Combined robust control system for non-stationary dynamic objects

IPC classes for russian patent Combined robust control system for non-stationary dynamic objects (RU 2475798):

G05B13/02 - electric

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FIELD: physics.

SUBSTANCE: disclosed is a combined robust control system for non-stationary dynamic objects, having a coefficient unit, first, second and third adder units, a parallel compensator filter, first and second multipliers, a delay unit, a control object whose outputs are connected to corresponding inputs of the coefficient unit; inputs of the adder unit are connected to corresponding outputs of the coefficient unit; the output of the adder unit is connected to the input of the parallel compensator filter, the output of which is connected to both inputs of the first multiplier and the second input of the second multiplier, wherein the output of the first multiplier is connected to the first input of the second adder unit and the first input of the third adder unit; the output of the second adder unit is connected to the second input of the third adder unit and the input of the delay unit, the output of which is connected to the second input of the second adder unit; the first input of the second multiplier is connected to the output of the third adder unit; the output of the second multiplier is connected to the input of the control object.

EFFECT: providing dissipative stability of the investigated system for unstable objects with non-periodic external and parametric perturbations.

2 dwg

The invention relates to the technical Cybernetics and can be used in control systems a priori uncertain non-stationary dynamic objects in periodic mode.

The closest technical solution to the present invention is combined adaptive control system for dynamic objects with periodic coefficients (RF patent No. 2441266, Official Bulletin. "Inventions and utility models". - 2012, No. 3, prototype)containing a unit job of the coefficients of the first, second and third summation blocks, parallel filter compensator, the first and second multipliers, the delay unit, the integrator, the object of regulation, the outputs of which are connected to the corresponding inputs of the unit job factors, inputs summation block connected to the corresponding outputs of unit assignments coefficients, the output of summation block connected to the input of the parallel filter compensator, the output of which is connected to both inputs of the first multiplier and the second input of the second multiplier, the output of the first multiplier connected to the input of the integrator and to the first input of the second summation block the second input of the second summation block is connected to the output of the delay unit, the output of the second summation block is connected to the third input of the summation block and the input of the delay unit, the second input trateg the unit summation is connected to the output of the integrator, the output of the third summation block connected to the first input of the second multiplier, the input of the control object connected to the output of the second multiplier.

However, the disadvantage of this system is the loss of efficiency in the presence of non-stationary object control parameters, which are non-periodic functions of time.

Technical problem which the claimed invention is directed, is the extension class of dynamic objects, in particular ensuring the dissipative resistance of the system to unstable objects with periodic external and parametric perturbations and the difference of the orders of the numerator and denominator of the transfer function greater than one.

The solution of this problem is achieved by the fact that from a system containing a unit job of the coefficients of the first, second and third summation blocks, parallel filter compensator, the first and second multipliers, the delay unit, the integrator, the object of regulation, according to the invention eliminates the integrator, while the outputs of the regulation object connected to respective inputs of unit assignments coefficients whose outputs are connected to inputs of the first unit summation, the output of the first summation block is connected to the input of the parallel filter compensator, the first and second I the waters of the first multiplier, and also the second input of the second multiplier connected to the output of the parallel filter compensator, the output of the first multiplier connected to the first input of the second summation block and to the first input of the third summation block, the output of the second summation block is connected to a second input of the third summation block and the input of the delay unit, the output of which is connected to the second input of the second summation block, to the first input of the second multiplier connected to the output of the third summation block, the output of the second multiplier is connected to the input of the regulation object.

The exception of system integrator allows you to build a system, first, a simpler structure in comparison with the prototype, and secondly, working in the presence of periodic external and parametric perturbations.

The invention is illustrated by drawings, where figure 1 presents the block diagram of the control system; figure 2 - block diagram of the parallel filter compensator. The system contains: the object of regulation 1, unit assignments coefficients 2, the first summation block 3, the parallel filter compensator 4, the first multiplier 5, a second summation block 6, the delay unit 7, the third summation block 8, the second multiplier 9, y₁, ..., y_mthe outputs of the regulation object, u is a scalar control.

The object of the regulation OPI is ivalsa equations

where x(t) is the n-dimensional state vector of the object of the regulation;

A(t+T) is non-stationary matrix state with periodically varying parameters;

T - period changes of parameters of a matrix state;

b(t) is nonstationary vector control;

f(t) is the vector of the external permanent perturbations that satisfy the condition

;;

y(t) is an m-dimensional vector of output coordinates of the regulation;

* - the symbol of transposition;

L - matrix output;

u(t) is a scalar control action;

α₀- m-dimensional vector of coefficients of the block job factors 2, satisfying the condition: a polynomial of degree n-1 α₀^*α(λ) is stable with positive senior coefficient, where α(λ) is the numerator of the transfer function of the regulation object.

Using the criterion of giperustoichivost Vampirov, it can be shown that the control loop, implemented by the combined method in the form

where χ_lane(t) - custom ratio control loop;

χ_Rob(t) - robust part of the algorithm (2);

γ₀that γ₁- some constant positive values;

provides the dissipative resistance of the system is neither.

The system operates as follows.

The signals from the outputs of the object of regulation 1 goes to corresponding inputs of a unit job of the coefficients 2, inside of which is the multiplication of the i-th input signal at a constant predetermined ratio. The output signal of the unit job factors 2 go to the inputs of the first summation block 3, where the fold. The output signal of the first summation block 3 is fed to the input of the parallel filter compensator 4 function diagram corresponding to figure 2. In each block of 10 summation (j=1, 2...k-1, where k is the difference of the orders of the numerator and denominator of the transfer function of the object of regulation 1) is the addition of a signal from the output of the first summation block 3 and the corresponding signals received from the outputs of the integrators 11_j. The output signal of each block summation 10_jarrives at the input of the corresponding integrator 11_jand the corresponding input of the summation block 12. In summation block 12 forming the output of the parallel filter compensator 4, adds the output of each integrator 11_jand each block summation 10_j. The output of summation block 12 is supplied to both inputs of the first multiplier 5 and to the second input of the second multiplier 9. The output signal of the first multiplier 5 is the first and the third input of the summation block 8 and to the first input of the second summation block 6, the output signal of which is input to the delay unit 7 and to the second input of the third summation block 8. The output of the third summation block 8 goes to the first input of the second multiplier 9, the output of which is input to the object of regulation 1.

The technical result consists in providing a dissipative system stability control cycle operation at periodic external and parametric perturbations, as well as the difference of the orders of the numerator and denominator of the transfer function of the object of regulation is greater than one.

This device can be implemented industrially based on standard components.

The combination of robust control system for non-stationary dynamic objects containing block job factors, the first, second and third summation blocks, parallel filter compensator, the first and second multipliers, the delay block, the object of regulation, the outputs of which are connected to the corresponding inputs of the unit job factors, inputs summation block connected to the corresponding outputs of unit assignments coefficients, the output of summation block connected to the input of the parallel filter compensator, the output of which is connected to both inputs of the first multiplier and the second input of the second multiplier, featuring the jaś fact, what is excluded from the system integrator, the output of the first multiplier connected to the first input of the second summation block and to the first input of the third summation block, the output of the second summation block is connected to a second input of the third summation block and the input of the delay unit, the output of which is connected to the second input of the second summation block, to the first input of the second multiplier connected to the output of the third summation block, the output of the second multiplier is connected to the input of the object of regulation.