Digital integrating module for sampling control devices

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Details

364149, 364194, G05B 1304, G05B 2102

Patent

active

049492373

DESCRIPTION:

BRIEF SUMMARY
BACKGROUND OF THE INVENTION

The present invention relates to an integrating module for sampling control devices that can be fed back and in which the relationship between the input and the output signal at any sampling point is determined by a recursive integrating algorithm which is formed by approximation of the area under a continuous function by means of the trapezoidal rule.
The use of process computers and microprocessors in the control and automation of technical systems which are characterized by a high processing rate and a large storage and address space forms the technical foundation for the realization of high performance control systems. A prerequisite for the full utilization of such computers, however, is a sufficiently accurate physical/mathematical description of the loop to be controlled, for instance, in the form of a so-called "model". As is well known, the dynamic behavior between the inputs and outputs of a loop can be described in general by a set of differential equations of different order and of ordinary equations which were derived by utilizing the physical laws occurring in the respective system.
For the uniform mathematical description of such sets of equations and their formal standardized treatment up to the design and layout of suitable control strategies based thereon essentially two methods have evolved in modern control engineering. One of them is the well-known "frequency domain method", in which the system equations are transferred from the time domain into the frequency domain. The dynamic system behavior can be further processed there in the form of complex transfer functions up to the design and layout of suitable control systems.
A second method for the uniform mathematical description which has not been popular generally yet is the system representation in the so-called "state space." There, the system equations which as a rule are of different order are transferred in the time domain into a first-order set of differential equations by a suitable definition of the state variables. All input, output and state variables of the system can them be combined advantageously in vectors which are generally interlinked via a so-called "system, input, output and pass-through matrix." Besides the simple mathematical processing of such a system description by means of matrix calculus, it is a further advantage of the state space representation that the state equations, assuming linearity and time invariance, can be converted into so-called "normal forms" by means of standardized transformations. While these describe the same physical system and thus represent equivalent descriptions of the respective dynamic system behavior, certain structure properties of the system to be modulated, for instance, their eigen values, their controllability or observability, emerge particularly clearly only after the transformation of the state equations into one of the standard forms. The standard forms thus are a particularly suitable starting point for design of control strategies or control structures. Thus, for instance, the actual state of a concrete system can be simulated in an "observer" which "runs along", for instance, in a computer, and is modelling the system so that this "internal" state of the system becomes accessible and can be influenced by means of suitable control interventions: known standard/forms are, for instance, the so-called "Jordan standard form" and various "observer and control standard forms."
The description of the system by means of state equations or its representation in a selected standard form has the further advantage that it can be realized particularly well in analog and digital computers. This system description has therefore a decisive importance for a practical realization of technical sampling control devices. The good handling capability is made possible particularly by the provision that the normal forms lead to a standardized, block-oriented modular system representation. The number of such "blocks" required for the modelling of a technical system i

REFERENCES:
patent: 4358822 (1982-11-01), Sanchez
patent: 4674029 (1987-06-01), Maudal
patent: 4774651 (1988-09-01), El-Ibiary et al.
patent: 4791548 (1988-12-01), Yoshikawa et al.

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