SU1640667A1 - On-off pulsed controller - Google Patents

Abstract

The invention relates to the technical means of automatic control systems and can be used to control and control various dynamic objects and technological processes. The aim of the invention is to expand the scope by increasing the range of input signals of the controller and increasing the dynamic accuracy. The controller contains the comparing element 1, the first 2 relay element with the dead zone, the driver 3 of the control signal, the first 4 aperiodic link, the second 5, ... (n + 1) -e 5P aperiodic links and the second 64 ... ( +1) b relay elements with insensitivity zone. When using the proposed controller, the functionality of the regulation is expanded due to the possibility of interfacing specific values of the limitations of the output voltages of aperiodic links and specific sensors of the input signal. There is a decrease in power consumption and a reduction in overshoot. 2 Il. about " /

Description

The invention relates to the technical means of automatic control systems and can be used to control and control various dynamic objects and technological processes.

The aim of the invention is to expand the scope by increasing the range of input signals of the controller and increasing the dynamic accuracy of the adjustment.

Figure 1 shows the block diagram of the relay-pulse controller; Fig. 2 shows phase trajectories of a control system with a pulse-relay (controller.

The relay-pulse controller contains the comparing element 1, the first 2 relay element with the dead zone, the control signal generator 3, the first 4 aperiodic link, the second 5 {... (n + 1) -e 5n aperiodic links and the second 6 ... ,. (n + 1) -th 6P relay elements with dead band.

In Figures 1 and 2, the following notation is introduced:

a0 ... an output signals, respectively, of the first 4 ... (n + 1) -th 5n aperiodic links; Ua.t.Un - output signals respectively

ABOUT

b

0

J

officially of the first 2 ... (n + 1) -th 6th relay elements with dead zone;

. ..h - dead zones, respectively, of the first 2 ... (n + 1) -th 6 relay element with a zone

insensitivity; 10 ... Tn - constants of time, respectively, of the first 4 ... (n + t) -ro 5n aperiodic links; about"

ten

15

..., 1,4,1, are the sections of the straight lines bounding the switching line in the right half-plane of the phase plane;

BUT

And ", ..., Ao are the intersection points of the phase trajectory with the switching lines in the system with a relay-switching regulator; 25

A, A ,,

A -, ..., A, d - intersection points of the phase trajectory with switching lines in the prototype system.

The control digester 3 is a delayed vein with a delay of Ј ,, on switching off.

thirty

Relay-pulse controller operates as follows.

Let input signal X increase from zero. When the signal X reaches the value of L0, the first 2 relay element with the non-40 zone is triggered.

The output signal of which is fed to the input of the first 4 aperiodic link and the driver 3 of the control signal. In a closed loop, a sliding mode arises. This mode is characterized by the fact that the output signal of the comparison element 1 S X - a „he const. The output signal U0 is a pulse train, the frequency

Consider the process of controlling the phase plane X, X by the example of the generation of a conservative object of the order of magnitude. Switching lines with the use of a pulse-relay controller L0-Ц-, .B np half-plane and L0- L, L in the left half-plane. Cross lines using the known relay-pulse controller L0-right half-plane and Lm in the left half-plane

following which Јtsv is proportional to the line-switching L, La, L3, L

at TQX + X - h0, where X is the rate of change of the input signal. If the pulse frequency fUo is such that Tc0 l / ЈU (, then the control signal generator 3 generates a continuous output signal. 1 in a manner in a sliding mode

can be found from (2) under the assumption that (the condition of turning off the control signal generator) .T ki X, X. and Xe reach the corresponding points U0 ... Un + of the saturation level (X4 a, + b0,

lv

 but

Ogl

+ a

+ altn + h2).

P

+ h ,, x,

aom + ai

0

0

five

0

five

0

,

S X - a

si „

O by

(T x + x - h),

const,

(one)

(2)

Vq o

Let the first 4 aperiodic link have aot saturation level. At X аоt + b0 and at (the input signal continues to increase) the first 2 relay element with the deadband remains in the on state, and the signal S starts to increase and at S hj the second 6 will turn on (the relay element. We assume that A is small value (). If the input signal X continues to increase, then in the new contour there is a sliding mode, for which

S X - aom - a, h, const.

(3)

Let the second 5 aperiodic link have a saturation level. If the input signal continues to increase, then when X at + + h, the second 64 relay element with the deadband remains on, the signal S increases to the value Ii2. (N2. Ni A) and then a sliding mode also occurs, for which

 a2 h g const. (4)

With a further increase in the input signal, a sliding mode alternately arises at S h (h 3 - hz D), etc.

Consider the control process on the phase plane X, X using the example of controlling a second-order conservative object. Switching lines with the use of the relay-pulse controller L0-C-, .B npa half-plane and L0- L, L ,. in the left half plane. Switching lines using the well-known pulse-relay controller L0-the right half-plane and Lm in the left half-plane.

Switching lines L ,, La, L3, L

can be found from (2) under the assumption that (the condition of turning off the control signal generator). Points X, X. and Xe reach the corresponding levels U0 ... Un + i of the saturation level (X4 a, + b0,

lv

 but

Ogl

+ a

+ altn + h2).

P

+ h ,, x,

aom + aim +

At points X, Xz and X e, a change occurs in the slope of the switching line, since the time constants of the aperiodic links are chosen in accordance with the inequality

....

(five)

If, for example, the TQ switching lines are L, and L would have the same slope. And since T, T0, the slope of the line Lg is less than the slope of the line L ,.

In the known relay-pulse controller at the point X, the switching line Ln is parallel to the X-axis (after reaching the saturation level a).

Consider the motion of the imaging point A (O, X0) on the phase plane X, X. We will assume that after the onset of the switching point L (L) reaches the relay-relay controller, it forms a continuous relay control signal U- -1 (U-+1) until this switch-off point L1tL2, L3, L 4 (L ,, Lz, C, L4). If U is l (+ l), then the phase trajectories are parabolas, if U, 0, then the phase trajectories are lines parallel to the OX axis.

The control system with a relay-pulse regulator has a phase trajectory,

. A4

 (the points belong to the switching line). A control system with a known relay-pulse controller has a phase trajectory.

AH-A A XXXXXXX

When using the proposed controller, the functionality of the regulation is expanded due to the possibility of interfacing specific values of the limitations of the output voltages of aperiodic links and specific sensors of the input signal. There is a decrease in energy consumption and a decrease in overshoot.

Claims (1)

Invention Formula A relay-relay regulator containing a comparing element, the summitting input of which is the controller input, the output of the comparing element through the first relay element with the dead zone is connected to the inputs of the first aperiodic link and the former of the control signal, the output of which is the output of the regulator, the output of the first aperiodic link is connected to the first subtractive input of the comparing 5 element, characterized in that, in order to expand the application area by increasing the range of input signals of the controller and increasing the dynamic accuracy, the regulator contains a relay of dead-cell elements and aperiodic links, the output of the matching element is connected to the inputs of the relay elements with the dead zone, the output of each of which through the corresponding aperiodic link is connected to the corresponding subtractive input of the comparing element. 5l B „ five FIG. 2