SU602916A1 - Multichannel device for identification of controlled object - Google Patents

Description

The invention relates to the field of auto-control and can be applied in self-adjusting control systems, as well as in systems of automatic information processing and identification,.

Among devices for identifying control objects, devices using linear, relatively to a finite number of

fixed base transducers, custom model,

In devices of this type, the weighting factors at output X: Converter G, realizing the known basic operators, are adjusted using circuits, each of which contains a discrete or continuous integrator, in the general case with a variable gain factor. At the inputs of the integrators, devices are connected that form signals proportional to the current (often smoothed out during the filter cut) values of the corresponding components of the gradient square of the mismatch between the object and model. Average square

the mismatch characterizes the losses arising from the approximation of the object taken by the model f Ij and 2 ,. .

The closest to the technical essence of this invention is a multi-channel device for identifying a control object, comprising an adder, a comparison unit and Irt channels, each of which contains a functional converter and: a first multiplier connected in series, a first filter, a first integrator and a second multiplier, and the output of the function converter of the first channel is connected directly and through the second multiplier and the comparison unit with the inputs of the first multiplier 3J. .

Claims (3)

In such a device, the outputs of the functional transducers of the model are generally non-orthogonal. With a large number of parameters, this leads to the fact that the identification task degenerates. In practice, this means that the mismatch functional to be minimized in the neighborhood of its extreme point becomes weakly convex. Taking into account that the device realizing the settings, the final insensitivity, the accuracy of the estimation of the model parameters will be low. In addition, since the Q case of non-orthogonal outputs of the functional converters does not automatically adjust the parameters of the model, the device’s speed can also be low. The orthogonality of the basic converters does not lead to low speed and accuracy of the device. The aim of the invention is to improve accuracy and speed. The goal is achieved by the fact that in the proposed device there are additionally installed (t +1) -th functional converter, in each channel except the first and the last, an adder and a block of comparison, ({-1) the third multiplier connected in series, the second filter, the second the integrator and the fourth multiplier, and in the last channel ({-l), the third multiplier, the second filter, the second integrator, and the fourth multiplier are connected in series, with the outputs of the functional converter and the fourth multipliers in each channel through the sum The torus is connected to the second inputs of the corresponding jpeTbjpx multipliers, the output of the adder in all channels, except for the last one, is connected directly and through the corresponding second multiplier and block to the inputs to the corresponding first multiplier, and the first input of the comparison block of the sd channel is connected to the first inputs of the corresponding multipliers the third and fourth multipliers of subsequent channels. The drawing shows a block diagram of the device. The device contains functional converters 1, first multipliers 2, second multipliers 3i first filters 4, second filters 5, first integrators 6, second integrators 7, third multipliers 8, fourth multipliers 9, adders 10 comparison units 11. In the description, the following designations are used. : XI - input signals from the object, (- output signal of the second multiplication blocks, C, (1 - output signal of the adder with the last channels) - reference signal. The device works as follows. Functional converters 1 transform the observed coordinates The object's object's dinates at their outputs X j I 2 dah are a system of linearly independent signals in the general case of non-orthogonal and non-normed signals. First, the output signal of the functional converter of the first channel is normalized. For this, the output of the functional converter 1 is connected to the input of the smart 3 of the same channel, at another input normalizing factor. The signal f obtained in this way is fed to the input of the comparison unit, where it is compared with the reference signal. The output of the comparator is connected to one of the inputs of the multiplier 1 of the tuning circuit, which forms a normalizing factor at its output. In this case, it minimizes the average square of the signal at the output of the comparison circuit. The signal ipj satisfying this condition will be normalized, i.e. its standard deviation will be equal to one. Signal f | is the output of the first channel. The signal φ obtained in this way; then supplied to the respective inputs of the third and fourth multipliers of all subsequent channels. In the second channel, the signal from the output of the fourth multiplier 9 is fed to the input of the adder 10, to another input of which the signal comes from the output of the functional converter 1 of the second channel. The standard deviation of the sum obtained is minimized with the help of a tuning circuit forming at its output a multiplier depending on f. Under this condition, the signal at the output of the second channel adder 1 becomes orthogonal with the output signal C) of the first channel. The output of the adder 10 of the second channel is normalized similarly to the output of the function converter 1 of the first channel. The output signal f of the second multiplier 3 of the second channel is the output of the second channel. Further, the received signals (pi and f are fed to the corresponding inputs of the third and fourth multipliers 8.9 of the third channel. The output signals of the fourth multipliers 9 go to the inputs of the third channel adder 10, one of the inputs of which also supplies the signal from the output of the functional converter 1 of the same channel. The output signal of the adder with the help of two tuning chains connected by its outputs with the inputs of the corresponding multipliers of the third channel is orthogonalized with φ, and φ, and then normalized as before. and the output of the third multiplier 3 of the third channel generates a signal (p, which is the output signal of the third channel. Signals I Fl The output signal of the function transducer 1 of the fourth channel participates in the formation of the signal fd, orthogonal to Ci Fl. P. etc ., up to the signal ф,. ,, Orthogonal with the signals ф, ф, ...,. The signal ф. There is no need to normalize. It represents a mismatch that satisfies the set goal1, - the average square, is minimal: At the same time, as seen in the drawing, the functional outputs are distributors 1 of all channels participate in the formation ( in linear form. The weights of each of the basis transducers in this linear form are easily calculated from the values of the coefficients obtained on the multipliers involved in the formation of the signals φ J, φ2 .-. U + iThe proposed device allows for. to improve the accuracy and speed of identification of the object in comparison with the known device Z. This increase is especially significant with a large number of model parameters, when the outputs of its functional transducers are substantially non-orthogonal. In addition, the proposed device has broader functionality, since, firstly, the signals generated in it (C) can be used to make decisions about the minimum-body converters needed to approximate an object with a given accuracy, and, secondly, It is possible to identify objects in which the separation of monitored signals into input and output is impossible or impractical. A multi-channel device for identifying an object of control comprising an adder, a comparison unit and tt channels, each of which contains a functional converter and a first multiplier connected in series, a first filter, a first integrator and a second multiplier, and the output of the functional converter of the first channel is directly connected and through the second multiplier and unit of comparison with the inputs of the first intelligently, characterized in that, in order to increase the accuracy of the device in it o a (to +1) functional converter is installed, in each channel except the first and last, an adder and a comparison comparison, (4 -1) a third multiplier connected in series, a second filter, a second integrator and a fourth multiplier, and in the last channel (i-l) the third multiplier, the second filter, the second integrator and the fourth multiplier in each line of the output of the functional converter and the fourth multipliers in each channel are connected to the second inputs of the corresponding third multipliers in each channel, The output of the adder in all channels,, with the exception of the last, is connected directly and through the corresponding second multiplier and the unit compared to the inputs of the corresponding first multiplier, and the first input of the comparison unit of each channel is connected to the first inputs of the corresponding third and fourth multiply subsequent channels. Sources of information taken into account in the examination: 1. USSR author's certificate number 378802, cl. Q O5 B 13 / O2, 1971. 2. USSR author's certificate Ne 429415, cl. (: OB 17 / O2, 1972. 3. Theory of continuous automatic systems and identification issues, The IFAC Congress, M., Science, 1971, p. 306-310. t1 U | / aff