SU593676A3 - Differential proportional and floating controller - Google Patents

Description

(54) PROPORTIONALLY-INTEGRAL-DIFFERENTIAL

REGULATOR

FIG. 1 shows a flowchart of the controller; in fig. 2 shows an example of the technical implementation of the controller.

The controller consists of a proportional-differential (PIL) unit I and unit 2 manual control.

The unit (PID) consists of a proportional unit 3. a differentiating unit 4, a first adder 5, a second adder 6, a first feedback element 7, a second feedback element 8, an amplifier 9.

The manual control unit 2 consists of a switch 10, a source AND a constant voltage of the integrating unit 12, an actuating element 13,

The second adder 6 consists of an amplifier 14 and resistors 15-19.

The differentiator 4 consists of an amplifier 20, capacitors 21 and 22, and a resistor 23 as feedback elements.

The integration unit 12 consists of an amplifier 24, a capacitor 25 and a resistor 26.

Potentiometers 27, 28, 29 are used to set the dynamic parameters of the controller.

The controller includes the third and fourth feedback elements, resistors 30, 31, and a manual control button 32.

The device as follows.

The input signal of the regulator X-eP is supplied to differential 4 and to adder 5, where it is compared with the given value Xc. The error of the regulation E is given to proportional unit 3 and to the first element of the feedback link 7.

The output signal of amplifier 9, which is the output signal of the PID block 1, is fed through a resistor 30 to the input of lock 2 manual control and to the adder 6, to the input of which, besides the output signal r, is fed, the same signal from differentiating block 4 and proportional block 3. The output signal V of the integrating unit 12, which is proportional to the output signal Z of the PID block I, is converted into the output circuit of the actuating element 13 into the normalized output of the regulator U ,.

In the manual control mode, the static feedback connection implemented by the resistors 30 and 31 is disconnected from the input of the integrating unit 12 through the switch 10.

Manual control is carried out through the manual control button 32, with which a constant signal O of the corresponding sign is applied to the input of the integrating unit G2, causing a change in the value of the output signal of the controller.

To ensure a smooth transition from manual control to automatic mode, the output2 of the PID block f during manual control should be equal to the output signal V of the integrating block 12. This is achieved due to the coverage of the amplifier 14 of the adder 6. static feedback using the same resistors 30 and 31.

The transition without disturbance from the automatic control mode to the manual one is carried out due to the manual control of the integrating unit 12, which "blinks the last value of the automatic control voltage before the transition to the manual control.

The regulator allows a simple way, without disturbances and without additional operations, to switch from automatic control to manual control and vice versa and automatically switches one or several controllers, which is especially important in order to prevent the absence of power supply voltage in the digital masses control circuit. .

Claims (2)

1. Baranchuk EI “Design and adjustment of electronic controllers, Maschgiz, 1963. 2. USSR author's certificate number 298923, cl. G 05 B 11/00, 1966.