SU1587467A1 - Adaptive control system - Google Patents

Abstract

This invention relates to adaptive automatic control systems. The aim of the invention is to improve the accuracy of the system under the conditions of parametric perturbations of the control object and to expand the scope of the system. The system contains a control object 1, a block 2 for determining the functional relationship of phase variables, a block 3 defining a functional relation, a first adder 4, a block 5 forming a feedback coefficient, a first multiplier 6, a second adder 7, a third adder 8, a calculator 9 terms of a power series variable offset, block 10 for calculating variable coefficients with the corresponding members of a power series, block 11 multipliers, a group of them For second multipliers 12. 2 Il.

Description

SP

with vi

4ib

but

3 15

The invention relates to adaptive automatic control systems and can be used to stabilize a function of the relative ratios of phase variables.

The aim of the invention is to improve the accuracy of the system under the conditions of parametric perturbations of the control object and to expand the scope of the system. .

FIG. 1 shows the scheme of the adaptive control system in FIG. 2 — an example of the implementation of the adaptive control system. The system (FIG. 1) contains the control object 1, the phase difference functional definition block 2, the functional relationship block 3, the first adder 4 , a feedback coefficient generating unit 5, a multiplier 6, a second adder 7, a third adder 8, a calculator 9 members of a power series of a variable bias, a unit 10 for calculating variable coefficients with the corresponding members of a power series, Lok multipliers 11, a group of K multipliers 12, -12.

The system (FIG. 2) also contains a first multiplier 13, a first divider 14, a group of K multipliers, a group of K divisors 16, -16), a group of K large-scale amplifiers 7 -M, a group of K integrators 18, -18 (, the second multiplier 19, amplifier 20, power amplifier 21, motor 22, tacho generator 23, current sensor 24, second divider 25, voltage source 26.

The adaptive control system works as follows.

A control signal arriving at the input of control object 1 is generated as

U k ((t),

T. "J

phase variables of the control object;

functional stabilization error signal;

variable feedback ratio;

variable offset; variable (adjustable) coefficients at

Q

, five

Q

five

five

0

five

 PI X X

S (x, xp

Sfl, -D i

the corresponding terms of the power series; terms of the power series of phase variables; the current value of the functional relationship; set value of the functional relationship; exponents. The stabilization error signal 4 is generated at the output of the second adder 7, the first input of which from the task block 3 receives the signal of the specified functional ratio of the phase variables S and is compared with the current value of the functional ratio S (x) generated by the block 2..At the same time in block 5 and subtraction - the body 9 calculates the values of the variable feedback coefficient k (x,) H of the terms of the power series x, x, (, K). The error signal received at the output of the adder 7 is fed to the first input of the multiplier 6, the second input of which receives the signal k (x,), and the output of the multiplier 6 forms the first term of the control signal k (x) 4.

The variable calculation unit 10 of the coefficients at the respective terms of the power series generates signals of the adjustable coefficients C; (t) arriving at the first inputs of a block of 11 multipliers. Signals arrive at the second inputs of this unit.

from the outputs of the calculator 9. Youh-P

X 1 x 1

1 2 block 11 block multipliers

summed in adder 8, the output of which forms the second term of the control signal — an adaptive variable bias input to the input of the adder 4. To the second input of this adder, a signal k (x) L is applied, and at the output a control is formed and providing the adaptive stabilization of a given functional ratio .

The moment of putting the control system into operation, in general, is characterized by the presence of a stabilization error 4 (0) 0 and arbitrary values of adjustable parameters. The initial stage of the system operation is determined by the transient process, by the error of stabilization L, which changes from its arbitrary initial value 4 (0) to the steady state value. At the same time, suppressing the error

 C; (t) x / xV C, (t) x, + C, (t) xi +

 ft

provided by the first component of the control action, k (x) 4.

When the stabilization error of its steady-state value is reached, its further compensation is accomplished by adjusting the coefficients for the corresponding terms of the power series Cj produced by block 10. Reducing the error L reduces the speed of setting the parameters for a time L and C f - O and thus the control system arrives to equilibrium ..

The invention can be applied for. adaptive power stabilization of the DC motor (Fig. 2) at a given level P.

Wherein

bv, x,.) X;

k (x,) (,);

..e;

+ C3 (t) -,

 I

t x.

where x uJ is the angular velocity of rotation of the motor shaft; x ijj - current core;

constant engine torque;

inductive winding of the core;

Claims (1)

given time of the transient process. Thus, the use of the invention improves the accuracy of the stabilization of the specified functional ratios and, in particular, the limiting current of the electric motor core or the power of the actuator, the ratio of variables of the optimal speed system, which increases the operational characteristics, increase the reliability of technical systems and their service life. Invention Formula An adaptive control system containing a control object, the first output of which is connected to the input of the compute row power member 1587467 ten 15 20 25 thirty 35 40 five 0 the belt offset and the input of the feedback coefficient shaping unit, the output of which is connected to the first input of the multiplier connected by the output to the first input of the first adder, the output of which is connected to the input of the control object, as well as the functional ratio setting unit connected by the output to the first input of the second adder , and a third adder connected by an output to the second input of the first adder, characterized in that, in order to increase the system's accuracy. the conditions of the parametric perturbations of the control object and the extension of the field of application; a block for calculating variable coefficients is introduced for the corresponding members of a power series, a block of multipliers for the number of terms of a power series, and a block for determining functional relationships of variables whose first input is connected to the first output of the control object and the output is with the second input of the second adder connected by the output to the second input of the multiplication unit and the first input of the variable coefficients calculating unit the current members of the power series, the second input of which is connected to the first input of the multiplication unit, and the second output of the control object is connected to the second input of the functional phase ratio determination unit and to the second input of the resolver of the power series of the variable bias and which is connected respectively to the group of inputs by the number of members of a power series of a block, computing variable variables with the corresponding members of a power row and the first group the inputs of the multiplier block by the number of members of a power series connected by the second group of inputs to the output group by the number of members of the power series of the computing unit of variable coefficients for the corresponding members of the power series and the output group of the inputs of the third adder. OsJ