SU824140A2 - Optimum control system - Google Patents

Description

one

The invention relates to systems for the automatic control of chemical-technological processes and apparatus, metal-locking machines, etc.

According to the main auth. # 618721 of. Optimal control systems, qi, containing latches, keys, comparison circuits, amplifiers, non-linear converters, adder, inverters, coincidence circuits, one-shot, trigger and reset circuit

In these systems, an optimal control law is implemented for both, constant and time-varying driving forces, and control actions are formed based on current information about the state of the object, which prevents their use to optimize processes with a consequence of transport delay in the coordinates of the object) .

Closest to the proposed technical entity is an optimal control system containing a master, serially connected second counter, code rewriting block and first counter, to the first input of which a clock generator is connected, and a decoder whose output is connected to the first input of the block. And the first inputs of the elements And the second inputs of which are connected to the corresponding outputs of the inverter, and the outputs from the corresponding inputs of the trigger, the object whose output is connected to the second th entry model of the control unit,

0 trick KOTcqjoro connected to the respective inputs of the object, and the outputs of the first and second function converters connected in series, relay unit,

5 input of which is connected to the output of the second functional Converter, and the output to the input of the inverter and the third input of the object model, the output of the decoders is connected to the input

0 clock generator, the second input of the rewriting code and the first entry of the second counter, - the second one of which is connected to the second input of the first counter, -.the third

5 of which is connected to the output of the block, rewriting the code and the input of the setter; the output of which is connected to the second input of the first functional converter, the third input of which is connected to the output of the CG object model |

0 However, the known system does not provide the required static and dynamic accuracy in the presence of a pure time delay in the coordinates of the object. The purpose of the invention is to improve the accuracy of the optimal control system. The goal is achieved by the fact that a key, a third counter, a third functional converter and a second decoder are installed in the system, the trigger output being connected to the object's input via a key, the second input of which is connected to the second counter's output through the second decoder, the second object output is connected to the third the input of the model control unit through the third functional converter, the second input of which is connected. It is not connected with the second input of the dial, the fourth input of the first counter, the third input of the second counter and the output of the third counter. Pa drawing shows a block diagram of the proposed system. The system contains the first and second counters 1 and 2, block 3 of code rewriting, first decoder 4, clock generator 5, first and second elements b and 7, model control block 8, object 9, object model 10, first and second functional converters 11 and 12, relay block 13, inverter 14, trigger 15 setpoint 16, dynamic links 17 and 18 of the object, dynamic links 19 and 20 of the model, third counter 21, third functional converter 22, second decoder 23, key 24, unit 25 forming time intervals, block 26 forming a control signal , Code record entry 27 in the interval optimization interval. 6, t}, the input 28 of the code entry of the delay time value Q, the input 29 of the recording of a given program function f (t The system works as follows: In counter 2, working on subtracting from the pulses of the decoder 4, input 27 of the code entry, the number corresponding to the length of the fixed interval 0, T, which is reduced by the counter 21 to the delay Q. Similarly, the same number is entered into the counter 1, working on subtracting from the generator 5 clock pulses. At the same time, there is a shift by the amount of time late Q is the value of the function f (t) in the setpoint 16 and the coordinate (t) in the functional converter 22 is prevented by a value, Q. by converting the initial function tf (t) for the variable x, 3 (t) of the object specified in time J | 6, TJ. (If time is needed for this, then it is prepared for the entire system, i.e., all the units work except for the reader 21 and the functional converter 22). Later, when the object is operated, the functional converter 22 organizes the pre-empted values of the X; j (t) coorinates of object 9 for a time comparing them with the current and meanings and. The signal appearing at the output of the decoder 4 fixes the end of the inerval of the operation time of the fast tool of the object 10 and by means of the model control unit 8 sets zero initial conditions on the functional converters 12 and 11, as well as the corresponding initial conditions on the dynamic links 19 and 20 of the model, which are determined by the current state of the dynamic link 17 and the functional converter 22. At the same time, the sigal from the output of the decoder 4 interrupts the arrival of clock pulses from the generator 5 clock pulses into Meters withstand 1 and code rewriting unit 3 transfers the code counter 2, shortened by one cycle in the counter 1 and the process is repeated to solve shortened by one clock time interval. . The functional transducer 22, configured in an operational amplifier, is a dynamic link that structurally repeats the functional link. 18 objects, but without delay Q. Functional converters C and 12 are dynamic first-order links made on operational amplifiers, structurally repeating object 9 without delay and operating in an accelerated time with respect to object 9. Converters 11 and 12, relay block 13 and inverter 14 implement the optimal algorithm for controlling an object of this class based on the maximum principle. Optimal effects on object 9 are formed by logic 4 elements 6 and 7, trigger 15. At the end of the next interval of the fast model, those. at the time of the occurrence of the signal at the output of the decoder 4, and is maintained as such until the end of the next-solution interval following it. The transfer of control to the object 9 from the trigger 15 is carried out by means of the key 24, which is controlled by the decoder 23 zero and disables the control from the Object 9 at the final moment of time. The controlled setting unit 16 repeatedly generates a signal f corresponding to the program function f (t) inputted at input 29 in the fast model decision interval, which is determined by rewriting unit 3.

Optimal software control of the object with aftereffect can be ensured, starting from the time moment Q and to the end of the interval T.

The proposed device allows direct, without preliminary calculation, optimal control of a second-order object with aftereffect. With an arbitrary task of the motion program, to increase the static and dynamic accuracy of the master health exercises by an average of 20%, to exclude the possibility of self-oscillations mode.

Claims (1)

1. USSR author's certificate No. 341013 ,, class. G 05 B 17/02, 1973. 2 i USSR Author's Certificate No. 171671, cl. G 05 G 7/36, 20L1.62. 20 3. USSR author's certificate: №618721, cl. G 05 13/02, 16.02.76 (prototype).,. .