SU954933A1 - Adjustment system - Google Patents

Description

(54) REGULATION SYSTEM

one

The invention relates to systems with a modified control structure and can be widely used in controlling dynamic control objects, for example, aircraft, with restrictions on the phase coordinates of the system.

A known control system for inertial objects while limiting the control action contains, according to JQ, therefore, a connected converter amplifier and an actuator with a nonlinear characteristic such as saturation, the output of which is connected to the input of the control object, the output of which is connected to one of the inputs of the converter amplifier, and in series a connected signal conditioner, an error differentiator, a summing amplifier and a trigger, the output of which is connected to the 20th second input of the executive op where the inputs of the converter transformer are connected to the corresponding error signal Ij,

The disadvantage of the known system is low stability and speed.

Known control system, contents. driving serially connected sensor of an adjustable parameter, speed controller, comparator unit, current controller, power converter and executive motor, the first output of which is connected to the sensor of the adjustable parameter, and the second - with the second input of the comparator unit 2J,

A disadvantage of the known system is its low accuracy.

Of the known systems, the closest to the technical essence is the control system, which contains the sensor of the adjustable parameter, the output of which is connected to the output of the control object, and the output to the calculator of the current value of the objective function, the output of which through the logic device is connected to the control input of the switch the inputs of which are connected to the outputs of the respective sources of constant voltage, the output of which through the integrator is connected to one of the inputs of the adder, the other input of which is It is connected to the output of the control object, and the output through the control signal generator to the input of the control object, and any function can be used as a function of the circuit, including a single g. A disadvantage of the known system is its low accuracy and speed. The circuit of the invention is the expansion of the area of stability and an increase in the accuracy and speed of the system. The goal is achieved by the fact that the control system containing a logic unit, the input of which is connected to the first output of the control object, and the output is connected to the control input of the switch, the first and second signal inputs of which are connected to the outputs of the first and second constant voltage sources, respectively. and the output is to the first input of the control signal form, the output of which is connected to the input. object of control, additionally introduced the first and second blocks of variable coefficients, the signal, the left inputs of which are connected respectively with the first and second outputs of the object of control, the control inputs with the output of the logic block, and the outputs respectively of the second and third controls signal generator. ,, FIG. Figure 1 shows the static characteristic of a nonlinear element, with saturation of the control signal, or the object of control of the system, which is part of the former; in fig. 2 - general functional system diagram; in fig. 3 is one of the possible particular cases of the implementation of the general functional scheme of the system. The control system contains a dynamic control object 1, a control signal generator 2, a sensor unit 3, the first 4 and second 5 blocks of variable coefficients switch 6 differentiator 7, logic block 8, switch 9, first lO and second 11 constant voltage sources, object 12 control, amplifier 13 and 14. Also denoted by X - measuring signals (phase coordinates of the system), Y - signal of the task, P - signal of the emissivity, U - signal of the control, ilx,) SHOCK signal of the element with saturation, - the saturation threshold, YQ - threshold values, fa zovoy coordinates at which the non-linear element enters the area of the list. Consider the characteristics of the most social units of the system. The equations of motion of a dynamic control object 1 taking into account the limitation of the phase coordinate, i.e. taking into account the alice of a nonlinear element with saturation, they have the form --P (xU), de X (X, .. ,, Xf,) is the vector of phase coordinate signals, the measured sensor blocks 3 of the motion parameters of the control object 1 and the executive body of the object 1 ; U is the control signal of the dynamic control object 1, the vector functions P () (, U) in the function of the form i (x), taking into account the limitation of the phase coordinate signal (see Fig. 1). f-O. ,, 40, X Cho, (2) where XQI is the threshold value of the phase coordinate signals Q is the saturation threshold of the nonlinear element. Presented in FIG. 2, the control object 12 includes the actuator, the sensor unit 3 and, in fact, the dynamic control object 1. This control object 1 (see FIG. 2) has two groups of outputs, the first of which is a set of outputs on which form signals of limited phase coordinates, and the second - unlimited. Control signal generator 2 generates a control signal U of the form k, X, f.,. F nXnVV, IXiUXa,, +, .., Xij + Y, | xj Xa, where the values and signs of the coefficients K,., K, K,,, ., K (. Depend on the parameters of the object of regulation 1 and other blocks that are part of the fixed part of the system. The first and second blocks of variable coefficients 4 and 5 have discretely variable gain factors, and the number of adjustable usi coefficients is Len the block is determined in accordance with the expression. s ... s, ls ;,, VN) N 1. - the total number of measured phase-coordinate signals; N is the number of phase coordinate signals per variable coefficient block. Logic block 8 fixes the output of the corresponding phase coordinate signal of a number of signals to a number of coordinates to restrict and, depending on the situation, generates commands to change the gain factors of blocks 4 and 5 and to install switch 9 to the position that connects to its output the necessary signal of a constant voltage of the corresponding size and sign. Sources 10 and 11 of positive and negative DC voltages, which generate DC voltages, the number and magnitude of which is determined by the full set of possible situations for the output of the phase coordinate signals to be clipped. The magnitudes and signs of constant stresses are determined by the term (4) X. The number of installed constant signals at each source is equal to M-C + ... C, The outputs of the 3 sensor block of the phase coordinate signals of the dynamic control object 1, which are not limited, are connected to the inputs of the second block 5 of variable coefficients, and the phase coordinate sensor block having restrictions, are connected to the inputs of the first blessing and variable coefficients and the corresponding inputs of logic bpok 8 whose output is connected to the control inputs of blocks 4 and 5 and to the control input of the switch y device 9, two groups of inputs of which are connected to the corresponding outputs of the sources of positive 1O and negative 11 DC voltages, and the output to the first input of the control signal generator 2. You output the block 4 is connected to the second input of the control signal generator 2, and the output of the block 5 - with the third input of the control signal generator 2. The system (FIG. 2) operates as follows. If the signals of the phase coordinates subject to the restriction have not reached the values of the restrictions, then the control signal of the object 12, in accordance with expression (3), is formed by adding feedback signals from the outputs of the blocks of variable coefficients 4 and 5. At the same time, the values of the gain factors of blocks 4 and 5 correspond to the initial value of the signal at the output of logic block 8, K (Lutator 9 is in the zero position, and, consequently, there is no voltage at its output. When a signal reaches its phase coordinate The limiting value in logic unit 8 is captured by the achievement of this signal by the limiting value and a command is generated to connect the corresponding constant voltage by means of switch 9 to the input of the control signal generator 2 and simultaneously to the corresponding change in the gain factors of blocks 4 and 5. Constant voltage, supplied from source 10 (or 11) with the help of switch 9, the choice of a positive Yu or negative 11 voltage source and the magnitude of the gain factors of blocks 4 and 5 are determined according to expression (4). Subsequent achievements of the signals of other phase coordinates of the constraint values are fixed in logic block 8, the output of which produces a control signal corresponding to a particular situation, according to which f changes the values of the feedback signals of the system in accordance with the expression (4) by a corresponding change in the gains in blocks 4 and 5 and the magnitude of the voltage. The coefficients K ...) are determined by the type of specific situation. The system (4mg. 3) works as follows. If the signal of the rate of change of the control signal does not reach the limit value, then the signal value at the output of the differentiator of the device 7 is less than the dead zone of the logical block 8. Therefore, there is no signal at the output of the logic block 8. In this case, the three-position switch 9 and the two-position switch 6 79 are in the initial position, in which the outputs of the sensor 3 sensors are connected to the input of the control signal 2 by means of amplifiers 13, and the output signal of the three-position switch 9 is absent. This corresponds to the expression (3), where the coefficients ili -; (; .. Hz gain in amplifier 13 are chosen to be equal to the corresponding phase coordinate signals. When the signal reaches the rate of change of the control signal, the limit value at the output of the logical block 8 of the dead zone type A signal appears that switches 6 and 9 operate. In accordance with expression (4), the magnitude of the feedback signals changes by connecting the output of switch 6 to the output of high signal 14. The coefficient value s gain amplifier 14 is determined in Equation 4) In addition, an additional signal from one of the sources shaper control signal input 2 is applied DC voltage 10 (or 11), depending on specific conditions. Moreover, the value and sign of the DC voltage at the output of the switch 9 are determined from the expression (4). The indicated extremes of the proposed technical solution make it possible to achieve an expansion of the stability region of the system by about 30%, an increase in its accuracy by about 25%, and an increase in the speed of operation.

Claims (3)

Fig.1 8 33 4% compared with the base simerno on the topic. The invention The regulating system containing a logic unit, the input of which is connected to the first output of the control object, and the output - to the control input of the switch, the first and second signal inputs of which are connected to the outputs of the first and second constant voltage sources, and the first input of the control signal generator, the output of which is connected to the input of the control object, characterized in that, in order to expand the area of stability and increase the accuracy and speed of the system, it is further mounted the first and second blocks of variable coefficients, signal inputs of which are respectively connected to first and second outputs control object, control inputs - with the output logic block, and outputs, respectively with the second and third input of the control signal. Sources of information taken into account in the examination 1. USSR author's certificate number 334551, cl. Q 05 B 13 / O2, 1971. 2. USSR author's certificate number 754360, cl. Q 05 B 13 / O2, 1977. 3. USSR author's certificate number 557349, cl. G 05 B 11 / O1, 1975 (prototype). AND uz.i.