SU802923A1 - Self-adjusting control of intertial object - Google Patents

Description

one

The invention relates to the field of self-adjusting automatic control systems and is intended to stabilize inertial objects mounted on a movable base.

Self-adjusting systems are known, to improve the accuracy of which the self-tuning circuits of the compensating signals 1 and (2J.

Of the known systems, a self-adjusting control system comprising a feedback unit, the input of which is connected to the output of the control object, and the input to the first input of the controller and the first input of the first multiplier, the disturbance sensor, input which is connected to the first input of the control object, and the output to the second input of the first multiplier and the first input of the second multiplier, the second input of which is connected to the output of the first integrator, and the output to the second input regulator, whose output is connected to the second input of the control object 3.

The aim of the invention is to increase the speed of the system.

This is achieved by installing a serially connected null organ, a second integrator and a relay unit, the output of which is connected to the first input of the first integrator, the second input of which is connected to the output of the first multiplier through the null organ.

FIG. 1 is a block diagram of the system; in fig. 2 - oscillograms of the system during non-compensation; in fig. 3 - oscillograms of system operation during overcompensation.

The block diagram contains regulator 1, control object 2, feedback unit 3, disturbance sensor 4, first and second multipliers 5 and 6, null organ 7, first and second integrators 8 and 9, relay unit 10, integrating element 11, the summing element 12, is a disturbing effect,

Ua is the signal at the output of the feedback unit, 1 / Y is the signal at the input of a null organ.

The system works as follows.

Regulator 1 provides stabilization of control object 2 in space. Control object output

2 through the feedback unit 3 is connected to the input of the controller 1. The output signal of the feedback unit

3 is also available on. the first input of the first multiplier 5, the second input of which receives a signal proportional to the disturbing influence from the sensor 4 of the disturbing influence 4. The sign of the signal at the output of the first multiplier 5 depends on the signs of the signals of these blocks. With the same polarity of the input signals, which corresponds to the over-compensation mode, the output is multiplied by A. The body 5 is the voltage of one character (for example, positive). With the opposite polarity of the input signals, which is the case with overcompensation, the output of the multiplier 5 is a voltage of another sign (for example, negative). The voltage from the output of the first multiplier 5 is fed to the input of the zero-body 7, the output of which produces signals of the same level, but of different signs, which are determined by the sign of the output signal of the first multiplier 5. The output voltage of the zero-body 7 is a series of pulses voltages that do not depend on the amplitude of the values of the adjustable coordinate and the zozm / scaling effect. The fill factor of the output pulses of the zero-organ 7 depends on the level of compensation caused by the impact, and with full compensation it is close to 0.5. Under undercompensation, the fill factor increases, while under overcompensation, the duration of the disturbing action and output signals of the feedback block 4 of the null body is shown in Figs 2 and 3. The signal from the output of the zero body 7 through the summed element 12 is fed to input of the integrating element 11. The voltage to the output of the integrating element 11 is proportional to the expected signal at its input and, thus, does not depend on the frequency and amplitude of the disturbing influence and the magnitude of the controlled coordinates s. .

To increase the speed of the system at the beginning of the movement, it is equipped with a relay unit 10 with a dead zone and a second integrator 9, whose speed

significantly higher than the first integrator 8. When the output signal of the integrator 9 exceeds the dead zone of the relay unit 10, the output of the latter appears to be a high level signal of one or another character, which through the adder summing element 12 enters the input of the integrating element 11 and causes a rapid change its output voltage. This leads to the rapid achievement of the full compensation mode of the disturbing action.

Thus, the performance of the proposed system is 30% higher than the known.

Claims (3)

1. Susvalov L, F Self-adjusting systems1 and in ship automation. L. | Shipbuilding, 1966, with. b, " 2. Modern methods of design of automatic control systems, ed. B.I., Petrova. --M.j Mechanical Engineering, 196.7, p. 63. 3. Handbook, Self-Tuning Systems, edited by P.I. Chinaeva, Kiev, naukova Dumka 1969, p. 342-346 (prototype). / f phage. / and. Fi.2 Ogosm and. H uz.3