WO2007040425A1 - Procede d'auto-reglage d'un systeme de commande d'objets et dispositif de mise en oeuvre de ce procede - Google Patents

Procede d'auto-reglage d'un systeme de commande d'objets et dispositif de mise en oeuvre de ce procede Download PDF

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WO2007040425A1
WO2007040425A1 PCT/RU2006/000515 RU2006000515W WO2007040425A1 WO 2007040425 A1 WO2007040425 A1 WO 2007040425A1 RU 2006000515 W RU2006000515 W RU 2006000515W WO 2007040425 A1 WO2007040425 A1 WO 2007040425A1
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control
output
unit
input
block
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PCT/RU2006/000515
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Russian (ru)
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Valeriy Ivanovich Goncharov
Vladislav Aleksandrovich Rudnitskiy
Aleksey Sergeevich Udod
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ZAKRYTOE AKTSIONERNOE OBSCHESTVO 'EleSi'
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Publication of WO2007040425A1 publication Critical patent/WO2007040425A1/fr

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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
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor

Definitions

  • the invention relates to the field of automatic control and regulation of various objects, in particular to the field of adaptive systems and methods of automatic control with a test non-periodic signal.
  • the invention can be used in systems for regulating technological parameters in the metallurgical, chemical, energy, oil and gas processing, food and other industries.
  • a known method of self-tuning of automatic control systems based on the receipt and use of the reaction of the control object as a whole to the trial effects [1].
  • the specified method of self-tuning consists of two stages. At the first stage, preliminary identification of the dynamic properties of the control object is carried out, determining the approximate values of the adjustable coefficients of the controller by generating a test harmonic signal. At the second stage, the dynamic properties of the control object are identified by supplying a test step signal to the control object and specifying the values of the controller coefficients.
  • the method has known limitations and disadvantages, in particular the following.
  • this method of adjusting the regulator such an indirect parameter of the quality of the system as an indicator of oscillation is used as the main parameter, however, in general, the method does not allow to achieve high tuning accuracy.
  • This method of optimal automatic tuning of the control system consists in translating the closed-loop control system into open mode, applying a test signal to the input of the object, measuring the parameters of the transient process, determining the parameters of the adopted model of the control object from them, determining the optimal controller settings from the model parameters and translating systems with optimal settings in the operating mode.
  • a step signal with adjustable amplitude and polarity is used as a test signal.
  • the specified method improves the quality of self-tuning and regulation. But the basic analytical relations used in it, connecting the root frequency and time parameters of the system, are very approximate and, therefore, the system’s tuning with respect to the most important parameters - overshoot and regulation time is also very approximate, which reduces the accuracy of the method.
  • the optimal automatically adjusting general industrial regulator (OAOP regulator) [1] which includes a control object, a mode control unit, a preliminary identification unit, a parameter estimation unit, and a settings calculation unit.
  • OAOP regulator general industrial regulator
  • Each of the three possible modes of operation of the OAOP controller is determined by the position of the switch slider.
  • a disadvantage of the known controller is the implementation of a lengthy two-stage self-tuning procedure. At the same time, the adjustment of the controller does not provide sufficient accuracy, being quite approximate by virtue of the adoption of a number of assumptions in obtaining design ratios.
  • ANAP controller which includes a control object, a derivative evaluation unit, a parameter evaluation unit, a settings calculation unit, a mode control unit.
  • ANAP regulator can operate in one of three modes: manual control; automatic adjustment of controller parameters; automatic regulation.
  • This controller does not have a two-stage setup procedure, however, it has the drawbacks of the controller [1], which do not allow to increase the accuracy and speed of automatic system settings.
  • the closest in technical essence and the achieved result to the claimed self-adjusting control system of an object is a control system that implements a method of optimal automatic tuning of the control system [4].
  • the well-known self-adjusting system for controlling an object contains a serially connected device for comparing a driving signal and a feedback signal, a key, a regulator, an adder and a control object output connected to a device for comparing a driving signal and a feedback signal, as well as a block for calculating the optimal settings, the output connected to controller, and a block for generating a test signal and identification of parameters, the output of which is connected to the input of the optimal settings calculation unit.
  • the input of the test signal generation and parameter identification unit is connected with the output of the control object and the input of the comparison device signal and feedback signal.
  • the unit for generating a test signal and parameter identification includes a control unit and a unit for obtaining parameters of the control object.
  • the main task solved by the claimed group of inventions is to create a method for self-tuning the object control system and device for its implementation, which can improve the accuracy of self-tuning by using a non-parametric form of representing signal models, the system and its elements. At the same time, an increase in the speed of self-tuning of the object control system is achieved by reducing the amount of computation.
  • the problem is solved in that in the method of self-tuning the control system of the object, based on the supply of a control action on the object, determining the parameters of the model of the control object based on its response to the control action and calculating the values of the adjustable parameters of the control system, determine the numerical characteristics of the input and output signals control object, which find the transfer function of the model of the control object, form the model of the reference control system in the form of transfer functions based on predetermined indicators, and customizable control system parameters are determined based on the transfer function of the control object model and the transfer function of the model of the reference control system iteratively with respect to the structure and parameters of the control system according to the quality indicators of the transition process of the system, while all the transformations are carried out on the basis of the real interpolation method (VIM).
  • VIM real interpolation method
  • the reference model of the control system be formed on the basis of system quality indicators predefined by the operator.
  • a non-periodic test signal can be stepwise or linearly increasing. It is advisable to determine the adjustable parameters of the control system based on the transfer functions of the models of the control object and the reference model of the control system, presented in nonparametric form.
  • the adjustable parameters of the control system are determined on the basis of the transfer functions of the models of the control object and the reference model of the control system iteratively with respect to the structure and parameters of the custom control system until the specified coincidence of the reference and custom control system is achieved.
  • the achievement of a given coincidence of the reference and custom systems is optimally fixed according to the criterion of overshoot with the minimum complexity of the control system.
  • the device for implementing the method of self-tuning the object control system contains a control object, a regulator, a device for comparing the driving signal and the feedback signal, one of the inputs of which is connected to the output of the control object, the optimal settings calculation unit, the first output connected to the first the input of the controller, the block receiving the model of the control object, the output connected to the first input of the block calculating the optimal settings, the self-tuning loop control unit and the adder connected by inputs to the controller output and the first output of the self-tuning loop control unit, and the output connected to the control object.
  • New is that in the device for implementing the method, a unit for obtaining a numerical characteristic of the input signal of the control object, a block for obtaining a numerical characteristic of the output signal of the control object and a unit for constructing a reference model of the system, one of the inputs connected to the output of the control unit of the self-tuning circuit, the input of which is connected to the second output of the optimal settings calculation unit, and the output of the building block of the reference model of the system is connected to the second input of the optimal settings calculation unit
  • the input, output and output of the control object are connected to the control unit model obtaining unit, respectively, through the unit for obtaining the numerical characteristic of the control object input signal and the control unit for obtaining the numerical characteristic of the control object output signal, and the regulator is connected to the output of the device for comparing the driving signal and the feedback signal communication, while the second and third inputs of the building block of the reference model of the system are intended to be connected to the sources of setting the quality indicators of the system and the type of controller, and the second input of
  • the self-tuning loop control unit is implemented as a series-connected key and a probe signal generator, wherein the output of the probe signal generator is the first output of the self-tuning loop control unit, the key input is the input of the self-tuning loop control unit, and the key output is the second output of the loop control unit samona- construction sites.
  • the unit for obtaining the numerical characteristic of the input signal of the control object is expediently performed with an analog-to-digital converter, a recording and filtering unit for sampling and a unit for calculating the value of the numerical characteristic of the input signal, the input of the analog-to-digital converter being the input of the block for obtaining the numerical characteristic of the input signal of the object control, and the output of the unit for calculating the value of the numerical characteristic of the input signal is the output of the unit numerical characteristics of the input signal of the control object.
  • the unit for obtaining the numerical characteristics of the output signal of the control object is preferably performed containing a series-connected analog-to-digital converter, a recording, filtering and storage unit for sampling and a unit for calculating the values of the numerical characteristics of the output signal, while the input of the analog-to-digital converter is the input of the block for obtaining the numerical characteristics of the output signal of the object control, and the output of the unit for calculating the value of the numerical characteristic of the output signal is the output unit for obtaining a numerical characteristic of the output signal management project.
  • the control object model obtaining unit is expediently implemented as a series-connected unit for calculating the transfer function coefficients of the control object model, the transition object calculation unit for the control object model and the comparison unit, while the inputs of the coefficient transfer coefficient calculation unit for the control object model are the inputs of the object model obtaining unit control, and the output of the comparison block is the output of the block receiving the model of the control object.
  • the optimal settings calculation unit is optimally performed by containing the controller coefficient coefficients calculation unit, the control system coefficient calculation unit, the control system transition characteristic calculation unit, the comparison unit and the key, the output of which is the second output of the optimal settings calculation unit, as well as the results storage unit, the output of which is the first output of the optimal settings calculation unit, and the input is connected to the output of the comparison unit and to the key input, while input
  • the odes of the controller coefficient calculator are the first and second inputs of the optimal settings calculator.
  • the claimed invention allows for not only parametric, but also structural self-tuning of the regulator.
  • the set parameters of the system can be used in the indicators of the quality of the system that are most understandable to the operator - overshoot, the transition process establishment time (regulation time), maximum slew rate and others.
  • FIG. 1 shows a functional diagram of a self-adjusting object control system according to the proposed method
  • FIG. 2 self-tuning loop control unit
  • FIG. 3 is a block for constructing a reference model of the system
  • FIG. 4 - a block for obtaining a numerical characteristic of the input signal
  • FIG. 5 is a block for obtaining a numerical characteristic of the output signal
  • FIG. 6 is a block for obtaining a model of the control object
  • FIG. 7 is a block for calculating optimal settings
  • FIG. 8 is a transient graph of a control object and a model of a control object
  • FIG. 9 is a transient graph of a model of a reference system
  • FIG. 10 are graphs of the transient characteristics of the model of the reference system and the calculated transient characteristics of the model of the control system, on FIG. And - graphs of the transition characteristics of the reference model of the system and the customized model of the control system.
  • a self-adjusting object control system which implements the proposed method for self-tuning an object control system, comprises a control object 1, a controller 2, a device 3 for comparing a driving signal and a feedback signal, one of the outputs of which is connected to the output of the control object 1, unit 4 for calculating optimal settings, the first output connected to the first input of controller 2, unit 5 for obtaining a model of the control object, output connected to the first input of unit 4 for calculating optim lnyh settings loop self-tuning control unit 6 and an adder 7.
  • the adder 7 inputs connected to the output control circuit 2 and the first output control unit 6 bootstrapping and output associated with the control object 1.
  • the self-adjusting control system of the object also contains a block 8 for obtaining a numerical characteristic of the input signal of the control object 1, a block 9 for obtaining a numerical characteristic of the output signal of the control object 1, and a block 10 for constructing a reference model of the system, one of the inputs of which is connected to the output of the block 6 for controlling the self-tuning circuit.
  • the input of the self-tuning loop control unit 6 is connected to the second output of the optimal settings calculating unit 4.
  • the output of block 10 for constructing a reference model of the system is connected to the second input of block 4 for calculating optimal settings.
  • the input and output of the control object 1 are connected to the block 5 for obtaining the model of the control object, respectively, through the block 8 for obtaining the numerical characteristics of the input signal of the control object and the block 9 for obtaining the numerical characteristics of the output signal for the control object, and the controller 2 is connected to the second input with the output of the device 3 comparing the driving signal and the feedback signal.
  • the second and third inputs of block 10 for constructing a reference model of the system are intended to be connected to sources for specifying system quality indicators and specifying the type of controller that are external devices.
  • the second input of the device 3 comparing the driving signal and the feedback signal is intended to be connected to the source of the driving signal, which is an external device.
  • Block 6 control loop self-tuning (Fig. 2) contains a series-connected key 11 and the generator 12 of the test signal.
  • the output of the probe signal generator 12 is the first output of the self-adjusting loop control unit 6, the input of the key 1 1 is the input of the self-adjusting loop control unit 6, and the output of the key 11 is the second output of the self-adjusting loop control unit 6.
  • Block 10 to build a reference model of the system contains a series-connected block 13 for calculating the coefficients of the reference model of the system, block 14 for calculating the transition characteristics of the reference model and block 15 for storing the results, the output of which is the output of block 10 for building the reference model of the system, block 16 for setting indicators, the input of which is the first input of block 10 for constructing a reference model of the system.
  • the output of the unit 16 for correction of the specified indicators is connected to the input of the unit 13 for calculating the coefficients of the reference model of the system, the inputs of the unit 13 for calculating the coefficients of the reference model of the system are the second and third inputs of the unit 10 for constructing the reference model of the system.
  • Block 8 for obtaining a numerical characteristic of the input signal of the control object contains a series-connected analog-to-digital converter 17, a block 18 for recording and filtering samples and a block 19 for calculating the magnitude of the numerical characteristic of the input signal.
  • the input of the analog-to-digital Converter 17 is the input of block 8 for obtaining the numerical characteristic of the input signal of the control object
  • the output of block 19 for calculating the value of the numerical characteristic of the input signal is the output of block 8 for obtaining the numerical characteristic of the input signal of the control object.
  • the block 9 for obtaining the numerical characteristic of the output signal of the control object contains a series-connected analog-to-digital converter 20, a block 21 for recording, filtering and storing the sample and a block 22 for calculating the magnitude of the numerical characteristic of the output signal.
  • the input of the analog-to-digital converter 20 is the input of the block 9 for obtaining the numerical characteristics of the output signal of the control object
  • the output of the block 22 for calculating the values of the numerical characteristics of the output signal is the output of the block 9 for obtaining the numerical characteristics of the output signal of the control object.
  • Block 5 obtain the model of the control object (Fig. 6) contains series-connected block 23 for calculating the coefficients of the model of the control object, block 24 for calculating the transition characteristics of the model of the control object and block 25 for comparison.
  • the inputs of the block 23 for calculating the coefficients of the model of the control object are the inputs of the block 5 for obtaining the model of the control object, and the output of the block 25 for comparison is the output of the block 5 for obtaining the model of the control object.
  • the optimal settings calculation unit 4 (Fig. 7) contains in series the controller coefficient calculation unit 26, the control system coefficient calculation unit 27, the control system transition characteristic calculation unit 28, the comparison unit 29 and the key 30, the output of which is the second output of the optimal calculation unit 4 settings.
  • the optimal settings calculation unit 4 also includes a result storage unit 31, the output of which is the first output of the optimal settings calculation unit 4, and the input is connected to the output of the comparison unit 29 and to the input of the key 30.
  • the inputs of the controller coefficient calculation unit 26 are the first and second inputs of the optimal settings calculation unit 4.
  • the user sets the adequacy requirement in the form of a numerical value of the adequacy criterion for the transition characteristic of the control object model to its experimental characteristic.
  • This value is entered into the comparison block 25 of the block 5 for obtaining the model of the control object and is used in the future to evaluate the result obtained in the identification.
  • the control system is switched to the open state, for which the comparison device 3 is turned off and the controller 2 is transferred to the broadcast mode at its output of the input signal u (t), the value of which in this mode must be equal to zero.
  • test non-periodic signal U n p is supplied to the input of the control object 1 through the comparison device 7 from the output of the probe signal generator 12, switched by the key 11 of the self-tuning loop control unit 6, a test non-periodic signal U n p is supplied. It can be stepped linearly
  • the signal polarity depends on the current state of the control object and, like its amplitude, must fit into the framework of the permissible norms of the technological process occurring in the control object.
  • the amplitude of the signal can be equal to the nominal value of the input signal of the object or make up a fraction of it, for example, 5-10%.
  • an output signal characterizing the transient process y (t) appears at the output of the control object 1.
  • the input and output signals of the control object 1 U np and y (t) are given
  • the result is respectively sent to block 19 for calculating the magnitude of the numerical characteristic of the input signal and block 22 for calculating the magnitude of the numerical characteristic of the output signal, which are elements of the corresponding blocks 8 and 9 for obtaining numbers - the total characteristics of the input and output signals.
  • the output signals of blocks 8 and 9 are fed to the inputs of the coefficient calculation unit 23 of the control object model included in the control object model receiving block 5, in the form of a transfer function with a pattern of a given order.
  • the coefficients of the transfer function are calculated, which then go to block 24 to calculate the transition characteristic of the model of the control object.
  • the obtained characteristic is checked for its experimental adequacy, stored in block 21 of block 9 for obtaining the numerical characteristics of the output signal. If the model does not satisfy the adequacy requirement, then the modeling process is repeated in block 23 for calculating the coefficients of the control object model with an increased order of the model transfer function template.
  • the transition characteristic is calculated in block 24 the transition characteristic of the model of the control object and checking its adequacy to the experimental characteristic in the comparison block 25. If the result is unsatisfactory, the modeling procedure is repeated with a less stringent adequacy criterion, starting with a simple transfer function template in block 23. If the result is also in this If unsatisfactory, then the identification procedure is repeated from the stage of supplying to the input of the test object non-periodic signal U n beauand, further, in the given order.
  • the next stage begins by entering into block 10 the desired quality indicators presented to the system — overshoot and regulation time, on the basis of which, in the coefficient calculation block 13 of the system model model, the transfer function coefficients of the system model are calculated and the system transfer standard function is obtained.
  • the values of the coefficients of this function enter block 14 for calculating the transient response of the reference model of block 10, in which the transient response of the reference system is calculated, which comes in the form of a numerical sample to the block 15 for storing the results of block 10 for constructing the reference model of the system.
  • information is also entered about the type of controller with which the entire control system will be controlled. This information and the values of the required quality indicators are stored in the storage unit 15 of the results in the form of numerical values.
  • the type of the transfer function of the controller and the value of its coefficients are determined.
  • block 26 calculating the coefficients of the control model, which is part of block 4 for calculating the optimal settings, the calculated coefficients of the control object from block 5 and data on the desired type of controller from block 10 are received. Further, in the block 26 for calculating the coefficient of the controller based on this data, the tuning of the coefficient of the controller takes place, the values of which are sent to the block 27 for calculating the coefficients of the control system, in which, based on the values of the coefficient of the controller and the transfer function of the control object, the control system is synthesized.
  • the found transfer function coefficients of the control system are sent to the control system transient response calculator 28, and then the result is compared with the standard stored as a sample in the results storage block 15 of block 10 and evaluated for compliance with the quality indicators of the system stored as numerical values in block 15
  • a new iteration of the calculation of the coefficients of the controller and the coefficients of the control system called parametric tuning with tem. If the parametric adjustment does not bring the desired results, in the block 26 of the calculation of the coefficients of the controller is an increase in the order of the structure of the controller. This procedure is the structural setting of the system, followed by the parametric setting described above.
  • the key 30 included in block 4 is triggered, the signal from which is fed to the self-tuning loop control block 6, the key 11 of which sends a signal to the result correction block 16 of the given parameters of block 10, which increases the desired transition time and initiates the recalculation new model reference system. Further, the procedure for calculating the controller coefficients is repeated until a satisfactory result is obtained from the point of view of overshoot and the regulation time corrected by the block 16.
  • the first is that the method allows you to customize systems with controllers of arbitrary order, including PID-type controllers as a special case.
  • the second feature is the implementation of two iterative procedures.
  • the first provides a parametric search for a solution, the second - structural.
  • the goal of structural iterations is to find the simplest possible regulator at which the set quality indicators can be achieved.
  • Such a technical solution minimizes computational costs and increases due to this accuracy, speed and reliability of the self-tuning loop and the system as a whole.
  • the coefficients of the controller that satisfy the set and adjusted indicators are recorded in the block 31 for storing the results of block 4, from where they are sent to the controller 2 for its reconfiguration.
  • the comparison device 3 begins to calculate the error of the mismatch between the input value of the input signal u (t) and the current output signal y (t) of the control object, that is, the system enters the regulated mode with the new calculated coefficients of controller 2.
  • the functions F ( ⁇ ) can be obtained by the formula of the direct ⁇ transformation (1), as well as by the Laplace images F (p). In the latter case, the result can be obtained by formally replacing the variable p by ⁇ e [C, ⁇ ], C> 0, considering the transformation (1) as a special case of the Laplace transform. This feature is especially important because it allows one to use the entire existing Laplace originals and images correspondence library created to date to obtain F ( ⁇ ).
  • the functions F ( ⁇ ) have graphical representations, which makes them and the actions on them more visual in comparison with the images F (p), which is important, for example, during commissioning.
  • VIM real interpolation method
  • the identification task is implemented in a parametric setting and includes the following steps:
  • Expression (5) defines the elements of the numerical characteristic ⁇ W oy ( ⁇ i ) ⁇ ⁇ , therefore, we can consider the model of the control object in nonparametric form to be found.
  • ⁇ y (t) y (t) - y m (t), where y m (t) is the transition characteristic of the control object model, y (t) is the experimental transition characteristic of the control object.
  • a max is the maximum allowable value of the criterion in relative units.
  • the remaining three coefficients bi, a 2 , a b are subject to determination; therefore, in block 8, according to the method described in [5], the book: V. Goncharov. Real interpolation method for the synthesis of automatic control systems. - Tomsk: Ed. TPU, 1995.
  • the task has two main stages. At the first, by the given quality indicators, for example, overshoot of ⁇ and the transition process establishment time, the elements of the numerical characteristic of the reference system (W ⁇ . (S 1 ) J 11 are determined. At the second stage, the coefficients of the desired transfer function are found.
  • the third, the last of the considered problems of adjusting the regulator, consists in calculating its parameters for which the system will have specified quality and accuracy indicators.
  • the initial data for its solution are the previously obtained transfer functions of the reference system in the open state and the control object.
  • the task of adjusting the controller is to solve the equation:
  • W ⁇ (p), W p (p), W oy (p) are the transfer functions of the desired (reference) closed system, controller, and system control object, respectively
  • K oc is the feedback coefficient equal to the inverse value of the closed transfer coefficient system.
  • the structural part consists in finding the parameters ⁇ , v of the transfer function of the controller
  • the coefficients calculated in this way allow you to get the transfer function of the controller and a closed custom system.
  • the properties of the system may not meet the requirements Well, for example, the value of the leading parameter of the system - overshoot - may go beyond the required limits. Therefore, a parametric adjustment of the solution is organized, which consists in changing, according to a certain rule, the values of the interpolation nodes.
  • the transfer function of the controller can be represented as:
  • the data goes to block 27, where, according to formula (11), there is the transfer function of the closed system and, further, to block 24, where its transition characteristic is located.
  • an iterative change in the value of the interpolation node occurs. At each iteration (l ... i), the numerical characteristics are calculated, and the unknown coefficient of the controller is found.
  • the data enters the control system coefficient calculation unit 27, where the transfer function of the closed-loop system is located, and, further, the transition characteristic calculation unit 24 of the control object model, where its transition characteristic is used to calculate the regulation.
  • three coefficients b 2 , bi, a 2 are subject to determination.
  • the inventive method of self-tuning and a device for its implementation can improve the speed of calculations and the accuracy of the system by using a non-parametric form for representing signal models, the system and its elements, reducing the amount of computation and implementing the system tuning algorithm for direct quality indicators.
  • the self-tuning method and device for its implementation can be widely used in the field of automatic control and regulation of various objects, in particular in the field of adaptive systems and automatic control methods with a trial non-periodic signal. Sources of information from the prior art

Abstract

Cette invention concerne la commande et la régulation automatiques. L'utilisation de l'objet de cette invention dans des systèmes adaptatifs et des procédés de commande automatique avec un signal non périodique d'essai permet d'accroître la précision et la rapidité de l'autoréglage grâce à l'utilisation d'un modèle de système dans une forme non paramétrique dans un circuit d'autoréglage. Le procédé de cette invention consiste à transmettre une action de commande à un objet, à déterminer des paramètres du modèle de l'objet de commande sur la base de sa réaction à l'égard de l'action de commande et à calculer les valeurs des paramètres réglables du système de commande. Pour ce faire, le procédé consiste à déterminer des caractéristiques numériques des signaux d'entrée et de sortie de l'objet de commande, à déterminer la fonction de transfert du modèle de l'objet de commande sur la base de ces signaux et à former un modèle d'un système de commande de référence sous la forme d'une fonction de transfert sur la base des indices spécifiés, les paramètres réglables du système de commande étant déterminés sur la base de la fonction de transfert du modèle de l'objet de commande et du modèle du système de commande de référence d'une manière itérative par rapport à la structure et aux paramètres du système de commande, en fonction des caractéristiques de qualité du processus de transfert du système, toutes les conversions de signaux étant effectuées conformément à un procédé d'interpolation matériel.
PCT/RU2006/000515 2005-10-05 2006-10-04 Procede d'auto-reglage d'un systeme de commande d'objets et dispositif de mise en oeuvre de ce procede WO2007040425A1 (fr)

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RU2005130752/09A RU2304298C2 (ru) 2005-10-05 2005-10-05 Способ самонастройки системы управления объектом и устройство для его реализации

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