SU744473A1 - Identificator of exciting and controlling responses - Google Patents

Description

(54) IDENTIFIER OF THE DISTURBING AND CONTROLLING

one

The invention relates to the field of automation and can be used in experimental studies of automatic control systems and control, namely, to experimentally determine the disturbing and controlling effects applied to the objects of control and regulation, and can also be used in the organization of adaptive control during testing. x control systems and control of their technical condition.

A device is known for experimentally determining disturbing effects applied to a control object, comprising conversion elements and a comparison unit (11.,

The disadvantage of this device lies in the fact that its use is limited by the possibilities of practical implementation in systems with inertial properties and time spent on the identification of impacts.

The closest to the proposed is the identifier 2, which contains blocks of forming the difference of signals in each of the IMPACT

of which the nepBbie inputs of the first and second keys are combined, the output of the second key is connected to the first input of the memory unit, the output of the memory unit is connected to the first input of the comparison unit, the first voltage divider, the first input and output of which are connected respectively to the output of the comparison unit the first unit forming the difference of signals and the input of the second divider, the delay unit, the input of which is connected to the second input

to the first key of the first block of the formation of the DIFFERENCE signals, and the quad 2.

A disadvantage of the known identifier is that when used for

15, the determination of the applied actions takes the time from the moment of actuation of the system executive body to the point in time corresponding to the zero value of the speed of movement of the control object. With

20 small control actions this period of time can be large, which excludes the possibility of promptly solving the problem.

: L yaZh:; e1-gl

The purpose of the invention is to increase the identifier's bias.

This goal is achieved by the fact that the identifier contains a pulse generator, an indicator of the state of the executive body and a pulse distribution unit, whose input is connected to the output of the pulse generator, the first output is connected to the second inputs of the second keys of the first and second keys to form the signal difference, and the second output is with the input of the delay unit and with the second inputs of the first key and the memory block of the first and second blocks of forming the signal difference, the output of the delay block through the executive state indicator The rgan is connected to the second input of the second key and the second inputs of the first key and the memory block of the third signal difference generation unit, the openings of the first and second keys of which are connected to the output of the second voltage divider, the second input of the first voltage divider connected to the output of the comparison unit of the second block forming the difference of signals, the common inputs of the two keys of which are connected to the quad, and in each block forming the difference of the signals BTopbie the inputs of the comparison block and the memory block are connected respectively to the output th WTO eye input of the first key.

FIG. 1 shows the phase trajectory; in fig. 2 is an identifier block diagram.

The development of the identifier is based on the relationship between the desired values of the disturbing f and the control actions applied to the control object, the dynamics of which is described by the equation

(x, x)

and the values of the phase coordinates of the movement of the object: velocities x and positions. This link is reflected in phase path equations, having the form

VVтf (, fd) -V ((), (2j

where x, x, and x ", x" are the values of the position and speed of movement of the control object at two points of the phase trajectory with the actuator off.

- position values

Xj, Xj and X, X

four

and speeds of movement corresponding to two points of the phase trajectory with the actuator on.

The portions of the phase trajectories are shown in FIG. one

where OA is the part of the trajectory on which the executive body of the control object is turned off444734

of laziness and only disturbing influence f is applied to the object,

AB is the trajectory section, the executive body is connected to the koTopoM, and a disturbing and controlling influence is applied to the object J.

In the identifier, the values of x, x and i are allocated. x, x phase coordinates at points a and b in the section OA (Fig. 1).

With the selected values in the identifier, operations are performed in accordance with the formula

- 12

(h)

2 {x)

the result of which is applied to the first output of the identifier and is remembered

in the memory block of the third block forming the difference of signals. Then, in the identifier, the values of x ,, x and X., x phase coordinates at the points of the whig in the area of AB (Fig. 1). The selected values are performed on {and in accordance with the formula

 A 9

y - v

-f

2 ()

the result of which is applied to the second output of the identifier.

The identifier contains (Fig. 2) a pulse generator I, a pulse distribution unit, for example switch 2, quad 3, first, second and third blocks 4, 5 and 6 of the signal difference formation, delay block 7, first voltage divider 8, second divide -, voltage 9, status indicator 10. the executive body, the first key 11, the second key 12, the memory block 13, the block. 14 comparisons. The keys 11 and 12 and the blocks 13 and 14 are included in the composition of each of the signal difference forming units.

The pulse generator 1 is designed to generate control pulses that are distributed by the switch 2 over the identifier devices at the times corresponding to points a, b, c and d (Fig. 1). At the same time, at the points of the quince, pulses are fed from the first output of the switch 2 to the second inputs of the blocks 4 and 5 of forming the signal difference; at points b and d, pulses are fed from the second output of switch 2 to delay unit 7 and to third inputs of the signal difference generating units 4 and 5. The signal difference generating unit 4 is designed to generate signals corresponding to the difference of the values Xj-x and x.x . In block 5, signals are generated corresponding to the difference in values of and. The unit 7 1 g fcV delay-delay delays the input pulse at the time required to perform fission operations in voltage dividers 8 and 9. In indicator 10 of the state of the executive body, the pulses are distributed from block 7 to the second and third inputs of the third block 6 for forming a signal difference depending on the state of the executive body if it is off, the pulse is fed to the second input, if enabled, the third input unit 6. Voltage dividers 8 and 9 are used to perform the operations provided by formulas (3) and (4). At the output of the voltage divider 9 with a division factor of two, in the section OA, a signal is received corresponding to the desired value of the disturbing effect f. The desired value of the control action fJ is obtained at the AB section from the output of the comparator unit 14 of the signal difference generating unit 6. The identifier works as follows. In the process of moving the control object with the actuator off at the section OA at point a (Fig. 1) from switch 2, a control signal is sent to the second inputs of blocks 4 and 5 connected to the second inputs of their second keys 12, which open and through them, the values of the positions (for block 4) and the square of the velocity x (for block 5) arrive at the corresponding blocks 13 of the memory. At point b (Fig. 1), a control signal is supplied from the second output of the switch 2 to the third inputs of the blocks: 4 and 5 of the signal difference formation and to the input of the delay unit 7. At the same time, the first keys 11 of the blocks 4 and 5 form the difference Signals and values of "and x" are received through them. The second inputs of block 14 compare blocks of forming the difference of signals 4 and 5. The first inputs of block 14 of comparison receive signals previously recorded in memory blocks 1 J TL rtTm-mrl / StllTJrt Og .ILELLT | 1L fIjr V and the corresponding values of x,, and x: At the output of the block, 4 different formations Signals are generated, the signal corresponding to the difference X-Hp, at the output of the block 5 forming a difference of signals -. As a result of dividing the signals in voltage dividers 8 and 9, a signal is received at the first output of the identifier corresponding to the desired value of the disturbing action. The control pulse from the output of the delay unit 7 is applied to the second input of the signal difference generating unit 6, which opens the second key 12 of the signal difference generating unit 6 and the signal from the first 4736 input of the signal difference generating unit 6 is recorded in its memory unit 13. When the control object moves with the actuator turned on in the AB area at the points of the VIG (Fig. 1), the identifier functions in the same way. In this case, at its first output, a signal is generated corresponding to the sum of the disturbing and controlling effects. The control pulse C of the delay unit 7 through the indicator of the state of the executive body enters the third input of the signal difference generating unit 6, opens its first key 11, the signal from the first input of the signal difference forming unit 6 arrives at the second input of the comparison unit 14, and the input is a signal from the memory block 13, as a result of which the output of the comparison block 14 and the second output of the identifier generate a signal corresponding to the desired value of the control action jU. The identifier provides a determination of the disturbing and controlling effects of nonlinear systems during the time interval between points a – g of the sections OA and AB, not waiting for the time at which the value of the velocity of the object moves to zero. If necessary, the identifier can work in several consecutive pairs of points on each of the sections of OA and AB, which allows its use in operational analysis systems of the technical state of nonlinear systems and the disturbing and controlling influences applied to them. Formula of the invention invention The identifier of disturbing and controlling actions, containing signal difference generating units, in each of which the first inputs of the first and second keys are combined, the output of the second key is connected to the first input of the memory unit, the output of the memory unit is connected to the first input of the comparison unit ti, the first voltage divider, the first input and output of which are connected respectively to the output of the comparison unit of the first signal difference forming unit and the second divider, the delay unit, the input is connected to the secondary the first input of the first block of the difference generation; and a quad, distinguished by the fact that, in order to increase the speed of the identifier, it contains a pulse generator, an indicator of the state of the executing organ and a pulse distribution unit whose input is connected to the output of the pulse generator, the first output is connected with

7

the second inputs of the second keys of the first and second signal difference forming units, and the second output with the input of the delay unit and the second inputs of the first key and memory block of the first and second signal difference forming units, the output of the delay unit is connected to the second through the state indicator the input of the second key and the second inputs of the first key and the memory block of the third block forming the difference of signals, the common inputs of the first and second keys of which are connected to the output of the second voltage divider, W swarm input of the first voltage divider soeX

about

(L

44473/8

It is connected to the output of the comparison unit of the second signal formation unit, the common inputs of two keys of which are connected to the quad, and in each formation unit. signal differences second inputs of the comparator and the memory block of the connection} respectively with the output and the second input of the first key

Sources of information taken into account in expert examination Q 1. Ulanov G. M. Statistical and informational issues of perturbation control. . M., Energie, 1970, p. 161-162.

2. USSR Avtorskom certificate to the application N ° 2336266/24, cl. G 05 B 23/02, 08.10.76.

Claims (1)

Claim The identifier of disturbing and controlling actions, containing signal difference generating blocks, in each of which the first inputs of the first and second keys are combined, the output of the second key is connected to the first input of the memory block, the output of the memory block, the first voltage divider, the first input are connected to the first input of the comparison block and the output of which is connected respectively to the output of the comparison unit of the first signal difference generating unit and the input of the second divider, a delay unit whose input is connected to the second input of the first switch and the first block for generating the signal difference, and a quadrator, which, in order to increase the speed of the identifier, it contains a pulse generator, an indicator of the state of the executive body and a pulse distribution unit, the input of which is connected to the output of the pulse generator, the first output is connected to , ... ..........._........... the second inputs of the second keys of the first and second blocks of the formation of the signal difference, and the second output with the input of the delay unit and with the second inputs of the first key and the memory block of the first and second blocks of the formation of the signal difference, the output of the delay unit through the status indicator of the actuator is connected to the second input of the second the key and the second inputs of the first key and the memory unit of the third signal difference generating unit, the common inputs of the first and second keys of which are connected to the output of the second voltage divider, second the first input of the first voltage divider soe744473 '/ 8 is dined with the output of the comparison unit of the second signal difference generating unit, the common inputs of the two keys of which are connected to the quadrator, and in each block of the 5 signal difference generation, the second inputs of the comparison unit and the memory unit are connected respectively to the output and the second first key input