Combined adaptive control system for nonstationary dynamic objects with observer. RU patent 2474858.
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 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. |
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 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. |
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 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. |
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 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, having a status observer, a coefficient unit, a first adder unit, a first multiplier, a second adder unit, a delay unit, series-connected second multiplier and adjustment unit, additionally includes an integrator and a third adder unit.
EFFECT: providing operating capacity and asymptotic stability when controlling a priori undefined unstable dynamic objects of periodic action.
2 dwg
The invention relates to the technical Cybernetics and can be used for automatic control of the nonstationary scalar priori uncertain dynamic objects of cyclic action.
The closest to the proposed technical solution is adaptive control system for dynamic objects with periodic coefficients and the observer (RF Patent №2429516, Official Bulletin. «The invention. Utility models». - 2011, no 26, prototype)containing observer status, block of setting the coefficients of the first block of summation, the first multiplier, the second block summation, the delay unit, connected in series the second multiplier and the object of the regulation, the output of which is connected with a second entrance observer status, input block job factors are connected to the corresponding outputs observer status, inputs of the first unit of summation connected to the outputs of the unit job coefficients, the output of the first block of summation is connected with the first and second inputs of the first multiplier and the second input of the second multiplier, the first input of the second block of the summation is connected to the first multiplier, second entrance to the exit delay block, the output of the second block of summation was connected to the first input of the second multiplier and with the input of the delay block, the output of the second multiplier connected to the input of a control object and to the first input of observer status.
However, the disadvantage of this system is the loss of performance in case management priori uncertain unstable dynamic objects.
Technical problem which the claimed invention is to expand the functional capabilities of the system, i.e. ensuring the efficiency and asymptotic stability in the management of a priori uncertain unstable dynamic objects of periodic action.
Solution of the problem is due to the fact that in a system containing an observer state block of setting the coefficients of the first block of summation, the first multiplier, the second block of the summation, the delay unit, connected in series the second multiplier and the object of the regulation, according to invention, additionally there is the integrator and the third block summation, and the output of a control object is connected with a second entrance observer status, the outputs of which are connected to the respective inputs block job coefficients, inputs of the first unit of summation connected to the outputs of the unit job coefficients, the output of the first block of summation is associated with both entrances of the first multiplier, as well as the second input of the second multiplier, the first input of the second block of the summation is connected to the first multiplier, the second entrance is associated with exit delay block, the output of the second block summing connected to the second input of the third unit of summation and the input of the delay block, the first input of the third unit of summation is connected to the output of the integrator, the input of which is connected to the output of the first multiplier, the output of the third unit of summation is connected to the first input of the second multiplier, the output of the second multiplier connected to the input of a control object and to the first input of observer status.
Due to the introduction of the integrator and the third unit of summation is provided asymptotic stability system when the management of a priori uncertain unstable objects in periodic modes.
The essence of the invention is illustrated by drawings, where the figure 1 shows the block diagram of the system; figure 2 illustrates the block diagram of the observer status. The system contains an object of regulation 1, the observer status 2, block job coefficients of 3, the first block of summation 4, the first multiplier 5, the second power summation 6, the delay unit 7, integrator 8, the third block summation 9, the second multiplier 10, y, u are the scalar output and control action of the object of regulation, - the value of internal state of the object of regulation (derivatives of the scalar output y).
The object of the regulation is described by the equation
Equations of dynamics of a stationary NA have a view
Here x(t) be an n-dimensional vector object state regulation;
- an n-dimensional vector the status of observer, the corresponding estimates inaccessible state variables x(t);
A(t+T), b(t+T), respectively nonstationary matrix status (unstable) and vector control with a-periodically varying coefficients;
the matrix is the status of observer;
0 - Hurwitz matrix;
N - matrix of observations;
y(t) is a scalar value of the control object;
* - symbol of transposition;
, L* =(1,0,...,0) - stationary vectors;
u(t) is a scalar control action, satisfying relationship:
where ^ lane (t) - custom ratio control loop;
^ Rob (t) - robust part regulator (3)
- some n-dimensional vector block of tasks of the coefficients of 3, such that the polynomial - ;
s is a complex variable.
Using the criterion .., one can show that the asymptotic stability in the system of management is ensured by the implementation of algorithms contour (3) in the form:
where C 0 , γ 1 =const>0.
The system operates as follows.
Y signal from the output of a control object 1 enters the second entrance observer status 2 (structural scheme is presented in figure 2), the first input there is a control signal u. The signal from the second entrance observer status 2 is at the second entrance of the block of comparison, 13, first entrance which is supplied to the integrator output 12 1 . Inside Comparer 13 calculates a difference filed on him signals. Signal u from the first entrance observer status 2 is served on the first entrance of the block summation 11 n (n is the dimension of the state vector of the object of regulation 1), the second input of the block summation 11n comes output signal block comparisons 13 with the corresponding coefficient. On the other n inputs block summation 11 n go signals from outputs integrators 12 i (i=n, n-1, ..., 1) with the corresponding coefficients. Output signals integrators 12 i , the corresponding estimates inaccessible state variables , proceed, firstly, to the appropriate outputs observer status 2 and, secondly, on the input blocks summation 11 j (j=n-1, ..., 1). On the second inputs blocks summation 11 j signals are output block 13 comparison with the corresponding coefficients. Signals from the outputs of the observer status 2 proceed to the appropriate inputs block job coefficients of 3, a multiplication of the signal from the i-th input by a constant factor. The output signals of the block job coefficients 3 enter the inputs of the first unit of summation 4, where are added. The output signal of the first unit of summation 4 goes to both inputs of the first multiplier 5 and the second input of the second multiplier of 10. On the first entrance of the second block of summation 6 with the suitable ratio signal with the release of the first multiplier 5, the second input of the second unit of summation 6 goes output signal delay block 7. Output signal of the second block of summation 6 is fed to the second input of the third unit of summation 9 and input of the delay 7. On the first entrance of the third block summation 9 with the corresponding coefficient of the signal from the output of the integrator 8 on the input signal from the output of the first multiplier 5. The output signal of the third unit of summation 9 is on the first entrance of the second multiplier of 10. The output signal of the second multiplier 10 assigned to the scalar control u arrives at the input of a control object 1 and on the first entrance of the observer status 2.
The technical result consists in expanding the functional possibilities of the system, namely ensuring its efficiency and asymptotic stability in periodic management regimes priori uncertain unstable dynamic objects.
This device can be realized in the industrial way on the basis of standard components.
Combined adaptive control system for non-stationary dynamic objects with the monitor containing the observer status, block job coefficients, the first and second units of summation, the first and second multipliers, block delay, the object of the regulation, the output of which is connected with a second entrance observer status, the outputs of which are connected to the respective inputs block job coefficients, inputs of the first unit of summation connected to the outputs of the unit job coefficients, the output of the first block of summation is associated with both entrances of the first multiplier, as well as the second input of the second multiplier, wherein the additionally introduced integrator and the third block summation, the first input of the second block of the summation is connected to the first multiplier, the second input is connected to the output of the driver delay, the output of the second block of summation connected to the second input of the third unit of summation and the input of the delay block, the first input of the third unit of summation is connected to the output of the integrator, the input of which is connected to the output of the first multiplier, the output of the third unit of summation is connected to the first input of the second multiplier, the output of the second multiplier connected to the input of a control object and to the first input of observer status.