SU964573A2 - Object control device - Google Patents

Description

(S) METHOD OF MANAGEMENT OF AN OBJECT

.1 The invention relates to automatic control and regulation and may find application in the development of control systems.

According to the main author. St. No. 703733 is known a method according to which the error signal is remembered when the linear combination of the error signal is equal to zero and: the error rate is varied using a constant control signal whose sign coincides with the sign of the difference between the error signal and the specified portion of the stored one. the error signal corresponding to the discrepancy at the initial moment 1. .

The disadvantage of this method lies in the loss of the maximum speed of the system in the presence of a limitation; ,

 „H

maximum allowable speed of the object, as the premature interruption of the mode of maintaining the specified maximum speed of the object.

2

Inverting the control signal leads to repeated repetitions of acceleration operations up to a given speed, maintaining a given speed and deceleration, and how. consequence, to an increase in the time of working out the system of initial mismatch.

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

The goal is achieved. According to the object control method, the difference between the current and memorized error signals is calculated until the object reaches the specified maximum speed, the difference is memorized at that point, and the specified speed is maintained from the specified moment to the equal difference signal. . The use of new operations allows to determine the duration: the interval in which the mode of maintaining a given speed must be continuously maintained. The beginning of the interval is determined by the moment when the specified speed is reached, and the end of the interval is determined by the trajectory of the image point in the phase portrait of the motion of the object, leading it to the origin. Due to the fact that for a sufficiently large class: of objects there is a practical symmetry of the trajectories with different signs of the control signal, the beginning and end of the mode of maintaining a given speed is determined by the increment of the mismatch traveled by the object until it reaches the specified speed. As an example, consider the control object described by equation x U, where X is the second time derivative of the mismatch; U is the control action, taking the values ±. ESPI at some time point t tQ, which we take as the initial one, we have the initial XQ mismatch and XQ speed ,. In general, the linear combination of the error signal and its rate of change is not zero. In this case, the mismatch signal Xe XQ corresponding to the initial one is stored and applied to the object a control action equal to U -UpSign (x-оСх., Where sign (f) is the operation of marking the expression sign in brackets; the error signal at time t ; setting parameter; memorized alignment ramp signal. Under the action of the control signal, the object is set in motion, and the difference between the current and memorized mismatch signals of the match X - Xddo of the moment is calculated when the speed of the object reaches the specified maximum values. At this time, the difference is memorized and the control device is put into the mode of maintaining the object's specified speed, for example, resetting the control signal. In the process of maintaining the speed, the current error signal is compared with the memorized difference and at the same time X d turn off the mode of maintaining the set speed and again apply the control action U "UoSrign (x -otxjX) In the control process, the condition of equality to zero of the specified linear combination can be satisfied. In this case, the memorized mismatch signal is corrected by memorizing the current mismatch corresponding to the instant of vanishing of the indicated linear combination. With the appropriate choice of the oL setting parameter, the control system moves the object from the initial position Xp, Xd to the position in the shortest time. In FIG. Figure 1 shows a typical phase portrait of motion (tg is the initial moment of time; the time of activation of the mode of maintaining a given velocity; the time of reaching the origin); in FIG. 2 shows an exemplary embodiment of the proposed method in an object control system. The signal about the movement of the object 1 is generated in the sensor 2 and enters the adder 3, to the second input of which a signal is sent that corresponds to the desired position of the object 1. The received error signal enters the amplifier, adders 5-7 differentiating filter 8 and through a controllable key 9 8 memory 10. The signal from differentiating filter 8 is amplified in amplifier 11 and added in adder 12 with output signal k, the sum signal goes to the null organ t3, the output of which controls the state the control key 9. The signal from the storage device 10 enters the amplifier AND and the adder 6. The signal from the amplifier 14 in the adder 5 is summed with the error signal and enters the signal sump 15, where the control is generated. signal. This signal through the controlled key 16 is fed to the object 1. The signal from the differentiating filter 8 enters the threshold device 17, where the current velocity value

the variation of the error is compared with the allowable one, and a signal is generated for the control system to enter the mode of maintaining the specified speed of movement. This signal breaks the control signal supply circuit by changing the state of the control keys 16 and 18, as a result of which the difference between the current mismatch and the memorized mismatch stored by the object 10 is stored in the memory 19. 1 set speed. In the null organ 20, a signal is generated to close the control signal passage circuit to the object 1 when the condition of equality of the memorized difference in the memory device 19 is satisfied, with the error value

Experimental verification shows that, in comparison with the known technical solution, the pre-optic method provides an increase in

The operating speed of the control system with a predetermined-maximal speed of an object moves by an average of 30%.

Claims (1)

1. USSR author's certificate "703773, cl. G 05 B 11/00, 1976 (prototype) .. FIG. . . ;; - -inHtiitf: h