FIELD: physics.;SUBSTANCE: controller, having a PID controller, connected by the output to the input of the control object and the first input of an identifier, the output of the control object is connected to the second input of the identifier, the output of which is connected to the input of a synthesizer, the first output of which is connected to the first input of the PID controller, the second input of the PID controller is connected to the output of an adder, the first input of which is connected to the output of the control object, the second input of the adder is connected to the output of a test signal generator. Included are an I-controller, a control unit and a unit for self-tuning the amplitude of the test signal. The test signal is tuned such that periods of test frequencies are multiples of the sampling period. The output of the PID controller is connected to the first input of the control unit, the output of which is connected to the input of the control object and the first input of the identifier, the second input of the control unit is connected to the output of the I-controller, the input of which is connected to the output of the adder, the third input of the control unit is connected to the second output of the synthesizer, the output of the control object is connected to the fourth input of the control unit and the input of the unit for self-tuning the amplitude of the test signal, the output of which is connected to the input of the test signal generator.;EFFECT: ensuring operation of the system when there are large changes to parametres of the object when switching from mode to mode.;1 dwg
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