SU690442A1 - Variable-structure discrete regulator - Google Patents

Description

(54) DISCRETE REGULATOR WITH VARIABLE STRUCTURE

The device refers to discrete automatic control devices. Known regulators with variable structure, which allow for. object on the line with the slide; subsequent stabilization relative to this line to the beginning of coordinates 1}. However, the accuracy and reliability of such controllers are inadequate. The closest in technical essence to the invention is a device (2, which contains a serially connected coordinate measurement unit, the first driver of switching functions, a logic device, and an analog controller, the output of which is connected to the input of the control object, the output of which is connected to the input of the unit for measuring the coordinates. Such a device operates in an oscillatory mode relative to the line of the Shrinkage using High frequency, which reduces the reliability of the control device and the accuracy of its operation. The aim of the invention is to improve the accuracy and reliability of the controller. This goal is achieved by the fact that the proposed peiryjriHTOp with the second and third switching function generators and the serially connected converter The control module is controlled by the output, the output of which is connected to the second input of the control object, and the second input to the second output of the logical device. The inputs of the second driver are the switching functions, the driver of the switching functions and the converter; the CAM is -1Ksch with the ®IIA output of the coordinate meter, and the outputs with the corresponding inputs of the logic device. FIG. Figure 1 shows the 1g6Sch7Dyo control block diagram of the coordinate measurement unit 1, the first 2 and the second 3 and the third 4 form the switching functions, the logic device 5 for determining the position of the image of the point on the phase coordinate plane, the analogue controller 6 (coarse channel), the object control 7, aa converter, a log code 8 and a control action calculator 9.

Fig. 2 shows a phase pad, which shows the control using a variable controller.

From the measurement unit of coordinates 1, signals proportional to the coordinate Xj and the velocity Xj of the object are taken. These signals are sent to shapers 2,3,4, which allow to determine the position of the object in the phase space relative to the three lines (Fig. 2) defined by the slope coefficients entered into shapers 2-4. If the object is in the region outside the lines So and S, then the coarse channel works, if the object is in the region Sg and Sj, then the exact channel is activated.

The task of the lines is made by solving the equations S, Xj + D, Sj Xj + A, x,; So X, + ei, K. (one)

Channel switching is performed by logic device 5. The exact channel includes an analog-to-code converter 8 and a control action calculator 9, which produces a control effect, which through an operation cycle leads the object to the Si line from the space bounded by the So and Sjj lines, or lines on the same line, but with a good tact closer to the origin, i.e. the object is stabilized with respect to the lines S, the slope of which can be chosen anyway. .

The control action is formed in the following way. On the x-axis, the reference coordinate is selected and the control action is calculated, and, c, leading the object from the reference coordinate to the line Sj through the operation cycle. Taking into account, the slope of the line selects the reference coordinate x, (kx, op) and likewise calculate the control action that leads the object through the work cycle to the line S.,. The total control action is formed by summing the two control actions U- and Ux, which leads the object from the region bounded by the lines So and Sj. To the slip line Si. The control action is formed according to the following relationship:

13

Xii,

Vf +

and hchop t

Since the coefficients: x, „; x uj. constant, the control effects calculator determines the value, taking into account the analytical expression

and Kjx, i +,

to -. k - i

Where

  H.lp X, op

 - -; - "

ton - Xjon

The proposed device allows control of an object without

o switch in the area of the slip line. This improves the accuracy and quality of control of objects whose dynamics are described by second-order differential equations.

The technical and economic efficiency of the invention is to increase the reliability of the controller.

Claims (2)

1. Author's certificate .№ 165492, cl. G 05 B P / 07, 1968. 2.Emel Nov.V. Automatic control system with variable structure, M., 1967., p. 312. &but