Adaptive control system of astatic object with time delays. RU patent 2513847.
 Self-adjusting device for eliminating static error in automatic systems for stabilising dynamic objects / 2505847Device automatically eliminates static error when used in systems for stabilising dynamic objects by scaling the stimulus. An example of specific implementation of the controller is realised on pneumatic elements of a universal system of elements for industrial pneumatic automation (USEPPA). |
 Modified fuzzy rule intelligent controller / 2504002Device has a control object, an efficiency coefficient unit, a control neural network self-training rule unit, a system operation history unit, a control neural network, a fuzzification unit, a fuzzy output unit and a defuzzification unit. |
 Adaptive terminal control system / 2500009Adaptive terminal control system further includes series-connected second unit for conversion from the system status function, second unit for calculating the system fundamental matrix, second matrix multiplier, vector adder which is connected by the output to actuating devices and by the second input to the output of an adder accumulator; the input of the second unit for converting to the partial derivative of the system status function is connected to the output of the unit of the free movement model of the control object, the input of the first unit for conversion to the partial derivative of the system status function and the input of the unit for converting to the partial derivative of the target function and series-connected unit of the weighting matrix of the terminal member of the optimised functional and third matrix multiplier, wherein the output of the third matrix multiplier is connected to the second input of the second matrix multiplier, the final state coefficient vector unit of the control object, connected by the output to the second input of the third matrix multiplier, as well as a storage element, a switch and a launch unit, the output of which is connected to the second control input of the switch and the second scalar input of a discrete Kalman filter; the first input of the switch is connected to the output of the storage element, and the output is connected to the scalar input of the unit of the free movement model of the control object and the scalar input of the adder accumulator. |
 Automatic control system / 2495469Disclosed is an automatic control system, having a control object, a first comparator, inputs of which are connected to an input signal source and the output of the control object and a summation device, the first input of which is connected through a modulus extractor and a first amplifier to the output of the first comparator, the second input is connected to a device for setting a constant transfer ratio, and the output is connected to the first input of a first multiplier, the second input of which is connected to the output of the first comparator, the output of the first multiplier is connected to the positive input of a second comparator, the output of which is connected to the input of the control object. The negative input of the second comparator is connected through a second amplifier to the output of the second multiplier, the first input of which is connected through a differentiator to the output of the control object, and the second input is connected through a rooting device to the output of the summation device. |
 Method of evaluating states of electronic power system / 2484516Disclosed is a method of evaluating states of an electronic power system (1), having a converter (4), wherein system state vectors x(k) and x(k+1) for each of the discretisation moments k=-N+1,…,0 are varied such that the sum of the vector norm from subtracting the system state vector (k+1) and a first function f(x(k), u(k)) of the system model and the vector norm from subtracting the vector y(k) of the output value and a second function g(x(k), u(k)) of the system model for discretisation moments k=-N+1,…,0 is minimum; the system state vector x(k) at discretisation moment k=0 is then selected. |
 Retarded object adaptive system / 2482533Retarded object adaptive system, including series-arranged in a closed loop a first subtractor and a second subtractor, a controller and a control object, as well as series-arranged between the output of the controller and the inverting input of the second subtractor a simulator of mathematical description of the control object and a third subtractor, wherein the simulator of mathematical description of the control object contains series-arranged simulator of mathematical description of the minimum-phase part of the control object and simulator of mathematical description of the delay element of the control object, wherein the output of the control object is the output of the system and is connected to the inverting input of the first subtractor, the non-inverting input of which is the input of the system, and the non-inverting input of the third subtractor is connected to the output of the simulator of mathematical description of the minimum-phase part of the control object, which contains an identification unit, wherein the controller contains series-arranged simulator of the desirable mathematical description of an open loop and simulator of mathematical description of the reverse structure of the minimum-phase part of the control object, wherein one input of the identification unit is connected to the output of the control object, and the second input is connected to the output of the simulator of mathematical description of the control object, and its first output is connected to the input of the simulator of mathematical description of the delay element of the control object and the second output is connected to the simulator of mathematical description of the reverse structure of the minimum-phase part of the control object. |
 Gas turbine operation analysis method / 2480806At least one dynamic pressure signal is measured by means of at least one pressure sensor in or on the turbine compressor, as well as one or more operating parameters of the turbine are measured by means of one or more other sensors under normal operating conditions of the turbine, and/or dynamic pressure signal, as well as one or more other operating parameters, which have been measured under normal operating conditions of the turbine, are read out; at that, dynamic pressure signal is subject to frequency analysis, by means of which one or more parameters of frequency spectrum of pressure signal are determined. Based on one or more measured operating parameters and one or more parameters of frequency spectrum of pressure signal, one or more neutron networks are trained, which have one or more measured operating parameters and one or more parameters of frequency spectrum of pressure signal as input values, and have at least one diagnostics parameter as the output value, which represents the measure of probability for availability of normal operating conditions of the turbine depending on input values. |
 Method of controlling movement of dynamic object on space trajectory / 2480805Speed of a dynamic object at specific sections of a trajectory via simultaneous adjustment of signals of programmed action in each control channel is set as high as possible, while increasing it until, in the currently most loaded control channel(s) of the dynamic object, the value(s) of the input signal, which is directly proportional to the speed of the dynamic object on the trajectory, moves the corresponding actuating element(s) of the most loaded control channel(s) into a saturation zone and a zone of nonlinearity of characteristics thereof, and while reducing that speed directly proportional to the value of the input signal, whose modulus is greater than a certain maximum allowable value thereof. |
 Measurement method and device for determination of state of electric igniter of gas turbine burner, as well as ignition device for gas turbine burner / 2477509Proposed method consists in the fact that the time-dependant signal that characterises the ignition current of igniter (14) is compared to upper limit value and lower limit value, and at the same time, the characteristic signal is compared to average value of the specified current, relative to which the ignition current shall randomly oscillate at igniter (14) in operation. |
 Combined robust control system for non-stationary dynamic objects / 2475798Disclosed 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. |
 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: instrumentation.
SUBSTANCE: invention can be used in control systems of astatic objects with time delays, the parameters of which are unknown constant or slowly time-varying magnitudes, and only output signal of the object, not its derivatives, is available for measurement. To do this, the system comprises a controlled object, a setup unit, three integrators, five adder units, one coefficient unit, two multipliers.
EFFECT: providing sustainability and good quality of work of the control system under the action on the astatic object with time delays of controlling additive, persistent limited in modulus disturbance.
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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 his derivatives.
The closest technical solution to offer is adaptive control system of a static object with delay [Patent RU 2288496 C1, IPC G05B 13/02, 2006.01]containing unit, the first adder, the object of regulation, the first integrator, the second adder, adaptive the regulator, and the output of the generator is connected first 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 first integrator, the output of the first integrator is connected with the third subtractive entrance first adder and the second 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 the first 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.
Summary of the invention consists in that into the system 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, the third adder, the second multiplier, the linear part of the adaptive regulator, consisting of the fourth adder, block job ratios, third integrator, while the output of the generator is connected to the first summarizing the entrance of the first adder and with the first entry adaptive controller connected to the second input of the first multiplier and with the second input of the second multiplier; the second subtractive input the first adder associated with the release of the object of regulation, the output of the first adder is associated with a second entrance adaptive controller, which is connected to the first input of the first multiplier; exit adaptive regulator is connected to the input of object of regulation and with the first summarizes the input of the second adder, the output of the second adder is connected to the input of the first integrator, the output of the first integrator associated with the second subtractive input of the second adder and third subtractive entrance of the first adder; the output of the second integrator related to the first summarizing the entrance to the third adder, the output of the third adder connected to the first input of the second multiplier, the output of the second multiplier is connected to the input of the linear part of the adaptive controller; the entrance of the linear part of the adaptive controller is connected to the first summarizing the 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 is the output of adaptive controller, the output of the third integrator is on the second subtractive entrance fourth adder, additionally introduced the fifth adder, with the release of the first multiplier associated with the first sum of the entrance of the fifth adder, the second subtractive entrance fifth adder associated with the release of the third adder, the output of the fifth adder connected simultaneously with the input of the second integrator and the second summarizing the entrance to the third adder.
Entering into the system of the fifth adder, get in her 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. Adaptive controller 3 consists of the linear part 7, of the second multiplier 8, the third adder 9, the second integrator 10, fifth adder 11, the first multiplier 12. The linear part of the adaptive controller 7 consists of the fourth adder 13, block job coefficients 14, third integrator 15.
The object of regulation describes the transfer function of the form
W o ( p ) = R ( p ) x e - p x t Q ( p ) x p , ( 1 )where p=d/dt is the operator of differentiation; t=const>0 is an unknown constant delay; R(p) and Q(p) are polynomials of the numerator and denominator of the transfer function Q(p) - Hurwitz.
Adaptive regulator consists of linear and nonlinear parts
u ( t ) = g ( t ) x W L ( p ) , ( 2 )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
W L ( p ) = K x p T p + 1 , ( 3 )where K>0, T>0, respectively gain coefficient and time constant.
The output of the nonlinear part g(t) is generated as follows
g ( t ) = c ( t ) x r , ( 4 )where r is the output of the generator, c(t) is a parameter of the algorithm settings which is defined as follows
c ( t ) = ( c And ( t ) + c P ( t ) ) , ( 5 )where c And a (t), c 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) be defined as
{ d c And ( t ) d t = h 1 x q ( t ) , c P ( t ) = h 2 x q ( t ) , ( 6 )where h 1 and h 2 >0 is a constant numbers that define the configuration of the adaptation process; q(t) is the output element, performs operations
q ( t ) = e ( t ) x r - Δ x c ( t ) , ( 7 )where e(t) is the output of the second adder 2; M=const>0.
The system operates as follows.
Output signal U 1 =r unit 1 input signal is routed to the first 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
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2 ≤ E 0 , E 0 = c o n s t > 0, ( 8 )and on the first summarizes the input of the second adder 6, on the second 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 6 = X 1 = u - m x X 1, mu=const>0 is 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 -?·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 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 12 routed to the first summarizing the entrance of the fifth adder 11, signal U 11 =q(t) with the output of the fifth adder goes simultaneously at the entrance of the second integrator 10 and on the second summarizes the entrance to the third adder 9, the first summarizing the 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 x ∫ q ( t ) d t + h 2 x q ( t ). The output of the third adder 9 is connected to the first input of the second multiplier 8 and the second subtractive fifth adder 11, 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 entrance 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 job coefficients 14, block job coefficients 14 happens multiplication of a signal from the output of the fourth adder 13 factor To/Etc Exit block jobs coefficients 14 is the output of the linear part of the regulator 7 and exit adaptive controller 3, i.e. generates signal U 3 =u.
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 by industrial way, on the basis of 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, second multiplier, the linear part educated fourth adder, block job factors, the third integrator, while the output of the generator is connected to the first summarizing the entrance of the first adder and with the first sign of adaptive regulator, the first entrance adaptive regulator is connected with a second entrance the first multiplier and with the second input of the second multiplier; the second subtractive input the first adder associated with the release of the object of regulation, the output of the first adder is associated with a second entrance adaptive regulator, the second entrance adaptive regulator is connected to the first input of the first multiplier; exit adaptive regulator is connected to the input of the object of regulation and summarizing the first input of the second adder, the output of the second adder is connected to the input of the first integrator, the output of the first integrator is on the second subtractive input of the second totalizer unit and with the third subtractive entrance of the first adder; the output of the second integrator is connected with the first summarizing the entrance to the third adder, the output of the third adder connected to the first input of the second multiplier, the output of the second multiplier is connected to the input of the linear part of the adaptive regulator, the input unit of the linear part of the adaptive controller related to the first summarizing the 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 is the output of adaptive controller, the output of the third integrator is on the second subtractive entrance fourth adder, wherein the additionally introduced the fifth adder, with the release of the first multiplier associated with the first sum of the entrance of the fifth adder, the second subtractive entrance fifth adder is connected to the output of the third adder, the output of the fifth adder simultaneously connected to the input second integrator and with the second summarizes the entrance to the third adder.