SU962839A1 - Apparatus for compensation for delay - Google Patents

Description

The invention relates to the automatic control of multidimensional objects with many delays in state, the parameters and values of which delays are not precisely known, and can be used in the development of automated control systems for production and technological objects.

A delay compensation device in control objects is known, in which a complete object model and a control object model without delay 1 are included in parallel with the control object.

For the operation of automatic control systems with such devices, an accurate knowledge of the model of the control object is required. How . As a rule, the parameters of the control object are not exactly known and (or) change with time. This leads to a decrease in the quality of automatic control, and in a number of cases, to a loss of stability and inoperability of the system.

The closest in terms of the achieved result to the proposed is a delay compensation device containing an adder, the first and second

delay units, a comparison unit, the output of which is connected to the input of the control object 2.

- This device is the distribution of the first device to multidimensional objects and also has low accuracy.

The purpose of the invention is to improve the accuracy of the delay compensation and the stability of the automatic control system with inaccurate knowledge and change of the parameters of the control object.

This goal is achieved by

15 that the delay compensation device contains scaling blocks, the output of the control object is connected through serially connected first and second delay blocks,

20, the first scaling unit, the adder and the second scaling unit with the input of the comparison unit and through the third scaling unit with the second input sum-mount, the output of the first delay block 25 through the fourth scaling unit is connected to the third input of the adder.

The drawing shows a structural diagram of the compensation device

30 lags.

The DEVICE contains the fourth scaling unit 1, the first scaling unit 2, the third scaling unit 3, the second scaling unit 4, the first delay unit 5, the second delay unit b, the adder 7, the comparison unit 8, the multidimensional object 9 control1 | 1I have a delay in state.

The invention provides compensation for delays in relation to the controlled variable of the next control object with delays in the state (t) (tt;) (tr) + Bo (t) + B (t) (H) y (t) С x (vt ), where x (t) is the output vector (states of the control object; U (t) is the input vector of the control object; r f (t) is the vector of disturbing influences; y (t) is the vector of controlled variables; B, B is a numerical input matrix and perturbation matrix; - numerical output matrix (CB-square. Matrix) - values of delays in the control object; AO - numerical square matrix; A, numerical square The state matrices corresponding to the first and second object delays In the absence of delays, the vector differential equation describing the dynamics of the change of the vector of controlled variables y (t), according to (1) and (2), will look like - (t; 4CBu {t C6 Ct). (B) The device works as follows, Output signal x (t) goes to block 3 and undergoes massaging. The matrix of T-reedacci (gain) coefficients of the scaling unit 3 is therefore the signal at the output of block 3 has type (A ,, + A.) x (t), Matrices of coefficients before The scaling blocks 1,2 and 4 are set equal to A, A and (CB) respectively. The delay block 5 provides a delay of t-,, and bb of f, Output signal x (t), passing through the serial connection blocks 5 and 6, is shifted in time and takes the form xit-f-,) at the output of block 5 and x (tT,) at the output of block 6. The output signals of the delay blocks x (tC) and x (t-ti) the inputs of blocks 1 and 2 are scaled.

The output of blocks 1 and 2 will be signals (t-r) and (t-t,), respectively. As a result of the summation of the output signals of blocks 1-3, performed in lock 7, at the output of block 4, a vector of signals () x (t) + (t-t) (t-f) appears. In scalable block 4, this signal is subjected to compression in accordance with the atrix (EHV. The output signal of block 4 after equalization with the control signal (t) in block 6 is fed to the input of the control object as follows: ... (i) V (t) - (cB) () x (t) (tr) + Dka-H.) f (i). In accordance with expressions (1), (2) and (4), the differential equation that determines the dynamics of the control object with respect to the vector of measured variables y (t) takes the form .A, x (tC,). A, x (tr,) (c6) (,) X (i) (tC:) + + (ir,). (5) From here | c {Ao + A,) x (t) + cBv (t) + cBf (t) ib) The expression (6) for the combination of the control object 9 and the compensation device coincides with the expression (3) in the absence of delays in the control object. The advantage of the proposed device as compared with limestone is that the system consisting of the delay compensation device and the control object is a negative feedback system (without taking into account the regulator and the main feedback t). systems to suppress parametric perturbations. Due to the described connection of functional elements, the compensation device, as a feedback device, when changing

Claims (1)

5 claims An apparatus for compensating delays comprising an adder, the first and second delay ^units; 10, a comparison unit, the output of which is connected to the input of the control object, characterized in that, in order to improve accuracy, it contains scaling units, the output 15 of the control object is connected through series-connected first, second delay units, the first scaling unit, adder and second . a scaling unit with an input 2θ of the comparison unit and through a third scaling unit with a second adder input, the output of the first delay unit through a fourth scaling unit is connected to the third 25 adder input. ..