WO1999044105A1 - Procede et dispositif de commande - Google Patents

Procede et dispositif de commande Download PDF

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Publication number
WO1999044105A1
WO1999044105A1 PCT/JP1999/000837 JP9900837W WO9944105A1 WO 1999044105 A1 WO1999044105 A1 WO 1999044105A1 JP 9900837 W JP9900837 W JP 9900837W WO 9944105 A1 WO9944105 A1 WO 9944105A1
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value
response function
control
noise
signal
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WO1999044105A9 (fr
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Takehiko Futatsugi
Mitsuharu Chiba
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Adtex Inc
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Adtex Inc
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B21/00—Systems involving sampling of the variable controlled
    • G05B21/02—Systems involving sampling of the variable controlled electric

Definitions

  • the present invention amplifies sudden failures (falling into an uncontrollable state or an oscillating state) and noise that occur in digital control using modern control theory that identifies a response function (hereinafter, including correction) at the same time as control. It relates to a control method that does not fall into various control states and its control device. If there is a disturbance that can be measured or known according to a schedule (expressed as observable disturbance obta i na b le d i s turbanc e D), a feed mode that cancels the adverse effect of D can be realized.
  • Background art expressed as observable disturbance obta i na b le d i s turbanc e D
  • the model system is required for calculation. Usually, we consider a less complex system, which can be represented by a differential equation for a continuous system and a difference equation for a discrete system. The system is then assumed to have the principles of energy theorem, linearity, and superposition. A system without energy production capability is called a passive system. If the control system is a passive system, if the operating value C is kept at a constant value, the control device R will eventually approach a constant value. It is said that the energy theorem holds when R keeps constant when C is held.
  • An example of energy production is when a gunpowder is ignited or when an inverted pendulum is used. Normally, gunpowder cannot control the subsequent explosion condition once ignited.
  • An energy-producing system is called an active system, but an active system that can be controlled must satisfy the energy theorem, or at least be able to freely change R by changing C.
  • the energy theorem expresses the fact that in a system without energy generation, the energy changes to a state with a large entropy and an equilibrium state is realized.
  • the result R approaches a constant value (energy theorem) in order to numerically express the fact that it is not the raw value (called the actual value) that is measured or set, but the variation ( (Differential value over time or difference of a sequence representing a time series).
  • the energy theorem can be expressed as "If the causes c and d become 0, the result r eventually becomes 0."
  • the relationship is represented by a linear differential equation as in (3).
  • the derivative is made a difference by (3A), and r, C and d are set to the period T Laplace conversion after replacing with (3C ') sampled by
  • ⁇ (t) ⁇ (t-nT), gn ⁇ g (nT) (5D ")
  • (4D) (5D) is the basic equation of control theory using Z-transform.
  • the values at subsequent T, 2T, 3T, ⁇ ' are referred to as the first, second, third, ⁇ ⁇ It is represented by a sequence of numbers (right infinite sequence). Instead, consider a sequence (both infinite sequences) in which the first term, the first term, the second term, the third term, and so on, have negative terms. For any arbitrary infinite sequence A, consider two infinite sequences A 'to which a negative term with a value of 0 has been added, and equate this to A.
  • (12A) the set of sequences in which the first place is X and the last place is Y is defined as [X, Y].
  • (12B) the set of sequences in which the terms are less than X and the terms greater than ⁇ are 0 is defined as ( ⁇ , ⁇ ). The same applies to (12C) and (12D).
  • a sequence with the first term [,) is called a left-regular sequence! :), and the last term is A sequence (,] is called a right regular sequence and is represented by (].
  • a finite sequence with more than one term!:,] Is called a finite sequence, and is abbreviated as []. The intersection of is the mouth: 0 and [),
  • the union (merged set) of (] and [] is called the left regular sequence, right regular sequence, or finite sequence, and is represented by [) +0, (] +0, [] +0. Addition, subtraction, multiplication and division can be freely calculated by expanding 0,) is [) +0.
  • a set whose ratio can be freely calculated by extending ⁇ is called a rational sequence.
  • the description of the present invention mainly uses left-regular sequences or rational sequences.
  • Sequence 0 has no first or last term. In the definition of a special sequence, the sequence is defined more than once. This duplication (13) follows the definition of the power to be described later.
  • the left regular sequence ⁇ — 1 acts as the Z operator.
  • (20D) is a dynamic connection between cause c and result r.
  • (4F) (5F) is (4 ⁇ ') (5 ⁇ ').
  • the relational expression that expresses these causal relationships is the basic control equation called the transfer equation.
  • A ⁇ A " ⁇ e [ - (..) ⁇ ° A ⁇ ⁇ ⁇ « ⁇ ⁇ ⁇ ⁇ 23 ⁇ )
  • A ⁇ An ⁇ e (] ⁇ '.
  • the superscripts " ⁇ " and " ⁇ " are symbols that define the sequence excluding the first and last terms.
  • ⁇ . ⁇ , ⁇ ⁇ are the first and last terms of ⁇ , and the power of ⁇ is a sequence defined in (8C). Then, at AB-2C,
  • the quotient of a left regular sequence of zeros is defined as zero.
  • a left-regular sequence is always divisible except for 0 / B ⁇ 0 B ⁇ 0 (14H) division by 0, and its quotient is a left-regular sequence. By the definition of this division, the following relationships hold.
  • the right quotient of a right regular sequence by a right regular sequence is a right regular sequence, but not necessarily a left regular sequence. Only when the right quotient becomes a finite sequence, it matches the quotient of the left regular sequence (called left quotient when distinguishing). Therefore, right division is a tool for finding a quotient that becomes a finite sequence from the last term side.
  • ⁇ m works by shifting the arbitrary sequence A by m terms to the right.
  • a m A means A before m time points.
  • ⁇ can be expressed as 1 — ⁇ in ⁇ , and the product of any sequence A as the difference.
  • Room 1 _ ⁇ (8 ⁇ ')
  • ⁇ can be expressed as ⁇ — 1 with ⁇ , and the product of any sequence ⁇ is integrated.
  • R f C (20D ⁇ )
  • F, G, etc. are the step response functions.
  • the pulse response function and the step response function have a relationship of the sum of the differences.
  • control measures are usually expressed ignoring time variations.
  • the control valve is so on can be adjusted in flow rate 5 0 ram 3 / sec per degree opening. This means that the flow does not change by 50 mmVsec at the moment the opening is changed by 1 degree, but changes over time.
  • the static characteristics of the operating means are nothing more than the extreme values of the step response function.
  • f m (n) represents any m-th order polynomial of term n.
  • the poles When there is an oscillating element, the poles are represented by more than one pair of complex numbers, and it is considered that energy exchange occurs between these poles. Sound pressure and kinetic energy, pendulum position energy and kinetic energy, electromagnetic wave magnetic field And electric fields are all examples. Therefore, if we consider a complex conjugate pair as a set, the total energy will decay monotonically. In other words, the vibrating element is a positive real number with a pole less than 1 because the energy can be considered as a set (sum) to eliminate the effects of vibration.
  • the area around the temperature control point is wrapped in multiple layers of small heat transfer partitions such as air and heat insulating material.
  • X (r ⁇ i, r ⁇ 2, •••, r ⁇ tU r, ci, c ⁇ 2, ..., c ⁇ ., R , d ⁇ l, d ⁇ 2, .. ⁇ , (! -., R ) (28B)
  • Sampling time is represented as item 0. There are n pairs of data (y, X) ( ⁇ 1, X 1), (y 2, X 2), ⁇ ⁇ ⁇ , (yn, X n)
  • (31A) is solved by the sweeping method.
  • M k u (31A)
  • the sweeping method is as follows. For the copy of M and u, starting from the first row of M and deforming by the sweeping operation up to the i-th row, the sweeping operation of the i-th row is performed as follows. And execute until the last line (the m-th line).
  • the rows (the j-th row) are examined from the row i + 1 to the n-th row. If Mi ,; is not 0, the j-th row and the i-th row of the M and u are determined. Exchange and proceed to the process when the diagonal component is not 0.
  • MM k M u (32A)
  • (30C) w is called the weight, and the method of (30C) is called the weight type. If (30C) indicates the effective number of sets, M, u before the update contains n—1 data sets, and M, u after the update contains n data sets. Expressed as M, u per set, it is (30D), and if 1 / n is p r ' W l , the updated type (30E) is obtained.
  • (30B) increases the number of data sets nM ⁇ (n-1) M + 1 XX; nu-(n-1) u + y ⁇ 1 x (30D) M-(1-1 / n) M + (1 / n) 1 xx; u— (1— 1 / n) u + (1 / n) y 1 x
  • the frequency of occurrence of the data Xi in the primary equation (28A) is extremely different, using (31C) and (31D) will cause the less frequent parts to lose digit and lose information.
  • the data may be divided into groups with different frequency of occurrence, and different observation formulas may be used. As an example of two cases, as in (28D), an observation equation is set up and solved for each of kl and k2.
  • the units of ki, X In order to find the k of the observation equation (28A) by the sequential identification method, the units of ki, X and must be aligned. To do this, we use the representative value k (mean, expected, approximate, sum, reciprocal of the maximum range, etc.) of the coefficient of X i with the same properties, and convert X i, ki to k * iX i , ki / k * Convert the unit as i. Since the maximum range unifies the numerical range, it can be used as a conversion factor. x 'i, k' i are values before conversion.
  • the control device is at least an input device for R and S, an output device for C, a timer for processing periodically, and a device for determining C according to the difference between R and S (computing device) And represented by U).
  • U requires storage device M.
  • a display device, an alarm device, a safety device input device, etc. are attached as necessary.
  • the present invention requires an input device (including the detection device if it can be detected at the location of the device) to know when an abnormality occurs, and an input device for an intelligent disturbance D for which is available.
  • You. M contains the program and initial value data required for control. These programs, data or timer signals can also be obtained externally using communication means. Externally obtained communication means are considered to be attached to the device.
  • the computation between input and output values performed by U plays the role of a machine cam or gear.
  • the object to be controlled has a causal relationship with C being output from the control device and D being observed, with R being the result.
  • the equation describing the causal relationship is called the transfer equation, and the coefficient when the transfer equation is described by a linear equation is called the response function.
  • the modern control method is characterized in that a response function is obtained and an output value C is determined based on the response function.
  • the theory was complicated in the conventional method, and when controlling while obtaining the response function, it suddenly fell into an uncontrollable state or amplified noise.
  • high-speed calculations are required and the number of calculations is limited, if the response function is identified at the end of control, the rest time, the start of the next control, etc. after saving the data, Sometimes became impossible. While analyzing the actual behavior using the theory using left-regular sequences, we discovered these causes.
  • R is obtained from the input device, and C is output from the output device.
  • C is output from the output device.
  • R is obtained from the input device
  • C is output from the output device.
  • these numerical values are discrete integer values or converted values of integer values.
  • the response function describes the relationship between these discretized numbers, and R is obtained by measurement. Assume that a person with a height of 1.65 m is measured with a standard error of 0.05 m and rounded to the nearest lm. Assuming a normal distribution, about 135 out of 100,000 times will be lm and the remaining 99,865 times will be 2m. This average is 1.99865m, not 1.65m. One billion or one trillion measurements will not help. Few people will do such rounding when measuring and recording their height.
  • the learning effect occurs only by identification while controlling, and the burden of preliminary measurement and equipment startup is reduced. Considering the quantum phenomena, since the signal-to-noise ratio S / N is 5 or more, it cannot be expected that the S / N can be further improved by increasing the number of measurements.
  • the identification of the response function must be avoided.
  • Statistical processing can improve the S / N only when there is white noise with a magnitude of 5 to 10 digits or more, as well as variations in digit size and hysteresis. Only when the lysis can be smoothed out. Poor digitization does not improve the S / N even with white noise over a large number of digits, because the relationship between the average and true values of the measured values is nonlinear.
  • the response function is a coefficient that connects the cause and the result, the same applies to the measurement and setting of the causes C and D as well as the measurement of the result R. Variations, hysteresis, instability, etc., of one digit width of C have a great effect when the variation width of C becomes about several digits.
  • ⁇ and g are rational sequences.
  • a rational sequence is a dense subset of a left regular sequence, so it can be safely considered as a left regular sequence. That is, for any left regular sequence, there is a rational sequence with no difference.
  • Rational numbers are dense subsets of real numbers. There is no engineering problem if the pi is expressed as a rational number.
  • (4F) and (5F) are equivalent expressions, and it is unnecessary to discuss which is the basic equation.
  • (4F) is interpreted as follows, where r, c, and d are control values, operation values, and intellectual disturbances. In the Z-transform theory, r, c, and d were impulse responses. However, since the Z operator is a left-regular sequence, there is no reason to treat it differently from other sequences. (4F) It suffices if the control system can be represented by (5F) without excess or deficiency, and r, c : d is simply considered as a sequence representing a time series. It does not matter whether the output value of the double integral AD converter, which is hard to imagine the impulse response, or the value obtained by statistical processing, or r , c, or d with different timings for measurement or setting.
  • q, a, and b have a rank of 1 or more and are qualified as response functions Therefore, it is recognized as a response function. Then q is the response function due to the resulting r. That is, the response function for the elements that affect the future and are accumulated in the results. Imagine ringing a bell. Even if the bell is momentarily impacted, the bell will ring for a while. Instant impact
  • a, b, and q are obtained using a finite number of known data r, c, and d.
  • the calculation method can be either the least squares method or the sequential identification method. If a, b, and q are obtained, f and g are calculated by (6G).
  • C. C— '+ c. , C. -K (c '. + C'.) (39B) is output.
  • the target disturbance d uses not only the past and present values, but also future expected values if available. Feedforward is realized by using the intelligent disturbance d for estimating R '.
  • the method of using the perceptible disturbance in this method to estimate R ° is called the perceptible disturbance capture method.
  • c ' F- 1 E two f - 1 e (5M) following the division of calculating f 1, expand f based on the first term and try to seek the reverse sequence (6J) next, c' is Use (5M) to find (43A).
  • the response function is approximated by the response function of the first term (41A) with Z as the first term, and the deviation is assumed to be non-zero from the Z term (42A).
  • the optimal control method Since control before the dead time is impossible, af ⁇ X. Then, even if there is a little overkill, the method of obtaining by the least squares method by adjusting the weighted Wi from the time point X to the time point Y is called the optimal control method.
  • (4 ⁇ ) is the same as (4 ⁇ ') except when the weight is applied.
  • (5R ') is (42D), which is (5S), but (27G) is (271).
  • the finite settling method is generally known as (5S) rather than (5Q) (5Q '). (However, the expression method is different)
  • the operation value is a solution of the form (43H) (43H ').
  • H H
  • n Hn
  • H,, hn is 1 / k times.
  • the absolute value of the response function estimated by the least squares method is larger than the absolute value of the true value. Since the response function is too small, the operating value will fluctuate excessively, but the sequential identification method has the disadvantage that the time to identification is long.
  • Least squares are preferred for early identification because they are faster than sequential identification. To eliminate the unknown mutual interference, it is preferable to use the least squares method as a set of q, a, and b, rather than dividing them into q, a, and b.
  • intellectual disturbances sometimes do not occur at all for long periods of time. If the updated least squares method is used, the response function of the intellectual disturbance may suddenly go wrong. This is because very few parts related to components that have non-zero values cause digit loss.
  • the least squares method calculates (32B).
  • C MAX and C MIN ; D MAX and D M ' N are the maximum and minimum values of the cause, R MAX and R M ' 3 ⁇ 4The maximum and minimum values of the control values, both of which are safety margins and outputs as devices Take the maximum and minimum values of the minimum width within the possible range, input range, etc., and set c, r, d to (45C) c ⁇ c / ka *, r ⁇ r / k Q *, d ⁇ -d / kb * (45C) gives a maximum amplitude of ⁇ 1.
  • X 1 (identity matrix) can be set by (31D).
  • dgt ⁇ £ ' ⁇ + dgt 2 > (46A)
  • noise n is also considered as a cause, and the response function h of the noise is used.
  • Sg of (34A) becomes (34B).
  • Nz is the sum of squares of the noise component, so its expected value is V 2 .
  • S gi X i 2 (34C) W i ⁇ S gi / Sg (47A)
  • the square of the amplitude is called power and is grasped by the concept of energy. Examples include electromagnetic waves, sound waves, pendulums, and voltages.
  • X i 2 is called signal power
  • Sg is the total signal power including noise
  • W i is the ratio of S gi (signal ratio). It becomes.
  • w in (47B) is the overall signal rate.
  • the signal ratio for a, b, and q can be defined by (47C).
  • the noise is It cannot be observed as an instantaneous time series, and the cause is complicated and cannot be expressed in the form of the response function. In the sequential identification method, y—X k ° in (29B) is not 0, and should be a measurement error or noise. If this is omitted, the noise term Nz is required.
  • the response function is obtained by the least squares method and the accuracy is improved to some extent and then switched to the sequential identification method, it is possible to use the force and statistics theory to make the least squares estimator closer to the unbiased estimator. and also, you can its corrective in ⁇ ⁇ . The higher the noise, the greater the least squares mismatch. Even in the sequential identification method, the value becomes unstable if the noise is large. In this sense, the inadequacy of the model can be described as the distribution to noise.
  • Modern control is a method that relies on a response function. If the key response function turns out to be inaccurate, it may be prudent to reduce output fluctuations. Normally, a smooth state with a slight delay is preferred to repeating the vibration state due to excessive output.
  • the original form of the updated least squares method (31F) modifies the original data by 1 / n in the nth valid data set. This is interpreted that the response function obtained from the n sets of effective data has an error to be corrected by 1 / n.
  • n is the sum of weights w, since it is the effective number of pairs. However, in (49C), n eventually causes a numeric overflow.
  • the control system changes environmental temperature
  • the response function changes slightly over time due to various factors such as deterioration and deterioration. Being able to follow changes over time is the real thrill of controlling while identifying the response function. Consider the change over time of the response function, and set a minimum value for p r .
  • ⁇ ⁇ ⁇ + (1- ⁇ ) ⁇ (Sge) / ((Sge) + v) (47E)
  • ⁇ does not need to be strict, and is similar to (47C) (47E). It seems that the noise suppression effect can be expected by using the function. Observing the state of control by modern control methods and simulating it shows that even a fairly inaccurate response function gives good control. However, when the response function is inaccurate, it is easy to fall into a small oscillation state and break down from a stable state. The error distribution method has a great effect on suppressing the small oscillation state when the response function is inaccurate and waiting for the improvement of the response function accuracy.
  • the identification data should be saved and identified by time-division processing. Identify at the start of control.
  • the solid line in FIG.3 is the graph of w.
  • V, 2 is the long-term average of the square of the noise with the lower limit of k d digits. That is, it is necessary to distinguish between the signal rate used for operation and the signal rate used for identification.
  • w * and w ° also have problems.
  • w is small, the absolute value of the original X i is also small, causing a digit loss when adding or subtracting to a large number.
  • Increasing k d not only reduces, but also sharply reduces the frequency of occurrence of data with large w, and the proportion of additional data that causes this digit loss becomes dominant. Chile also leads to the destruction of the response function, as the saying goes.
  • k d is set to a value smaller than the specification at the time of equipment design such as the change range of the target value and the maximum number of digits that occur during control during operation observation, for example, 0.7 times the maximum number of digits. .
  • w and LIM use significant figures that cannot be secured with one or two digits and are lost. Normally, when the safe operation range is set and the control value or operation value enters the danger area, the limit circuit or the limit switch Inhibit further changes with switches, mechanical means, safety devices, etc.
  • Such a condition is not the relationship between normal operation value and control value.
  • K LIM is, surely K L 'M rather than the K K occurs that K will select enough as the S / N Naru rather than the size in the control. Can be set automatically by the following method (selection update method).
  • K 1 1 M The initial value of K 1 1 M, you can use a value of about 20 Digit door. However, care must be taken when the number of bits is too small to be handled continuously.
  • the value of k M is increased when q, a, and b are expected to change with time, and a value close to 1 is selected when q, a , and b are expected to be unchanged.
  • K for (q, a) is one of Sgf; Sgf / 2; (
  • V 2 Use one of
  • K PRD of Sgf / v Sgd / v 2 is 1,
  • K L ' M , K PRD for each of its members. If (
  • d! K PRD of I is the number of components of Sgf, Sgr, and Sgd, which is the shortest time required to determine f, q, b. After that occurs, it is the time that Sgr and Sgd continue as large values.
  • the magnitude K of the identification signal is calculated using the past values of the difference between the manipulated value, the control value, and the intellectual disturbance, and the magnitude of the noise, so that abnormal or small K data is not used for identification. This method is called the identification maintenance method. If the response function is destroyed, the operation function and control value (memory effect) response function f, q, and a that directly affect the calculation of the operation value will be fatally destroyed if the response function is destroyed.
  • the identification maintenance method prevents destruction of the response function during stable operation.
  • the error distribution method balances the operation with the modification of the response function, and prevents failure when the response function is less accurate.
  • Noise amplification method can suppress noise amplification.
  • the intelligent disturbance capture method reduces noise / disturbance by the amount of the intelligent disturbance.
  • the biggest drawback of modern control methods for identifying response functions is the sudden breakdown. It is important to avoid this failure with the identification maintenance method and the error distribution method. By combining this with the noise compression method, it is possible to avoid a state that may lead to a failure and realize more stable control.
  • the intellectual disturbance is not always available, but when it is available, the intellectual disturbance capture method can reduce the disturbance that leads to bankruptcy by removing the adverse effects of the disturbance.
  • the control unit is equipped with an input device for intellectual disturbances, target values, control values, and abnormal signals (signals to detect abnormal conditions), and operation values are calculated based on the predicted values while the response function is identified by the arithmetic unit.
  • the identification maintenance method and the error distribution method are indispensable means, and the noise compression method and the intelligent disturbance acquisition method are implemented as necessary. As a result, a control device that does not break down and does not become amplified noise is realized.
  • the operation includes an output device for the operation value C, a computing device U, a storage device M, and an input device for the control value R, the target value S, and the intelligent disturbance D.
  • the identified response function or the data for identifying the response function is stored in M, and the predicted value of R estimated using R and C and D in the past, present, and future usable range is stored in M.
  • FIG. 1 is a block diagram of a control device constituting the present invention. It is a conceptual diagram showing the flow.
  • V Calculate the correction amount c 'of the operation value based on the deviation E between the target value S and the predicted value R °
  • FIG. 2 shows the functions used for the noise compression method.
  • the abscissa is the signal power and the ordinate is the function value.
  • Fig. 3 shows the identification signal rate of the data set that identifies the response function with a solid line.
  • C The dashed line shows the concept of the function when the identification signal rate is binarized.
  • Lateral force 5 The magnitude of the identification signal ⁇ , the vertical axis is the weight for identification.
  • F »I be 3 or more and 30 or less. If it exceeds 100, the control value will saturate due to the stair response, or if the resolution of the operation value is about 16 bits or more, the digitality of the operation means will become apparent and the control accuracy will decrease.
  • control device can set a timer interrupt according to the control cycle, or check and process the timer at any time.
  • the current time is the nth time
  • the start of the control is the first and eleventh time.
  • M—M is X and M-u is y and k, so it is expressed without using X and y.
  • k 1 (qi, q2, ⁇ , q ⁇ , ai, a, a. J a , b ,, b: ⁇ , b. b)
  • Set p r l / m, Icount ob (5 IB) and end the response test.
  • the initial value is set to (51C), and only the observation is performed until the 0th point.
  • pn is adjusted appropriately with 0.05 as the initial value.
  • Icount Icount- 1 (52B)
  • p r if (p r M, N ⁇ p r; p r / (p r + l)) (49F) M + pr ⁇ 1 xx, k * - k + pr ⁇ y 1 x (301) kk, (MM) (MM) (32E)
  • R ° ac ° + bd + q 'R ° c ° ⁇ [, -1) (4J)
  • R ° n a n + ic-i + a n + + ⁇ ⁇ + a ⁇ «c n- » «
  • the present invention is a high-speed and accurate control method according to the present invention which avoids control failure, has good stability, and is capable of feedforward, and a device for realizing the control method.

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  • Feedback Control In General (AREA)

Abstract

Pour produire la variable manipulée calculée par une unité arithmétique (U) comportant un dispositif de mémoire rémanente (M), par l'introduction d'une valeur voulue (S), d'une variable commandée (R), et d'une valeur de perturbation (D), une fonction de réponse est identifiée au moyen de données correspondant à des variations importantes, quoique non anormales, de (R), (C) et (D); (R) est prévu au moyen des valeurs de (R), (C) et (D) du (plan) passé, présent et futur, et la valeur de correction de (C) servant à égaliser (R) par rapport à (S) est calculée comme valeur présente de la différentielle de (C), sur la base de la valeur prévue de (R). Le produit de la valeur de correction, le coefficient qui constitue le reste obtenu en soustrayant l'incertitude de la fonction de réponse et l'inadéquation du modèle de 1, et la compressibilité du bruit servent de différentielle de la valeur de sortie présente; et la différentielle est ajoutée à la valeur de sortie de la période de commande précédente, ce qui permet de produire la somme. Les données, telles que la fonction de réponse, obtenues au cours d'une commande sont stockées dans la mémoire (M). Le procédé permet d'éviter toute défaillance soudaine se produisant au cours d'une commande numérique classique dans laquelle une fonction de réponse est identifiée et commandée, et tout état d'amplification de bruit. L'invention permet de mettre en oeuvre une régulation par anticipation et d'empêcher des dérangements de commande dus à des perturbations prévisibles.
PCT/JP1999/000837 1998-02-25 1999-02-24 Procede et dispositif de commande Ceased WO1999044105A1 (fr)

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JP54029799A JP3309142B2 (ja) 1998-02-25 1999-02-24 制御方法とその装置
AU26394/99A AU2639499A (en) 1998-02-25 1999-02-24 Control method and its device

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JP8788798 1998-02-25
JP10/87887 1998-02-25

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WO1999044105A9 WO1999044105A9 (fr) 2000-01-20

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102929141A (zh) * 2012-10-10 2013-02-13 西北工业大学 飞行器时间滞后时变模型逼近及控制器设计方法
CN112534362A (zh) * 2019-02-25 2021-03-19 欧姆龙株式会社 控制装置、控制方法及控制程序

Citations (1)

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Publication number Priority date Publication date Assignee Title
JPH08123507A (ja) * 1994-10-27 1996-05-17 Fujitsu Ltd ロバスト制御装置

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Publication number Priority date Publication date Assignee Title
JPH08123507A (ja) * 1994-10-27 1996-05-17 Fujitsu Ltd ロバスト制御装置

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102929141A (zh) * 2012-10-10 2013-02-13 西北工业大学 飞行器时间滞后时变模型逼近及控制器设计方法
CN112534362A (zh) * 2019-02-25 2021-03-19 欧姆龙株式会社 控制装置、控制方法及控制程序
CN112534362B (zh) * 2019-02-25 2022-04-15 欧姆龙株式会社 控制装置、控制方法及计算机可读存储介质

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WO1999044105A9 (fr) 2000-01-20
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