SU1674060A1 - Control system - Google Patents

Abstract

The invention can be used to build control systems of technical objects that contain significant delays and are subject to the influence of uncontrolled disturbances with non-stationary properties. The invention makes it possible to simplify and increase the reliability of the system circuit, which contains the third comparison unit 1 connected in series, the second controller 2, the adder 3, the delay block 8, the second comparison block 7, the object model 6 without delay, the first comparison block 4 and the first controller 5, connected by the output to the second input of the adder 3 and the second input of the comparison unit 7, the output of the third comparison unit is connected to the second output of the first comparison unit. 1 il.

Description

The invention relates to automatic control and regulation and can be used to build control systems for technical objects containing significant delays and subject to the influence of uncontrolled disturbances with unsteady properties.

The dynamics of the object along the control channel is described by the operator

Ф (Р) = фо (Р) г ^рГ ', (1) where <ro (Р) is the transfer function of the object without delay, containing, for example, high-order inertial links;

G ^p is the delay operator.

The control task is to ensure the invariance of the adjustable coordinate with respect to disturbances.

The purpose of the invention is to simplify and improve the reliability of the system.

The transfer function of the prototype regulator and the proposed regulator coincide, namely, they have the form Y> (P) _ yb (P) (P) + ft · (P) · (P),! No. (P)

1 + u, (p) -po (p) ('- £ “ ^pn ' (2) where φ (P) is the transfer function of the system;

fr (P) is the transfer function of the first controller;

F (P) ^_ transfer function of the second (corrective) controller.

The drawing shows a block diagram of a system.

The notation is used in the drawing: y (t) the output variable (coordinate) of the control object at the t-th moment of continuous Time;

y * (t) - task for the output coordinate UY:

U (t) - regulatory action.

The system contains a third comparison unit 1, a second controller 2 and an adder 3, connected in series, the input of the second controller is connected to the first input of the first comparison unit 4, the output of which is connected to the input of the first controller 5, and the second input is connected to the output of the object model 6 without delay, input which is connected to the output of the second comparison unit 7, one of the inputs of which is connected to the output of the controller 5 and the second input of the adder 3, and the other to the input of the delay unit 8, the input of which is connected to the output of the adder 3, the output of the adder 3 is connected through control object 9 with the input of the third block of comparison.

The system operates as follows.

The regulatory action being developed is aimed at regulating the free and forced movement of an object. For this, the signal about the output variable y (t) of the full-scale control object is supplied to the third comparison unit 1, where it is subtracted from the signal about the given value y * (t) of the output variable. The signal about the received control error ε (t) from the output of the third comparison unit 1 is supplied to the second controller 2 and to the first input of the first comparison unit 4.

The second regulator 2, configured to work with the volume containing the delay pho (P) v <produces a corrective regulatory action

U ₂ (t) = Л (y * (t) - у (t) J, (3) which goes to the first input of adder 3.

From the signal ε (t) arriving at the first input of the first comparison unit 4, the signal coming from the output of model 6 of the object without delay y ^M (t) is subtracted. The signal about the received difference is fed to the input of the first regulator 5, configured to work with the supporting part of the control object without delaying fa (P).

The first regulator 5 produces a regulatory effect

Ui (t) = fr [y * (t) - y (t) - y ^M (t) J. (4) which is fed to the second input of the adder 3. From the output of the adder 3, the full control action is supplied to the output of the controller with the model of the object

U (t) = Ui (t) + U ₂ (t). (5)

In addition, the signal U (t) delayed in the delay unit 8 for the time interval τ is supplied to the second input of the second comparison unit 7, where it is subtracted from the signal from the output of the first controller 5. The signal from the output of the second comparison unit 7 is converted to Model 6 of the object without delay.

U ^m M = MUi (t) ~ U (t'T) J. (6)

Simplification of the system allows to increase its reliability by 1520% by reducing the number of blocks.

Claims (1)

Claim A control system comprising a first controller, a delay unit, an object model without delay, a first and second comparison unit, a third comparison unit, a second controller, an adder and a control object, the output of which is connected to the first input of the third comparison unit, the output of which is connected to the first input the first comparison unit, and the second input is the input of the system, the output of the first controller is connected to the second input of the adder, characterized in that, in order to simplify and improve the reliability of the system, the input is The control circuit is connected through a series 5 connected delay unit, a second comparison unit, an object model without delay. a first comparison unit, a first controller with a second input of a second comparison unit.