SU1640672A1 - Automatic control system - Google Patents

Abstract

The invention relates to automatic control and regulation and can be used to build control systems for technical objects that contain significant delays and are subject to the influence of uncontrolled external influences. The invention improves the accuracy of the adjustment. An extrapolator, a second delay unit, a second adder, a scaling unit are inserted into the device, which allows an adjustable model output to be brought closer to the full-scale output of the control object, to predict estimates of external influences. 1 sludge. with Ј

Description

The invention relates to automatic control and regulation and can be used to build control systems for technical objects that contain significant delays and are subject to the influence of uncontrolled external influences.

The dynamics of an object along control channels is described by the transfer function.

wed (p) (p),

where tf0 (p) is a part of the transfer function without delay, for example, a first-order inertial element or integral part; latency

lL -

External

change over time interval Ј

The control task is to ensure the invariance of the adjustable coordinate from external influences.

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

The drawing shows a block diagram of the automatic control system.

The automatic control system contains an executive unit 2, a regulating sensor 3, an adjustable coordinate sensor 4, and a second object model 5 without delay, a second delay unit 6, a first comparison unit 7, a first adder 8, a first regulating unit 9 , second comparison unit 10, scaling unit 11, fifth comparison unit 12, extrapolator 13, first delay unit 14, four

-U

about o |

N5

the reference unit 15 is the first, the first object model 16 without delay, the second adder 17, the second regulating unit 18, the third unit 19 of the comparison, the setting unit 20.

The automatic control system works as follows. The main control loop, which includes the delay unit 14, the comparison block 15, the control object model 16, the adder 17, the setting unit 20, the comparison block 19, the control block 18 and the extrapolator 13, produces the main control action to the signal which in the adder 8 is algebraically summed up the signal on the corrective regulatory action that comes from the regulating unit 9 of the corrective circuit. The signal from the adder 8 is supplied to the executive unit 2, in which the regulating effect on the control object 1 is realized. The output of the control object 1 is measured by the sensor 4, from the output signal of which, in the comparison block 7, the signal about the effect of the corrective action coming from the delay block 6 is subtracted. The output signal of the comparator unit 7 is added in the adder 17 with the output signal of the object model 16 without delay, and as a result, a signal is obtained on the model output of the control object 1.

In the main control loop, the signal about the model output y (t) of the object is subtracted in the comparison unit 19 from the signal of the setting device 20 about the specified output y (t) of the object. The difference signal is converted in the control unit 18, for example, with a proportional-integral control law, and the control signal U is received (t -Ј), where Ј is the delay time in the control object 1, which is extrapolated to time C by extrapolator 13 and arrives at the first input of the first adder. The actually implemented control action is measured by sensor 3 and the received signal U (t) goes to comparison unit 12, where the signal about the corrective action fl U (t) is subtracted from it. At the output of the comparison unit 12, it is obtained about the realized regulatory effect of the main circuit, which

0

five

0

five

0

five

0

five

0

ry is delayed in block 14 of delay for time C and subtracted in block 15 of comparison from the signal U6 (t -Ј). The received signal Woy (1 -Ј) is converted into the object model 16 without delay and is fed to the second input of the adder 17.

ATS correction circuit is designed to bring the model output of the object closer to the natural one. For this, the corrective circuit produces such a regulating action so that the output of the object model 16 tends to zero without delay. For this purpose, the output signal of the object model 16 without delay arrives at the scaling unit 11, the coefficient of which is chosen in such a way as to predict the free movement of the object. In particular, for the inertial link of the first order, this coefficient is calculated G /

They are given by the expression e, where T is the time constant, and for the integral link it is equal to one. The output signal of the scaling unit 11 is fed to the closed loop of the operator of the object model 5, without delay, without delay, including, apart from this model, the regulating unit 9 and the comparison unit 10. In comparator block 10, the output signal of object model 5 is subtracted from the output signal of scaling unit 11 without delay, the signal of the difference obtained is converted in control unit 9, for example, with proportional-integral control law, to signal U (t) and fed to object model 5 without delay and to the adder 3. To eliminate the effect of U (t) from the output of the control object 1, the output signal of the object model 5 without delay is delayed in the delay block 6 by Ј and subtracted in the comparison block 7 from the signal y (t) output de object 1 regulation. In this way, the independence of the functioning of the main and corrective control loops is achieved. The adjustment of the regulating unit 9 is chosen in orientation to the second model 5 of the object without delay.

Improving the accuracy of regulation in the SAR is achieved in this way by bringing the model output of the object of regulation closer to the field editor G. Fedotov

Compiled by A. Laschev Tehred S. Migunova

70 LF 20

Proofreader L. Beskid.

Claims (1)

Claim An automatic control system containing two object models without delay, the first control unit, the first and second comparison units, the first adder in series, the executive unit and the adjustable coordinate sensor, the control unit in series, the third comparison unit and the second control unit, the first delay unit in series and a fourth comparison unit, characterized in that, in order to increase the accuracy of regulation, an extrapolator, a second delay unit, and a second sum are introduced into it OP, a scaling unit, a control influence sensor and a fifth comparison unit connected in series, the output of the second control unit is connected to the summing input of the fourth comparison unit and through .. an extrapolator to the first input of the first adder, the output of the executive unit is connected to the input of the control action sensor, the fifth output comparison unit - with the input of the first delay unit, the output of the fourth comparison unit is connected through series-connected first model of the object without delay. 1, a scaling unit, a second comparison unit, a first control unit, a second object model without delay, a second delay unit, a first comparison unit and a second adder with a subtracting input of a third comparison unit, the output of the first control unit is connected to the second input of the first adder and subtracting input of the fifth comparison unit, the output of the second model of the object without delay is connected to the subtracting input of the second comparison unit, the output of the adjustable coordinate sensor is with the summing input of the first comparison unit, the output is model of the object without delay - to the second input of the second summa-. Torah.