Методи забезпечення стійкості систем регулювання на базі пі та під регуляторів

Abstract

In the real operation of automation systems, there is not a model that would describe without simplifications the behavior of the control object. Most technological objects are described by complex differential equations that cannot in practice precisely adjust a regulator, and can only get approximate parameters. The purpose of the research is a synthesis of the regulator, which would provide the set parameters of transient processes, irrespective of model errors or changes of equipment parameters during the process. The article proposes the method of dynamic adjustment, which uses 2-channel structure: the main channel is responsible for system performance and the channel of adjustment compensates the excessive signal of the control effect, ensuring the sustainability of ACP in the final section of the transient process, which allows using the forced adjustments of the main channel. The advantages of the regulator with internal structure are considered, the stability of closed-loop system is achieved by selecting a resistant IC regulator. As an estimation of an error of the adjustment, the H ∞-norm was taken. In a system with the IMC-H ∞ regulator the performance of transients are directly dependent on the parameters of the regulator, which makes its adjustment very easy-to-use. The article proposed structural and algorithmic solutions for provision of a given operation quality of control systems. On the example of ACP of temperature of pulverized air-mixture, we conducted simulation and comparative analysis of the main indicators of quality of functioning of regulators. The use of these techniques allows sufficient stability while maintaining performance and other indicators of quality of the system operation throughout the operating range of load of the control object