consisting of separate logical elements And 1 2 "- 1 miMj), the first 1 3 and the second 1 4 blocks.

controlled keys (fixing specified correspondences between the values of the input and output variables and consisting of separate keys 13; (- 13, m and 4), adders 15 and 16, integrator 17 and filter 18.

The regulator implements the following blurred logical control law, which is described in Tables 1 and 2 of the linguistic regulation rules.

The blurred linguistic control law is based on statements in the form of linguistic rules of regulation.

If the error is positively large (), the rate of change of the input error is positively small () and the error integral is zero (), then the output of the regulator is Negatively average (Uir OS) and the change of output Zero ().

If the error is positively small (, the rate of change is null error () and the error integral is positively average (Eg PS), then the controller output from the value Negatively average (and, OS) changes to the value Negatively small ().

E, EJ, E and (,, j r; jin) are the corresponding linguistic values (terms) of the input signal of the regulator — the error e (t) of the rate of change et of the integral of the error and the output (control) of the regulator. The linguistic control rule defines a blurred relation, i.e.

RK Ei EjxE ey u;

Up U, h®U2r2 i l, l, m2; m4; ., ts; , N; (1)

R (e, e, e, U) U (Ei "Ei" Eg.cUK). ,

In (1) term-sets of linguistic variables form formatives according to the blur operator, i.e. quantization of the corresponding variables:

E; (e, U, j (l,)) ft, (Uel o. 5; 1, o, m ,; Ё- (e, (e „)) ,, 5; 1. O, s (2) E (e (4e, e. (ep ,, | U ,, 5; 1 ,, Ц.Ьгг (u, (Uu, (u)), | Uu ,, 5-, 1,0,

where (Wu, (U), fUe; (Pd,), (11e -, (Pm) and fUeUg (eJJ) are respectively the membership functions of fuzzy subsets of the control, errors

e (t) x (t) - x (t), the rate of change of the error

e (0 e (t).

U

error integral e (t) Ky (e (0) dQ.

. ., about (5)

In formulas (2), Е, Е, and Е., U are universal sets of, respectively, the base variables of the variables e (t), e (t), (t), u (t).

The range of membership functions is at least some L level (L 0.5).

The following linguistics is accepted for error terms, error rate, and control: RL (negatively large), BSS (negatively below large), OS

10 ditch with numbers Ku (.shd-1, 9.kr9.km) And the second input of the logical element 9.3t is always supplied to O. In the elements 9.z; (, t, -1) the following logical functions are performed on

15

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input signals Rd ,. and P

 ;., h

about

,, t, -i,

Thus, at the output of logic elements, a single signal is formed when the error values e / rt (t) belong to a predetermined interval corresponding to the lin (negatively average), ONS (otrytsa-25 to the Guistic term E. ;, i.e.

only below average), OM (negatively small), OHM (negatively below small) and OH (negatively zero) and similarly for the positive range - PB, PNE, PS, stump, PM, PNM and PN.

The regulator works as follows.

Adjustable variable - output

Ei (e, (e)), e (t) 6E,, m ,.

The output scaled signal of the second amplifier is fed to the input 30 of the differentiator 4, at the input of which a signal equal to the real derivative of the error e (t) is formed. This signal is then fed to the input of the error rate quantization unit 10.

the object signal x (t) arrives at the first; 35 Similarly to the operation of block 9 (the first (minus) input of the first sum – ° quantizer) in the second quantizer of the torus 15, the second (plus) input is given to the corresponding master signal is determined by the linguistic task. At the output of the first sum term, the rate of change of the error, a signal is formed, corresponding to

due to the regulation error t / h;

i (e, fj (e) j, e (t) e-E, j l, m2.

e (t) x (t) - x (t). Block 10 also has m () which simultaneously enters the inputs, in which there can be discrete steps of the integrator 17 and amplifiers 1 and 2, 45 signals O and 1, corresponding to multiplies by constant LIE linguistic term sets

 scaling factors K, K. jO l, m, j), i.e.

The output signal of the amplifier 1 Cm (b) Psh i. R " . L P; iГ

K, e (t) enters simultaneously nGper-j. comparators 9.k | -9.kfn, 50

to the second inputs of which signals are supplied with different levels of E5; (,) from the corresponding setters 5, -5, block 5.

In the comparators 9.k, -9.k t, the 55 is a continuous-discrete transformation, i.e. comparison operations

“; sign (l (t)),.

In the integrator 17, a signal is generated corresponding to the scaled value of the error integral, which is fed to the input of the third quantifier. Similarly to the operation of the first quantizer in block I1, with the participation of block 8 setters, the linguistic term of the control error integral is determined

and the outputs are formed signals 1

(M (1

or o. The output signals of the comparators 9.k; (i, m) are fed to the first

5 inputs of the corresponding logic elements 9.3; (, m,) of the type Disable input 1 through input 2, i.e. NOT - AND, the second inputs of which receive signals from the outputs of the corresponding comparators with numbers Ku (.shd-1, 9.kr9.km,). Moreover, the second input of the logic element 9.3t is always supplied to O. In the elements 9.c; (, t, -1) are performed. following logical functions over

15

input signals Rd ,. and P

 ;., h

about

,, t, -i,

Thus, a single signal is formed at the output of logic elements when the error values e / rt (t) belong to a predetermined interval corresponding to the linguistic term E.; i.e.

 j.

In the integrator 17, a signal is generated corresponding to the scaled value of the error integral, which is fed to the input of the third quantifier. Similarly to the operation of the first quantizer in block I1, with the participation of block 8 setters, the linguistic term of the control error integral is determined

Eeil. (UeUe (". EVt) eE,, m.

Quantization unit 11 has m. (M.5) outputs, in which there can be discrete signals O and 1, corresponding to linguistic therm-sets of the error integral Eg (, mc);

 RM.K; lrm.k.ch, (.,, tn4).

The output signals of the error quantization blocks 9, the error rate 10 and the integral of the error 1I simultaneously arrive at the corresponding m, (14 + 13 + 5) inputs of the logic output blocks consisting of 1 2, -12.1. And elements and controllable keys 13, -, hii Then, with a fixed fixation of the blurred relation Rj, (e, e, e, u) (, N), the controller (in accordance with Tables 1 and 2), as well as the composite output by current linguistic values of variables

and E, -0 (E o ((e, e, e, u))) E; OEjOR (e, e, u), u),,. (6)

The linguistic values of the control Uf. (, M,, 2) are given respectively from the units 7-7 of block 7, the fixation of the relation R (e, e, e, u) is performed by the fact that the inputs of the controlled keys ii the rows of the j-ro column of the e-th .. row, are rigidly connected to the generator of the corresponding control level via the connection buses.

The output signals of all the keys Zn1, ti 1Ar1A ", summing up on the output lines, are supplied respectively to the first and second inputs of the adder 16, from the output of which the total signal goes to the input of the filter 18, the signal from which goes to the input of the third amplifier 3 By multiplying by a constant scaling factor, the output of the controller is generated.

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Claims (1)

Invention Formula A blurred logic controller containing a first amplifier, whose input is connected via a second amplifier to a differentiator input, and a filter connected in series and a third amplifier, the output of which is a regulator output, a differentiator output connected to the input of the error rate quantizer, whose vector input is connected with the vector output of the error rate settings block, and the vector output with the first vector input of the blocks of elements And, the vector sensor connected to the vector control input of a group of blocks keys, information vector inputs of which are connected to the vector output of the control setters block, the second vector inputs of the And blocks are connected to the vector output of the error quantization block that is connected to the output of the first amplifier, and the vector input to the vector output of the error setters, differing in that, in order to improve the accuracy of the controller, it contains the integrator, the first and second adders, the setpoint of the integral of the error integral, the quantizing unit of the integral of the error and the additional key block The control and information vector inputs of which are connected, respectively, to the vector outputs of the error integral quantization unit and the control setting unit, and the output to the first input of the second adder, with their second input and output connected respectively to the outputs of the first key block and the filter input, the output of the first adder is connected to the input of the first amplifier and through the integrator to the input of the error integral quantizing unit, the vector input of which is connected to the vector output unit of the error integral setting unit, and The first and second inputs of the adder are the inputs of the regulator, the torus. Table 1 table 2  g. TT ITTTT . 2 Zi (