WO1991015814A1 - Verfahren und schaltungsanordnung zur frequenzgangkorrektur eines signals und/oder zur beeinflussung von störgrössen in einem regelkreis - Google Patents
Verfahren und schaltungsanordnung zur frequenzgangkorrektur eines signals und/oder zur beeinflussung von störgrössen in einem regelkreis Download PDFInfo
- Publication number
- WO1991015814A1 WO1991015814A1 PCT/DE1991/000308 DE9100308W WO9115814A1 WO 1991015814 A1 WO1991015814 A1 WO 1991015814A1 DE 9100308 W DE9100308 W DE 9100308W WO 9115814 A1 WO9115814 A1 WO 9115814A1
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- WO
- WIPO (PCT)
- Prior art keywords
- signal
- transmission
- circuit
- time constant
- delay
- Prior art date
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
Definitions
- the invention relates to a method and a circuit arrangement for frequency response correction of a signal and / or for influencing disturbance variables in a control circuit with a measurement signal formed by a measuring device and acted upon by a reference variable.
- the invention can be used universally, for example in measurement and control technology in the chemical industry, in the glass industry, in power plant technology and in research.
- An electrical circuit for eliminating fanned vibration components is known (DE-OS 2216111).
- This technical solution is based on an oscillation equation (2nd order differential equation), which serves to characterize PT2 (VZ2) transmission elements, and an analog computer circuit.
- the analog computer is essentially based on differentiating or integrating circuits.
- the drifting ability of the circuit parameters and, as a result, a non-optimal dynamic improvement or vibration elimination are to be mentioned as disadvantageous.
- the technical solution presented can only be used on systems of the above-mentioned characteristic and not, for example, on systems of a higher order.
- a delay compensation circuit for compensating the dynamic error of scanning devices has become known (DE-OS 2715738).
- the different time delays of the scanning devices, with the aid of differentiating, subtracting and adding circuits and a processing unit, are exploited to such an extent that the dynamic error can be compensated for.
- a disadvantage here is the limitation of use to 1st order transmission elements and the need for an additional second scanning device. Methods are also known which implement frequency response correction with the aid of special extrapolation methods. This method has the disadvantage of a relatively high computing effort.
- Control loop structures are known to compensate for the effects of the disturbance variables acting on the controlled variable due to the inertia of the control loop and not the disturbance variables themselves. This does not lead to the desired success of the fast and complete
- the aim of the invention is a mini ization of the dynamic error of transmission elements or frequency responses and with simple means to perform an optimal disturbance compensation and thus to achieve a more effective measurement and control technology in its effects on research and production.
- the technical object of the invention is that the dynamic error of any transmission elements with delay n-th order is compensated exactly and drift-free, with no additional scanning devices or sensors used and each individual transmission behavior should be provided selectively for scanning devices with mixed transmission characteristics.
- the invention is furthermore based on the object of creating a dynamic control loop which compensates for the disturbance variables which occur with almost immediate effect at the controlled system output and also switches through existing reference variable changes with immediate effect at the controlled system output, the detection of additional state variables not being necessary.
- the parameters are corrected by means of parameter adjustment and thus the parameters set are updated.
- the measuring signal of the controlled variable is converted into a delay-free proportional signal after a fifth summing point, a difference signal is formed with the signal of the reference variable in a first summing point and a controller for disturbance variable compensation is switched on so that the proportional signal which is delay-free with respect to the measuring device converted into an inertia-free proportional signal with respect to the controlled system and all interference signals acting on the controlled variable are converted into a feed disturbance signal and a second summing point is switched on, so that the signal of the reference variable is also switched to the second summing point, a dynamically corrected signal of the control deviation and by adaptation as well as activation of a signal (improved signal) which improves the management and load disturbance transmission behavior, that the improved signal and the signal are adapted / optimized to the command variable as correcting signals, the second summing point and its output signal are algorithmically optimized, and the output signal of the controller is switched to a third summing point, that the signal of the controller is switched to a third summing point,
- Fig. 1 The overview of the circuit arrangement for the dynamic correction of the transmission behavior of the transmission system to be corrected.
- Fig. 2 The principle of the delay compensation circuit with differentiators and multipliers.
- Fig. 3 The basic circuit diagram of the delay compensation circuit with negative feedback güed.
- Fig. 4 The basic circuit of the transfer position with differential transmission element and with 1st order delay element.
- 5 The basic circuit diagram of the transfer circuit with a second-order delay element and a differential transmission element.
- Fig. 6 The basic circuit diagrams of the selection circuit with transfer elements corresponding to the individual transmission behavior.
- Fig. 7 The basic circuit diagram of the selection circuit with a transfer element and a summing point.
- Fig. 8 The basic circuit diagrams of the selection circuit with transfer structure and score points.
- Fig. 9 The block diagram of the dynamic control loop for highly dynamic transmission systems.
- Fig. 10 The block diagram of the dynamic control loop for highly dynamic transmission systems.
- Fig. 11 The block diagram of the dynamic control loop for simplified dynamic transmission systems. The method for the dynamic correction of the transmission behavior of transmission elements and for the generation of any transmission behavior with simultaneous selection of the
- the parameter correction circuit 6 is arranged for parameter tracking. This parameter correction circuit 6 uses the input signals, the output signals and the intermediate signals of the delay compensation circuit 2, the transfer circuit 3 or the extended transfer circuit 4 and the selection circuit 5 to determine the current parameters.
- the delay compensation circuit 2 eliminates the dynamic error caused by time delays of the nth order of the transmission element 1 to be corrected (FIG. 1).
- the output signal of the delay compensation circuit 2 is generated such that a sum consisting of the products of the respective kth time constant high k is added to the input signal
- (Different decorative elements) 8 of the input signal is formed.
- the time constants can be found in the differential equation of the transmission element 1 to be corrected.
- the output signal Fa (p) of the delay compensation circuit 2 (Fig. 3) is generated by the input signal Fe (p) over the Transmission link 12 is fed with negative feedback 13.
- This transmission element 12 has a forward gain of almost infinity and the negative feedback circuit 13 has a transmission behavior identical to the time delay of the transmission element 1 to be corrected.
- the transfer circuit 3 (FIG. 1) is used to generate a desired output transmission behavior from the transmission behavior present at the input, for example a P transmission behavior is to be generated from a PD transmission behavior.
- the transfer circuit 3 serves to transfer an I transfer behavior into a P transfer behavior; To do this, it is necessary to route the incoming signal via a D transmission element and then to multiply it by the integral time constant. the transfer of a D transmission behavior into a P transmission behavior; the incoming signal is passed through an I-transfer link and then multiplied by the reciprocal value of the DifferentLalzeitkonstanten.
- the transfer circuit 3 (FIG. 4) transfers a PI transmission behavior into a P transmission behavior; in this case the incoming signal is routed via a Tl transmission element 14 with the time constant equal to the integral time constant and furthermore via the transmission element 8 with differential behavior and via the integral time constant multiplier module 15.
- the transfer circuit (FIG. 5) serves to transfer a PID transmission behavior into a P transmission behavior; the incoming signal is routed via the T2 transmission element 16 with the time constant sum equal to the integral time constant and the time constant product equal to the product of the integral and differential time constant and continues via the Transfer element 8 passed with differential behavior and passed through the integral time constant multiplier 15.
- the transfer circuit 3 serves to transform any transmission behavior. This generates its output signal Fa (p) by passing the input signal Fe (p) over the transmission element 12 with negative feedback 13.
- This transmission element has a forward gain of almost infinity and a feedback transmission behavior characterized by the quotient of the transmission behavior Fe (p) present at the input of the transmission element with negative feedback and the transmission behavior Fa (p) desired at the output of the transmission element with negative feedback.
- the extended transfer circuit 4 (FIG. 1) is used to eliminate the dynamic error caused by time delays n-th order of the transmission element 1 to be corrected and to generate a desired transmission behavior from those present at the input of the transmission element with negative feedback
- Transmission behavior For example, if a P transmission behavior is to be generated from a PDTn transmission behavior, the output signal Fa (p) of the extended transfer circuit 4 (FIG. 3) is formed by passing the input signal Fe (p) over the transmission element 12 with negative feedback 13 .
- This transmission element 12 has a forward gain of almost infinity and the negative feedback 13 has a transmission behavior Fa (p) desired by the quotient of the transmission behavior Fe (p) present at the input of the transmission element 12 with negative feedback 13 and the transmission behavior Fa (p ) characterized feedback transmission behavior.
- the selection circuit 5 has the selective provision of the individual transmission behavior Fa (p) l; Fa (p) 2; Fa (p) 3; . . . ; Fa (p) m (Fig. 6-8) to the task.
- the selection module 5 uses transfer transfer elements 17; 18; 19 in number as individual transmission behavior Fa (p) l; Fa (p) 2; Fa (p) m are to be selected.
- Each transfer link 17; 18; 19 transforms the input transmission behavior Fe (p) into the desired (to be selected) individual transmission behavior Fa (p) l; Fa (p) 2; Fa (p) m. It is also possible for individual
- the selection circuit 5 (FIG. 7) is intended to select the Fa (p) l; Fa (p) 2 existing
- the input transmission behavior Fe (p) is transformed into a desired individual transmission behavior Fa (p) l by means of the transfer transmission element 17, so that a selected individual transmission behavior Fa (p) l is already present.
- the selection circuit 5 is intended to select the Fa (p) 1; Fa (p) 2; Fa (p) 3 existing input transmission behavior Fe (p) can be realized, for this purpose different combinations of the circuits described (Fig. 6-8) are built.
- the measurement signal of control variable X provided by measuring device 25 after fifth summing point 22 is converted into a delay-free proportional signal (dynamically corrected measurement signal) by means of a first transfer module 29 (FIG. 9).
- the difference signal formed from this and the signal of the command variable w in the first summing point 32 which can be characterized as a signal of the control deviation, is switched to a conventionally operating controller 31 for disturbance variable compensation, in particular as a reserve function.
- the signal generated by the controller 31 is switched to the third summing point 30.
- a second transfer module 34 converts the dynamically corrected measurement signal, which influences all the signals acting on the controlled variable X, which are influenced by the inertia of the controlled system 21, into an inertia-free proportional signal, all signals acting on the controlled variable X into one with regard to the effect on the controlled variable X equivalent supply disturbance signal ZI can be converted.
- This signal obtained by the second transfer module 34 is initially switched to a second summing point 35.
- the signal of the command variable w is switched to the second summing point 35 with sign reversal in order to form a dynamically corrected signal of the system deviation, which by means of the output signals of the adaptation module 37 and the switching module 39, by the connection with sign reversal or summation, to improve leadership transfer behavior or
- the adaptation module 37 processes the output signal of the first P0 element 36 as its input signal according to an algorithm which is essentially determined by a D or DTn or another transmission behavior which operates on finite response time.
- the adaptation module 37 is implemented for the purpose of increasing the dynamics of the command variable transmission behavior by means of a transfer module with a transmission behavior which is now composed of the difference between the inverse controlled system transmission behavior and one.
- the activation module 39 is used in particular to improve the load disturbance transmission behavior in technologically difficult applications for all of the dynamic control system. It processes the signal of the system deviation to a corrective signal which is summarily switched to the second summing point 35.
- the third transfer module 33 processes the output signal of the second summing point 35 ' with an inverse proportion to the actuator transmission behavior, with the exception of the time behavior
- the output signal of the second summing point 35 acts proportionally on the input of the controlled system 21.
- the algorithm optimizer 38 is used using the output signal of the first transfer module 29, the signal of the reference variable w and the output signal of the third summator point 30 as input information for optimizing the parameters in the second transfer module 34, in the first P0 element 36, in the adaptation module 37 and in the activation module 39.
- the signal of the manipulated variable (output signal of the actuating device 24) is measurable via a fourth transfer module 23 with which the actuating device transmission behaves, with the exception of the time behavior, inverse transmission behavior and via a delay memory 27 with adaptation of the physical quantities to the third summing point 30 and due to that
- the presence of all signals acting on the controlled variable X, such as the feed fault ZI and the load fault Z2 is fed back in the signal coupled in via the third transfer module 33.
- Another variation of the feedback assumes that the signal of the manipulated variable is too complex to measure.
- the fourth transfer module 23 and its input signal are substituted by a second P0 element 26 with a limiting function with the output signal of the third summing point 30 as an input signal.
- Limiting function corresponds to the limiting function implemented in the fifth transfer module 28.
- the signal formed in the third summing point 30 is switched to the actuating device 24 by means of a fifth transfer module 28 which compensates for the inertia of the adjusting device 24 and has a self-optimizing limiting function, in order thus to close the control loop via the fourth summing point 20.
- the transmission characteristic of the fifth transfer module 28 is realized by the transmission behavior corresponding to the inverse time behavior of the actuating device 24.
- the self-optimizing limiting function of the fifth transfer module 28 is implemented as follows: At every moment it is checked whether the signal to be output, taking into account the signal calculated in advance in the previous moment, would exceed the setting range given by the setting device 24.
- the signal to be output is immediately and directly output as a sum, taking into account the signal previously calculated in advance. If so, the signal to be output is calculated and output in advance, taking into account the signal calculated in advance in the previous moment, via a Tn transmission element with a variable / variable time constant / time constant for a specific number of moments.
- the time constant / time constants is / are calculated each time so that there is no limit.
- the second transfer module 34 now converts the signal of the control deviation, which represents all the signals acting on the controlled variable X and influenced by the inertia (time behavior) of the controlled system 21 into an inertia-free one Proportional signal, whereby all signals acting on the controlled variable X are converted into a feed disturbance signal ZI which is equivalent with regard to the effect on the controlled system 21 (FIG. 10).
- the first P0 element 36 (FIG. 9) and the adapter module 37 (FIG. 9) are omitted in this embodiment variant, as also from FIG. 10 can be seen.
- the algorithm optimizer 38 naturally only acts on the second transfer module 34 and on the activation module 39. All other modules work according to the previous dynamic control system (Fig. 9).
- the first transfer module 29 is arranged downstream of the measuring device 25 and includes its output signal at the first summing point 32 positive sign, on which the
- Reference variable signal w is placed with a negative sign.
- the output signal of the first summing point 32 is the controller 31, which works according to known algorithms directly switched on. By switching the controller output signal to the input of the
- transfer module 29 has a transfer behavior that is proportional to the inverse transmission behavior of the measuring device 25 and / or the inverse time behavior of the controlled system 21.
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Abstract
Description
Claims
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DD33961090A DD293644A5 (de) | 1990-04-10 | 1990-04-10 | Verfahren und schaltungsanordnung zur frequenzgangkorrektur eines signals |
DEWPG05B/339609/1 | 1990-04-10 | ||
DD33960990A DD293665A5 (de) | 1990-04-10 | 1990-04-10 | Verfahren zur beeinflussung von stoergroessen in einem regelkreis |
DEWPG01D/339610/6 | 1990-04-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1991015814A1 true WO1991015814A1 (de) | 1991-10-17 |
Family
ID=25748342
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1991/000308 WO1991015814A1 (de) | 1990-04-10 | 1991-04-10 | Verfahren und schaltungsanordnung zur frequenzgangkorrektur eines signals und/oder zur beeinflussung von störgrössen in einem regelkreis |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0524231A1 (de) |
DE (2) | DE4190742A1 (de) |
WO (1) | WO1991015814A1 (de) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3241077A (en) * | 1961-07-06 | 1966-03-15 | North American Aviation Inc | Self-adaptive control system eliminating variable unwanted component |
DE1938062A1 (de) * | 1969-07-26 | 1971-04-08 | Siemens Ag | Anordnung zur Erzielung eines zeitlich nachgebenden UEbergangsverhaltens |
EP0254029A2 (de) * | 1986-06-20 | 1988-01-27 | MAN Gutehoffnungshütte Aktiengesellschaft | Verfahren zum Filtern eines verrauschten Signals |
-
1991
- 1991-04-10 WO PCT/DE1991/000308 patent/WO1991015814A1/de not_active Application Discontinuation
- 1991-04-10 DE DE19914190742 patent/DE4190742A1/de not_active Withdrawn
- 1991-04-10 DE DE19914190742 patent/DE4190742D2/de not_active Expired - Lifetime
- 1991-04-10 EP EP19910907569 patent/EP0524231A1/de not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3241077A (en) * | 1961-07-06 | 1966-03-15 | North American Aviation Inc | Self-adaptive control system eliminating variable unwanted component |
DE1938062A1 (de) * | 1969-07-26 | 1971-04-08 | Siemens Ag | Anordnung zur Erzielung eines zeitlich nachgebenden UEbergangsverhaltens |
EP0254029A2 (de) * | 1986-06-20 | 1988-01-27 | MAN Gutehoffnungshütte Aktiengesellschaft | Verfahren zum Filtern eines verrauschten Signals |
Non-Patent Citations (2)
Title |
---|
IEEE TRANSACTIONS ON ACOUSTICS,SPEECH AND SIGNAL PROCESSING. vol. 37, no. 4, April 1989, NEW YORK US Seiten 519 - 533; J.J. SHYNK: "ADAPTIVE IIR FILTERING USING PARALLEL FORM REALIZATIONS" siehe Absatz III-D; Figur 5 * |
IEEE TRANSACTIONS ON POWER SYSTEMS. vol. 3, no. 3, August 1988, NEW YORK US & YUAN-HIH HSU: "DESIGN OF SELF-TUNING PID POWER SYSTEM STABILIZER FOR MULTIMACHINE POWER SYSTEMS" siehe Seite 1059, Absatz 1; Figur 1 * |
Also Published As
Publication number | Publication date |
---|---|
DE4190742A1 (de) | 1993-05-13 |
DE4190742D2 (de) | 1993-05-13 |
EP0524231A1 (de) | 1993-01-27 |
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