SU1709272A1

SU1709272A1 - Reduced observing device

Info

Publication number: SU1709272A1
Application number: SU894752615A
Authority: SU
Inventors: Анатолий Яковлевич Лащев
Original assignee: Lashchev Anatolij Ya
Priority date: 1989-11-02
Filing date: 1989-11-02
Publication date: 1992-01-30

Description

Изобретение относитс к наблюдающим устройствам, восстанавливающим полный вектор состо ни по измерени м части вектора состо ни (наблюдающие устройства Луенбергера). The invention relates to monitoring devices that restore the entire state vector by measuring a portion of the state vector (monitoring Luenberger devices).

Известно наблюдающее устройство, содержащее объект управлени , блоки усилителей , сумматоры, блок интеграторов и блок усилителей отрицательной обратной св зи.A monitoring device containing a control object, amplifier blocks, adders, a block of integrators and a block of negative feedback amplifiers is known.

К недостаткам указанного устройства относ тс сложность, котора обусловлена его избыточностью, а также малое быстродействие . Наиболее близким к предлагаемому вл етс наблюдающее устройство, содержащее объект управлени (наблюдени ), интеграторы, усилители и сумматоры .The disadvantages of this device are the complexity, which is due to its redundancy, as well as low speed. Closest to the present invention is a monitoring device containing a control object (s), integrators, amplifiers, and adders.

Известное наблюдающее устройство характеризуетс малой динамической точностью вследствие-наличи интеграторов, а повышение быстродействи устройства путем увеличени козффициентов усилени приводит к большой чувствительности к реально существующим помехам. Кроме того, оценка вектора состо ни возможна толькоThe known observing device is characterized by low dynamic accuracy due to the presence of integrators, and an increase in the device speed by increasing the gain coefficients leads to a high sensitivity to actually existing interference. In addition, the evaluation of the state vector is only possible

при времени оценивани , стрем щемс к бесконечности.with an evaluation time that tends to infinity.

Цель изобретени - повышение точности устройства наблюдени .The purpose of the invention is to improve the accuracy of the observation device.

Поставленна цель достигаетс введением в устройство параллельно соединенных усилител и дифференциатора, входами подключенного к входу интегратора, а выходами - к выходу интегратора.The goal is achieved by introducing into the device a parallel-connected amplifier and differentiator, inputs connected to the integrator input, and outputs to the integrator output.

Сущность изобретени заключаетс в следующем.The essence of the invention is as follows.

Пусть динамика -объекта управлени представл ет собой линейное дифференциальное уравнениеLet the dynamics of a control object be a linear differential equation

X(t)AX((t);(1)X (t) AX ((t); (1)

Y((t),Y ((t),

где Х,и - (пх1) - векторы соответственно состо ни и управлени , m П:where X, and - (px1) are vectors of state and control, respectively, m P:

А,В,С - матрицы, соответственно, объекта , управлени и выходного сигнала (матрица наблюдени ), причем dlmA(), dimB(nxm), ).A, B, C are the matrices, respectively, of the object, control and output signal (observation matrix), moreover, dlmA (), dimB (nxm),).

Claims

Let T be a matrix of type (n-r) - an algebraic vector X to a vector Z, then the equality dim Y (rx1) L Yj CdlmZ (nr) x1 (2) holds, where X (t) is an estimate, the vector X ( t); Y (t) is the vector of measured components of the vector X (t); Z - characterizes the state of the observer. In (2) it is shown that it is possible to write down by transformations, where dim dimW (nr), and the matrix C is reduced to the form, 1 is the identity matrix. Substituted the matrices A and 8, the object and control in the form of block matrices of the form. rAiilAi2lp BlT, .-. .- А21 А221- equation (1) taking into account (2) and (4) can be written as Y AiiY + A, 2W + BiU; W A2iY + A22W + B2U. (5) Having determined by differentiating the measured vector Y the value Y and found the value of the product Ai2 from the first equation of the system (5), this product B can be used as an input signal of the observer W () W + l V- AiiY-BiU + A2iY + B2U. We will cover the integrator with direct links in the form of an amplifier and a differentiator. Such a construction of the monitoring device improves the speed of the latter, while the proportional component improves the speed, the differential improves the quality of the transient setting of the output value W, and the integral improves the accuracy in the steady state. The drawing shows the diagram of the monitoring device of the second order object a2ia22 J -Xi VK1.0 JJ where a is the elements of the matrix A. Ha in the drawing, the following notation is used; 1 — object of observation (identification), 2 — third amplifier, 3 — first amplifier, 4 — fourth amplifier, 5 — first adder, 6 — second amplifier, 7 integrator, 8 — fifth amplifier, 9 — differentiator. 10 - the second adder, 11 - the observer. The device works as follows. The input signal U (t) is fed to the input of the observation object 1 and to the input of the observer 11, namely to the input of amplifier 2, the signal Xi from the output of the object 1 is fed to the input of amplifier 3. The amplified signals from the outputs of amplifiers 2 and 3 are summed in adder 5, and then their sum is integrated, differentiated and amplified by integrator 7, amplifier 8 and differentiator 9. Signals from the outputs of integrator 7, amplifier 8, differentiator 9 and amplifier 4 (amplifies the signal Xi from object output 1), output adder 10 signal through amplifier 6 is supplied as a negative feedback input to the adder 5. Thus, the input device 8 and differentiator amplifier 9 allow to increase the speed of the observing device. A reduced observation device containing first to fourth amplifiers, first and second adders, an integrator whose input is connected to the output of the first adder, and an output to the first input of the second adder, the output of which is the first output of the device and connected to the input of the second amplifier The output of which is connected to the first input of the first adder, the second, third and fourth inputs of which are connected to the outputs of the third, first and fourth amplifiers, respectively, and the input of the third amplifies It is connected to the input of the identification object and is the device input, and the inputs of the first and fourth amplifiers are connected to the output of the identification object. Which is the second output of the device, characterized in that, in order to improve the accuracy and speed of the device, a fifth amplifier and a differentiator are added, the output of which is connected to the second input of the second adder, to the third input of which the output of the fifth amplifier is connected; to the inputs of the integrator and the differentiator.