Adaptive system for controlling astatic object with delay. RU patent 2468406.
 Automatic voltage controller of synchronous generator / 2465717Invention may be used both for automation of equipment commissioning process and in a functional mode in devices for control of electric generators in order to get the required value of output parameters, in particular, to control generator excitation in order to weaken hazardous effect of overloads or transition processes, for instance, in case of spontaneous connection, removal or variation of a load. The automatic voltage controller of the synchronous generator comprises a voltage metre, the first summator, a PID controller, the second summator, an amplifier, a generator of initiating pulses, a set point generator, an analog to digital converter, a signal energy calculator, a delay unit, a control parameters calculator, an averaging unit. The control parameters calculator is arranged in the form of a processor device operating in accordance with the logic of ultra-fast annealing. |
 Software programmable positional electric drive with improved characteristics based on inertial converter with elastic shafting / 2464696In a software programmable positional electric drive there is a filter of a position control circuit arranged in the form of an aperiodic block, a corrector of a position control circuit, arranged in the form of a positional-proportionate-differential block, a corrector of a rotation frequency control circuit arranged in the form of a positional-proportionate-differential block. |
 Adaptive control system / 2461037Adaptive control system includes a comparison circuit (the first input whereof is connected to the adaptive control system input, the output connected to the control object input via a regulator and a summator (serially connected)), a frequency phase automatic tuning unit (the output whereof is connected to the harmonic generator input as well as (via the computer unit) to the regulator second input, the harmonic generator output connected to the first inputs of the first and the second Fourier filters the first and the second outputs whereof are connected to the corresponding inputs of the amplitude frequency response computer), the starting frequency computation unit (the first input whereof is connected to the (via the fifth key) to the regulation object output, the output (via the third key) connected to the second input of the harmonic generator the first input whereof is joined with the computer unit second input while the output (via the first key) is connected to the summator second input), a step generator (the output whereof is connected to the second input of the starting frequency computation unit as well as (via the fourth key) to the summator third input), the first selective filter (the input whereof is connected to the summator output while the output is connected to the first Fourier filer second input), the second selective filter (the input whereof is connected to the regulation object output while the output is connected to the second Fourier filer second input, the regulation object output connected (via the second key) to the comparison circuit second input. |
 Adaptive tracking system for objects with delay on state, control and of neutral type / 2460111Invention can be used in tracking systems for objects whose parameters are unknown constants or slowly time-varying quantities. It is assumed that the control object has delay whose values are known. The system comprises a control object, four coefficient units, six adders, six multipliers, four integrators, three delay units and a stimulus unit. |
 Adaptive system for controlling and stabilising physical quantities / 2457529Adaptive system with feedback has series-connected object, subtractor and controlled amplifier whose control input is connected to the output of an adder. The apparatus also includes the following, connected in series between the output of the subtractor and the input of the adder: an error analyser, a synchronous detector, a nonlinear element, an integrator and a coefficient regulator, as well as a generator whose output is connected to the second inputs of the synchronous detector and the adder, wherein the output of the controlled amplifier is connected to the input of the object and the input of the system is the positive input of the subtractor and the output is the output of the object. |
 Manipulator drive / 2454696Device includes interconnected: adders; amplifiers; electric motor; speed sensors; position sensors; relay element; signal setting mechanisms; weight sensor; quad unit; acceleration sensors; functional generators; multiplier units; at that the following is added: ehe eighth functional generator; the third position sensor; the fourteenth multiplier unit; the fifteenth multiplier unit, the third acceleration sensor; the sixteenth multiplier unit; and corresponding connections. |
 Manipulator drive / 2454695Addition of the ninth functional generator, the sixteenth multiplier unit, the second acceleration sensor, the seventeenth multiplier unit and corresponding links provided complete invariance of the drive under study to all moment impacts applied to it. This allowed to get high quality of control in any modes of its operation. |
 Manipulator electric drive / 2453893Invention concerns computer engineering. The self-adjusting electric drive of a manipulation robot has adders, multiplier units, amplifiers, an electric motor, a reducing gear, position sensors, velocity sensors, a relay element, a weight sensor, constant signal selectors, function generators and a squaring device. |
 Articulator's electro drive / 2453892Invention relates to robotronics and may be used for manufacturing articulator's drives. The articulator's electro drive contains: electro motor, reducer, amplifier, pinion gear, relay unit, square, 2 functional transducers, 2 differentiators, 3 signal generators, 10 sensors, 15 summation unit, 20 multiplier units. |
 Apparatus for generating programmed control signals / 2453891Invention concerns computer engineering. The apparatus for generating programmed control signals has a first signal selector, a first adder, and additionally a nonlinear element, a first integrator, a nonlinear element, a switch, a second signal selector, a divider, a second integrator, a second adder, a navigation system, a first squaring device, a third adder, a second squaring device, a fourth adder, a third squaring, a fifth adder, a first rooting device, a first function generator, a second function generator, a first servo system, a third function generator, a second servo system, a fourth function generator, a third servo system, a fourth squaring device, a sixth adder, a fifth squaring device, a third signal selector and a second rooting device. |
 Self-adjusted control system for neutral-type delayed-control equipment / 2246123Proposed system that can be used for pieces of equipment whose parameters are unknown variables or those slowly varying with time has piece of equipment under control, three factor specifying units, five adders, eight multipliers, five integrators, three delay units, and differentiating unit. |
 Intellectual control system / 2251721Device has control subject, two execution blocks, output coordinate sensor, sensor for value of coordinate adjusting action, delay block, control block, low frequency filter, adder, three comparison blocks, no-delay object model, two extrapolation blocks, output coordinate set-point device, object state parameters sensors block, object state set-point devices parameters block, robust filter, object state estimation block, threshold elements block, controlling parametric actions generator. |
 Nonlinear robust system for controlling non-stationary objects / 2251722System has control subject, coefficients setting block, two adding blocks, two multipliers and coefficient setting block. |
 Method to limit parameters of device in operation / 2255894Invention relates to methods of control and overload and failure protection of boom load-lifting cranes. According to proposed method, first and second threshold levels are set for at least one parameter characterizing load, geometry or operating conditions of device. Provision is made for checking said parameter in operation and comparing its value with first threshold level, forming of device control signal if parameter exceeds first threshold level, comparing parameter with second threshold level and forming signal to prohibit operation of device or its component part if second threshold level is exceeded. Moreover, rate of parameter changing is revealed, and first threshold level is set depending on rate of change of said parameter or reduced inertia moment or reduced mass of moving device or its component part. |
 Adaptive system for controlling object with variable transporting delay / 2258950System has set-point device, first adder, adjusting means, first object model, first delay element, second object model, adjustment block, processed product movement indicator, first quantizer, compensation adjusting means, second adder, multiplier, extrapolator, comparison element, second quantizer, second delay element, first, second, third and fourth keys. |
 Device for modeling self-restoring system / 2259578Device has controlling trigger, random pulses generators block, AND element, timer, random pulses generators group, second AND element, two OR elements, two counters and delay line. |
 Tracking inverter with one-side two-pole width-pulse modulation / 2264644Device additionally has second block for forming controlling signal and second block for forming sweeping signal. This provides in tracking inverter with one-side two-pole broad-pulse modulation the realization of control law with two control signal respectively for forming of output signal of positive and negative polarity with preservation of modulation type and proper order of commutation in pulse elements block during change of support signal sign. |
 Adaptive control system for dynamic objects with periodical coefficients / 2265873System 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. |
 Intellectual controller with neuron network and self-modification rules / 2266558Device has controlling neuron network, efficiency coefficient block, teaching neuron network, block for self-teaching rules of controlling neuron network, block for storing system operation history. |
 Method for controlling chemical technological process / 2270468Method for controlling chemical technological process includes current control over signal, connected to technological equipment positioned downstream relatively to chemical reactor, to determine transfer processes occurring there, while current control of signal includes periodic current control of signal of scanning line position from device, which carries information relatively to nominal operation parameters of process and following periodic observation of signal for detection of one or more transfer processes in aforementioned technological equipment above or below scanning line, which arced to alternation of material quality, received during chemical production process, then connection between change of product quality and detected transfer processes is determined, process parameter adjustment, connected to technological equipment positioned upstream, in response to change of quality of product. Also presented is method for controlling production of polyolefin in process of polyolefin production, for which reactor is utilized for polymerization of polyolefin. |
FIELD: physics.
SUBSTANCE: system includes a control object, a setter, three integrators, four adders, one coefficient unit, two multipliers and one nonlinear element.
EFFECT: broader functional capabilities of the system, providing stable and good quality of operation when adaptive, undamped and modulus-limited perturbation acts on an astatic object with delayed control.
3 dwg
The invention relates to the automation and can be used in control systems static objects with delay, the parameters of which is unknown constant or slowly varying in time value, as measurement is only available output signal of the object, but not its derivatives.
The closest technical solution to offer is adaptive control system of a static object with delay [Patent RU 2288496, IPC C1 G05B 13/02, 2006.01]containing unit, the first adder, the object of regulation, integrator, the second adder, adaptive regulator and the output of the generator is connected summarizing the entrance of the first adder, the exit of the object of regulation is on the second subtractive entrance of the first adder, the output of the second adder is connected to the input of the integrator, the output of the integrator is connected with the corresponding subtractive entrance of the first adder and subtractive input of the second adder, the first entrance adaptive regulator is connected to the output of the generator, the second input of the adaptive controller receives a signal from the output of the first adder, exit adaptive regulator is connected to the input of the object of regulation and summing input of the second adder.
The disadvantage of this system is the poor quality of work or the loss of stability in the case of action on a static object with delay continuous in time and limited by module additive perturbation.
The objective of the invention is to expand the functional capabilities of the system, i.e. to ensure the sustainability and good quality of work under the action of a static object with delay management additive, continuous, bounded by module disturbance.
Summary of the invention consists in that into the system containing unit, the first adder, the first integrator, second the adder, the object of regulation, adaptive regulator, consisting of the first multiplier, the second integrator, third adder, the second multiplier, the linear part, formed by the fourth adder, the first block of job factors, the third integrator, while the output of the generator is connected to the first input of the first adder and with the first sign of adaptive regulator, with which the signal is simultaneously supplied to the second input of the first multiplier and to the second input of the second multiplier; the second input of the first adder's output is fed object of regulation, the output of the first adder is served on the second entrance adaptive controller from which the signal is on the first entrance of the first multiplier; output adaptive regulator must be submitted simultaneously to the input of object of regulation and on the first entrance of the second adder, the output of the second adder is connected to the input of the first integrator, the outputs of the first integrator comes to the second input of the second totalizer unit and at the third entrance of the first adder; the outputs of the second integrator is served on the first entrance of the third adder, the output signal of the third adder is served on the first entrance of the second multiplier, the output of the second multiplier is connected to the unit linear part adaptive regulator, where the signal is on the first entrance of the fourth adder, fourth adder is attached to a pulley job factors, the output of job factors connected with the third integrator and applied to the output of adaptive controller, the output of the third integrator is connected to the second input of the fourth adder, additionally introduces a nonlinear element type the dead zone, with the release of the first multiplier is served on nonlinear element, the outputs of the nonlinear element at the same time is supplied to the input of the second integrator and to the second input of the third adder.
Entering into the system of nonlinear element type dead band get a new function that is that ensures stability and good quality of work during the action on an object additive, continuous and bounded on module disturbance.
Figure 1 shows the block diagram of the proposed adaptive systems of automatic control; figure 2 - block diagram of adaptive regulator; figure 3 - block of the linear part of the adaptive regulator.
The system contains unit 1, the first adder 2, adaptive controller 3, the object of regulation 4, the first integrator 5, second adder 6, the linear part of the adaptive controller 7, the second multiplier 8, the third adder 9, the second integrator 10, nonlinear item 11, the first multiplier 12, the fourth adder 13, the first block of tasks of the coefficients 14, the third integrator 15.
The object of regulation describes the transfer function of the form
where p=d/dt is the operator of differentiation; t=const>0 is an unknown constant delay; R(p) and Q(p) - polynomials describing respectively the numerator and denominator of the transfer function Q(p) - Gurvitz polynomial.
Adaptive regulator consists of linear and nonlinear parts
where g(t) is the output of the nonlinear part; W L (p) is the transfer function of a linear part of adaptive regulator, which in our case has the form
where K>0, T>0, respectively gain coefficient and time constant link.
The output of the nonlinear part g(f) is generated as follows
where r is the output of the generator, c(t) is a parameter of the algorithm settings which is defined as follows
where c And a (t), P (t), respectively integral and proportional component settings.
Using the criterion of giprostrojjmost Popov it can be shown that the obtained system of automatic control will be sustainable if the parameters c And a (t), c P (t) is determined as follows
where h 1 h 2 >0 is a constant numbers that define the configuration of the adaptation process; q(t) is the output of the nonlinear element type the dead zone is equal to
where e(t) is the output of the adder 2; d is the size of the dead zone nonlinear element.
The system operates as follows.
Output signal U 1 =r unit 1 input signal at the summing input the first adder 2 and on the first entrance of the adaptive controller 3. The output of the first adder 2 a signal is generated U 2 =e, which goes to the second input of the adaptive controller 3. The control action U 3 =u output adaptive controller 3 submitted simultaneously to the input of object 4 of regulation, which may act additively, limited by module, but continuous perturbation f(t), satisfying the conditions
and summarizes the input of the second adder 6, on the subtractive which input signal U 5 =X 1 from the output of the integrator 5. In the second adder 6 signal is formed , u=const>0, supplied to the input of the integrator 5. On the second subtractive input the first adder 2 signal U 4 =y output object of regulation 4, on the third subtractive - with the first integrator 5. Thus, the first adder 2 provides the algebraic summation four signals U 2 =U 1-U 4-U 5 =e with the corresponding coefficients U 2 =r-y b-X 1,?=const>0.
Functional scheme of adaptive controller 3 is shown in figure 2.
The output of the first adder 2 connected to the first input of the first multiplier 12, the second input of the first multiplier 12 is connected to the output of unit 1, the signal 12 U =e·r with the first multiplier of 12 fed to the input of the nonlinear element 11 type the dead zone, the signal U 11 =q(t) with the output of the nonlinear element comes together at the entrance of the second integrator 10 and to the second input of the third adder 9, the first entrance to the third adder 9 is connected to the output of the second integrator 10. Thus, the third adder 9 performs algebraic addition of two signals with the corresponding coefficients U 9 =U 10 +U 11 =c(t)=h 1 ·∫q(t)dt+h 2 ·q(t). The output of the third adder 9 is connected to the first input of the second multiplier 8, the second input of the second multiplier 8 is connected to the output of unit 1. The output of the second multiplier 8 signal is formed 8 U =g, which is fed to the input unit of the linear part of the adaptive controller 7.
Functional block circuit linear part 7 adaptive controller is given in figure 3.
The outputs of the second multiplier 8 comes on the first summarizing the entrance of the fourth adder 13, on the second subtractive entrance fourth adder 13 with the corresponding factor of 1/K signal from the third integrator 15, at the entrance to the third integrator 15 signal from the output of the first block of the task of the coefficients 14, in the first block of the task of the coefficients 14 is the multiplication of a signal from the output of the fourth adder 13 at the K/t The output of the first block of setting coefficients 14 is the output of the linear part of the regulator 7 and exit adaptive controller 3, i.e. generates signal U 3 .
The technical result consists in expanding the functional possibilities of the system, i.e. to ensure the sustainability and good quality of work under the action of a static object with delay management additive, continuous, bounded by module disturbance.
This device can be implemented industrially based on the standard elementary base.
Adaptive control system of a static object with delay containing unit, the first adder, the first integrator, the second adder, the object of regulation, adaptive regulator, consisting of the first multiplier, the second integrator, third adder, the second multiplier, the linear part, formed by the fourth adder, the first block of job factors, the third integrator, while the output of the generator is connected to the first input of the first adder and with the first sign of adaptive regulator, with which the signal is simultaneously supplied to the second input of the first multiplier and to the second input of the second multiplier; the second input of the first adder's output is fed object of regulation, the output of the first adder is served on the second entrance adaptive controller from which the signal is on the first entrance of the first multiplier; output adaptive regulator must be submitted simultaneously to the input of object of regulation and on the first entrance of the second adder, the output of the second adder is connected to the input of the first integrator, the outputs of the first integrator comes to the second input of the second totalizer unit and at the third entrance of the first adder; the outputs of the second integrator is served on the first entrance third adder, the output signal of the third adder is served on the first entrance of the second multiplier, the output of the second multiplier is connected to the unit of the linear part of the adaptive regulator, where the signal is on the first entrance of the fourth adder, fourth adder is attached to a pulley job factors, the output of job factors connected with the third integrator and applied to the output of adaptive controller, the output of the third integrator is connected to the second input of the fourth adder, characterized in that it further introduces a nonlinear element type the dead zone, the yield the first multiplier is served on nonlinear element, the outputs of the nonlinear element at the same time is supplied to the input of the second integrator and to the second input of the third adder.