SU894671A1 - Method of relay control of an object with second-order astigmatism - Google Patents

Description

(54) METHOD OF RELAY MANAGEMENT OF AN OBJECT WITH SECOND ORDER ASTATISM

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This invention relates to automatic control and can be used in devices for controlling an object with second-order astatism.

 A known method of relay control is based on measuring the magnitude of the output coordinate and the magnitude of the rate of change of the output coordinate, summing the signals of the measured values and controlling the object with a signal proportional to the sign of the obtained sum 1.

However, in the case of a limited linear zone of the sensors, measuring the output coordinate, the transient process according to this method is oscillatory with a long decay time.

The purpose of the invention is to improve speed.

The goal is achieved by measuring the sign of the output coordinate signal, measuring the signal magnitude proportional to the rate of change of the output coordinate at the moment of changing the sign of the output coordinate signal, reducing the received signal depending on the parameters of the actuator, storing the reduced value of the signal, summing the current value proportional to the speed changes in the output coordinate, with the stored signal and change the sign of the control signal at the moment of equality zero the amount received.

The drawing shows the phase portrait of the system, where the measured value of the rate of change of the output coordinate at the time of changing its sign; K - coefficient determined depending on the parameters of the executive body.

As can be seen from the drawing, at the initial time, a control moment is applied to the control object to eliminate the initial value of the output coordinate b (section 1-2 phase trajectory), while at the time of zeroing the output coordinate (point 2) the rate of change of the coordinate trick reaches the value b () With a change in the sign of the output coordinate, a control action is applied to the control object aimed at decreasing the output coordinate (trajectory segment 2–4). The type of phase trajectories depends on the parameters of the actuators, therefore, depending on these parameters, it is possible to determine in advance the value of the rate of change of the output coordinate at which the last change of the control sign must be made. Taking into account the aforesaid, the reduction coefficient of the memorized value of the rate of change of the output coordinate K is introduced, for the calculation of which the acceleration value is determined. the output coordinate until the last change of the control sign and the magnitude of the acceleration. +1 since the last change of control sign. For such a calculation it is also necessary to know the parameters of the executive body. The equation for determining the K coefficient is: i. when the sign of the control signal changes at point 4, the image .4 point falls at the origin of the phase plane. Thus, the proposed method allows to reduce the duration of the transition process, i.e. improve performance, therefore, reduce system power consumption. Formula of the invention. Method of relay control of an object with second-time astatism dkga, based on measuring a signal proportional to the rate of change of the output coordinate, characterized in that, to improve performance, measure the sign of the output coordinate signal, measure the signal proportional to the rate of change output coordinate at the time of changing its sign, reduce the received signal depending on the parameters of the executive body, store the reduced value of the signal, sum up the current value The signal, proportional to the rate of change of the output coordinate, with the memorized signal and changes the sign of the control signal when the sum obtained is equal to zero. Sources of information taken into account in the examination 1. Designing follow-up systems, Under. ed. L.V. Rabinovich, M., Mechanical Engineering, 1969, p. 383-389, fig. 6-38 (prototype).

Claims (1)

Yu claims The method of relay control of an object with second-order astatism, based on measuring the signal, O proportional to the rate of change of the output coordinate, characterized in that, in order to improve performance, measure the sign of the signal of the output coordinate, measure the 2Q signal proportional to the rate of change of the output coordinate at the time of change its sign, reduce the received signal depending on the parameters of the executive _{25 of the} body, remember the reduced signal value, summarize the current signal value, a portion of the rate of change of the output coordinate, with the stored signal, and change the sign of the control signal at the moment the amount obtained is equal to zero.