SU857929A1 - Relay regulator - Google Patents

Description

(54) RELAYED REGULATOR

The invention relates to control devices of automation, to optimal control systems, as well as to controllers of closed systems with piecewise-constant control, ensuring a change in the sign of the control action in the states of the systems determined in the phase space by switching hypersurfaces.

Known regulators of closed systems are known that control in K the intervals of the control constant with complete information about the state of the object tl.

The closest to the proposed invention is a regulator with piecewise-constant control in K intervals, containing a zero-zero pulse shaping unit, a telio connected limiting amplifier and a multiplication unit, and a sequentially connected modulo detection unit and a maximum memory storing unit, slot through correspondingly connected functional converters, adders and relay elements which are connected to the corresponding inputs of the multiplication unit, and the input of the amplifier with limitation. connected to the input of the module determining module, the input of the pulse forming unit of the zeroing device is connected to the amplifier with a limiter, and the output is connected to the zeroing input of the maximum memory unit, the output of the module determining the module is also connected to the secondary inputs of 1.2 J adders,

The disadvantage of the regulator is

10 the presence of additional first dynamic constraints with the stabilization of an adjustable state variable caused by auto-oscillations in the system.

The purpose of the invention is hanging

15 of the accuracy of the regulator in the stabilizing mode due to an increase in the frequency of relaying the relay at the suppressive effect thereby reducing the range of oscillations of the controlled

20 state variables from periodic switchings of the control action,

This target is achieved by the fact that the regulator containing the amplifier

25 with a limitation, the output of which is connected with the first input of the multiplication unit, ai input - with the input of the detection unit of the module, the output of which is C9 connected through the memory storage unit

The inputs of the inverters, each of which are connected to the remaining inputs of the multiplication unit through the corresponding series-connected adders and relays, the second inputs of the totalizers are connected to the module definition unit output, a feedback link and a sequentially connected pulse generator, integrator and coupler are entered, output connected to the third input of adders, with the output of the pulse maker connecting, not to the second input of the memory module of the maximum, and the input to the output of the amplifier with the limitation and the input of the feedback feedback, the output of which is connected to the input of the amplifier with the limitation. Figure 1 shows the block diagram of the controller; in fig. 2 shows an example implementation of a device consisting of a serially connected integrator and comparator; in fig. 3 and 4 are graphs of the processes in the blocks shown in FIG. 2. - The regulator (Fig. 1) consists of a series-connected amplifier 1 with a limitation, a multiplication unit 2 and a series-connected module 3 for determining the module and a maximum memory unit 4, series-connected functional converters 5, adders 6 and relay elements 7 connected to the corresponding the inputs of block 2. multiply. The input of amplifier 1 with the limitation is connected to the input of the module 3, the definition of the module, the output of which is also connected to the second inputs of the adders 6. The amplifier 1 with the limitation is captured by southern feedback through the resistance-capacitance circuit 8, the output of the amplifier 1 with the limitation is also connected to the input of the block 9 forming the zeroing pulses, the output of which is connected to the zero-input input of the maximum memory unit 4 and to the integrator zeroing input 10. The output of the integrator 10 is connected via a comparator 11 to the third inputs of the adders 6. In the mode with In order to control the phase state of the control object from the point of the initial state to the region containing the zero point, the control action is formed in the block of intelligent 2 in accordance with the dependence U - tn51grn (./ X / -X, -),. ((( ) where X is the measured system state variable, which is input to the regulator. Signal C is generated in amplifier 1 with a limiter in accordance with the following expressions 1 + 1 at (2) -1 at (3) ix at (x) D , (4) where D is the magnitude of the linearity zone of the static characteristic of amplifier 1, which determines. : area of stabilization of the measured variable. In the cue mode, the signal value is determined by the curves (2) or (3). The signals (XY) are formed in blocks 3,4,5,6 and 7. The signal / x / is formed in the module 4 determining unit and is fed to the second inputs of the adder 6. The first inputs of the adders receive the signals X | - absolute values of the switching coordinates, which are determined by the angles {(x1) at sijgTi X-3tghx; (5) 1 jn CWhoiOnpH 31d; and to (6) to at (ib18P1X / a1), (7) where the functions Pc are (P-functions) The functions of the switching coordinate coordinates depending on the extreme value of the measured variable X. Signals are implemented modulo 3 definition blocks, maximum 4 memory and functional converters 5. Algorithm (1) implements K control sign intervals to translate the phase state in accordance with the switching hypersurfaces. At the end of the casting process, the / X / D controller works in re-. variable state stabilization press. The stabilization mode, both in the known and in the proposed controller, is self-oscillatory. But in the present invention, the well-known principle of frequency oscillation of self-oscillations is applied due to the introduction of feedback in the form of a resistance-capacitance circuit 8, covering amplifier 1 with limitation. A feature of this scheme is that the autogeneration of the system of blocks 1 and 8 occurs with and, thus, automatic switching from the conversion mode to the stabilization mode takes place. In accordance with the theory of linearization, a system consisting of blocks 1.8 and 2 can be represented by a linear element only if the signs of the signals from the relay elements 7 are constant, which is ensured by blocking these signals. The blocking should be carried out in the stabilization mode. For controlling the transition to the stabilization mode, the time interval between the moments of the change in the sign of the output signal of the link 1 is selected. The moments of change of the sign are fixed in the known device in the form of output pulses, block 9 forming zero-pulse and used to reset the memorized value in block 4. In the cast mode, the time interval between pulses significantly exceeds the time interval between pulses in the stabilization mode. E allows forming a positive pulse of a blocking signal with a duration shorter than the generation period of the system from blocks 1 and 8 in the stabilization mode and using this pulse to set positive values for the output signals of the relay elements 7, the pulses of the blocking signal are formed by the integrator 10 and the comparator with the output positive or zero signal 11. In FIG. 2 shows a scheme for the implementation of integrator 10 and comparator 11. FIG. Figures 3 and 4 show the graphs of the processes in these blocks, respectively, in the reduction mode and in the stabilization mode. The integrator 11 consists of a constant voltage setpoint 1C, R, an integrator - Y, Rj, CR, and a relay contact key R ,; the input of which receives a signal from block 9. The comparator consists of a constant voltage voltage detector relay element of comparison With the characteristic UH SignCu -U), R ,, RH and the adder -, Rg, R, for shifting the characteristic of the comparator into a positive area Output signal the comparator is determined by the expression S it -sgn (u ,, -U2). (8) When the sign of the output signal of link 1 (Figs. 3 and 4) changes, the integrator zeroes out and begins to integrate a constant voltage, U. At the same time, a positive signal is output from the comparator output, which is fed to the third inputs of adders B and amplitude exceeds signals arriving at the first inputs of adders b from the outputs of blocks -5, which ensures the positiveness of signals from blocks 7. In the alignment mode, the signal at the output of the relay element changes the sign at the moment of equality of the voltages and (FIG. 3), which defines the end blocking and impulse with duration t T, where T - generation period. In the stabilization mode, the signal at the output of the relay element does not change its sign, since the pulses correspond to the changes in the sign of the output signal of link 1 following at intervals of time t. or t, null the integrator. Therefore, in the stabilization mode, a blocking pulse always exists under the condition t and. The introduction of a blocking pulse in the casting mode does not affect the control algorithm (1) - (7), since the duration of the first casting interval is greater than the IT value, and according to the algorithm, the output signals of the relay elements 7 in the first interval are positive. The present invention makes it possible to increase the accuracy of stabilization of an adjustable variable and structurally simple means to provide restructuring of the regulator during the transition from the conversion mode to the stabilization mode and vice versa. So, for example, installing an additional relay element fixing the stabilization mode according to the measured variable () the desired effect due to the smallness of D and the difference in drift of the additional relay element and link 1. With the introduction of only the coverage of link 1 with a resistive-capacitor circuit 8, the stabilization mode algorithm depends on the signs of the signals coming from the outputs of the relay elements 7, which can lead to such a high frequency of control changes from the signal U at the output of block 2, which will not be processed by the steering drive, or to a violation of the signs of the input and output regulator signals and instability system. Dynamic stabilization accuracy is accomplished by increasing the frequency of changes in the relay control action. In relay systems in the auto-oscillatory mode, the dynamic error of stabilization — the amplitude of self-oscillations depends on the frequency of change of the sign of the control action and is often determined by the amplitude-frequency characteristics of the control object as the response of the object to the first head from the decomposition of the periodic control action. With monotonously decreasing amplitude-frequency characteristics, an increase in the frequency of change of the control action leads to a decrease in the dynamic error. In the proposed device, the largest frequency of change of the control action does not depend on the dynamic properties of the control object and is limited to the frequency of transmission of the steering drive. The frequency range of self-oscillations of a known regulator to control a fourth-order object is 0.5 Hz to 2 Hz, it is determined in angry dynamic properties

the control object with respect to the measured paired state. The range of frequency of self-oscillations of the control system of the same object with the proposed controller can be set from 0.5 Hz to 10 Hz and limited to the top of the steering gear. A change in the frequency range of self-oscillations leads to an increase in the dynamic accuracy of stabilization proposed by the controller more than four times.

Claims (2)

1. Pavlov A.A. Synthesis of relay systems, optimal in speed, M., Science, 1966, p. 216. 2. Authors certificate of USSR 283354, class, G 05 B 17/00, 1969 (prototype). fftn dalv 9 ./ X4 .W, “z