chebЧебышевский сборникChebyshevskii Sbornik2226-8383Tula State Lev Tolstoy Pedagogical University10.22405/2226-8383-2024-25-2-127-138cheb-1735Research ArticleСтатьиArticleМодель контроллера с установленной программой поллинга для систем с векторным управлениемThe controller with installed polling program model for vector control systemsЛаркинЕвгений ВасильевичLarkinEvgeny Vasilievich

доктор технических наук, профессор

doctor of technical sciences, professor

elarkin@mail.ruСальниковВладимир СергеевичSalnikovVladimir Sergeyevich

доктор технических наук, профессор

doctor of technical sciences, professor

vsalnikov.prof@yandex.ruСкобельцынСергей АлексеевичSkobel’tsynSergey Alekseevich

доктор физико-математических наук

doctor of physical and mathematical sciences

skbl@rambler.ruТульский государственный университетРоссияTula State UniversityRussian Federation202419072024252127138Copyright © Ларкин Е.В., Сальников В.С., Скобельцын С.А., 20242024Ларкин Е.В., Сальников В.С., Скобельцын С.А.Larkin E.V., Salnikov V.S., Skobel’tsyn S.A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.chebsbornik.ru/jour/article/view/1735

Разработан подход к конструированию программ цифровых контроллеров, выполняющих функции управления опросом сенсоров и исполнительных устройств, а также расчета векторных управляющих воздействий на объект. Исследованы три типа векторных алгоритмов расчета управляющих воздействий: решение систем разностных уравнений, вычисление цифровой свертки и ПИД регулятор. Показано, что контроллер, как реальный физический прибор, при реализации на нем программы поллинга является времязадающимэлементом, и обеспечивает не только заданный период опроса периферийных устройств,но и задержки по времени между транзакциями. Произведена оценка временных интервалов по полумарковской модели алгоритма поллинга с гамильтоновым циклом управления транзакциями. На модели замкнутой линейной векторной системы управления показано влияние задержек по времени на такие характеристики системы, как перерегулирование и время выхода на установившийся режим. Разработана методика синтеза алгоритма поллинга по матричной модели системы управления, учитывающей реальные характеристики контроллера как прибора, включаемого в контур векторной обратной связи.

An approach to digital controller’s programs design, that perform the functions both sensors and actuators polling control, and control actions calculation, id worked out. Three types of control action computation vector algorithms: the solving systems of difference equations, calculation the digital convolution and PID controller are investigated: It is shown that thecontroller, as a real physical device, when implementing a polling program on it, is a timesettingelement, and provides not only a specified peripheral devices polling period, but also time delays between transactions. An estimation of time intervals using the semi-Markov model of the polling algorithm with a Hamiltonian transaction management cycle is made. The model of a closed linear vector control system shows the influence of time delays on such systemcharacteristics as overshoot and time to reach steady state. A method has been developed for polling algorithm synthesis using a control system matrix model that takes into account the real characteristics of the controller as the device included in the vector feedback loop.

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The authors declare that there are no conflicts of interest present.