Adaptive control system for dynamic objects with periodical coefficients

IPC classes for russian patent Adaptive control system for dynamic objects with periodical coefficients (RU 2265873):

G05B13/02 - electric

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FIELD: engineering cybernetics.

SUBSTANCE: system can be used for controlling objects with parameters to be time-dependent values with constant period of change. System has object to be controlled, coefficient setting unit, two adders and two multipliers, delay unit.

EFFECT: stabilization of adaptive system.

1 dwg

The invention relates to the technical Cybernetics and can be used in the systems of control objects, the parameters of which are periodically changing values.

The closest technical solution to the present invention is adaptive stabilization /USSR Author's certificate No. 1019400, CL G 05 In 13/02, 1983 (prototype)/containing the object control unit job factors, the adder, the first multiplier, an integrator, a second multiplier. The signals from the outputs of the object of regulation is coming to corresponding inputs of a unit job of the coefficients, which is a block multipliers. In block job factors is the multiplication of the signal from each output object of regulation by a constant factor. The signals from the outputs of the unit assignments coefficients are received at the respective inputs of the summation block, where the fold. The output of summation block comes to the first input of the second multiplier and to both inputs of the first multiplier. In the first multiplier is multiplied signal from the output of the summation block on the same signal. The output signal of the first multiplier to the input of the integrator. The output signal from the integrator is fed to a second input of the second multiplier. The second multiplier is the multiplication of the signal from the output of the summation block to the output signal int is grater. The output signal of the second multiplier to the input of the object of regulation.

The disadvantage of this system if the object periodically varying parameters is the unstable equilibrium position.

The objective of the invention is the provision of asymptotic stability of the equilibrium position of the system in the presence of the object periodically varying parameters.

The solution of this problem is achieved by the fact that in a system containing a unit job of the coefficients, the first adder, connected in series to the first multiplier, an integrator, a second multiplier and the object of regulation, the outputs of which are connected to corresponding inputs of a unit job of the coefficients, the inputs of the first adder connected to the corresponding outputs of unit assignments coefficients, instead of the integrator entered the second adder and the delay unit, the first input of the second adder connected to the output of the first multiplier, a second input to the output of the delay unit, the output of the second adder is connected with the input of the second multiplier and to the input of the delay block.

The technical result consists in the possibility of stabilization of adaptive systems in the presence of objects with parameters whose elements are periodic functions.

The drawing shows a block diagram of the system. The system contains the object maintains the of 1, unit assignments coefficients 2, the first adder 3, the first multiplier 4, the second adder 5, the delay unit 6, the second multiplier 7.

The object of the regulation is described by the equation

where x∈Rⁿthe state vector of the object of regulation, And(t+T), b(t+T) is nonstationary, respectively, the matrix and the vector with periodic coefficients, the T - period changes of the coefficients, L is the matrix of output, the symbol * denotes the transpose, y=(y₁the...y_m- the output of the regulation object, u is a scalar control action that satisfies the equation

where χ - custom factor, α₀- m-dimensional vector of coefficients of the block 2 task coefficients chosen from the condition

- surviaval chipolina of degree n-1 with positive senior coefficient (α(λ) - the numerator of the transfer function of the object of regulation);

y - m-dimensional vector of output coordinates. Using the criterion of giperustoichivost Popova, it is possible to show that the implemented algorithm settings

where β>0 is the number that ensures asymptotic stability of the system.

The system operates as follows.

The signals from the outputs of the object of regulation 1 go to the appropriate I the water block set 2 coefficients. In block job factors 2 is the multiplication of the signal from each output object of regulation 1 by a constant factor. The signals from the outputs of the unit job factors 2 are received at the respective inputs of the first summation block 3. The output of summation block 3 comes to the second input of the second multiplier 7 and on both inputs of the first multiplier 4, the output signal of the first multiplier 4 is at the first input of the second adder 5. The output signal of the second adder 5 is at the first input of the second multiplier 7 and to the input of the delay unit 6, the output signal from the delay unit 6 is at the second input of the second adder 5. The output signal of the second multiplier 7 is input to the object of regulation 1.

This device can be implemented industrially, based on standard components.

Adaptive control system for dynamic objects with periodic coefficients containing block set coefficients, the first adder, a first multiplier, connected in series to the second multiplier and the object of regulation, the outputs of which are connected to corresponding inputs of a unit job of the coefficients, the inputs of the first adder connected to the corresponding outputs of unit assignments coefficients, characterized in that it introduced the second adder and the delay unit, the first input is done adder connected to the output of the first multiplier, the second input to the output of the delay unit, the output of the second adder connected to the first input of the second multiplier and the input of the delay unit, the output of the first adder connected to the first and second inputs of the first multiplier and the second input of the second multiplier.