JPS6356702A - Digital control system - Google Patents
Digital control systemInfo
- Publication number
- JPS6356702A JPS6356702A JP20257086A JP20257086A JPS6356702A JP S6356702 A JPS6356702 A JP S6356702A JP 20257086 A JP20257086 A JP 20257086A JP 20257086 A JP20257086 A JP 20257086A JP S6356702 A JPS6356702 A JP S6356702A
- Authority
- JP
- Japan
- Prior art keywords
- time system
- control parameters
- continuous
- discrete
- continuous time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims description 14
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000011156 evaluation Methods 0.000 claims description 2
- 238000013178 mathematical model Methods 0.000 claims description 2
- 238000005070 sampling Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
〔概 要〕
本発明は、ディジタル制御系を設計するに際して、サン
プリング周期や離散時間系としての制御アルゴリズム等
の離散時間系特有の設計要因を、連続時間系の一般的な
解析から分離して調整、決定するようにしたことにより
、制御対象を連続時間系として解析して連続時間系とし
ての制御パラメータを算出し、この連続時間系の制御バ
ラメークからディジタル制御系の制御パラメータを算出
し得るようにしたディジタル制御方式であって、これを
用いることにより、ディジタル制御系を物理的なイメー
ジと結びつけ易い連続時間系として設計できる。[Detailed Description of the Invention] [Summary] When designing a digital control system, the present invention replaces design factors specific to a discrete time system, such as sampling period and control algorithm as a discrete time system, with general design factors for a continuous time system. By making adjustments and decisions separately from the analysis, the controlled object can be analyzed as a continuous time system, the control parameters as a continuous time system can be calculated, and the control parameters of the digital control system can be calculated from the control parameters of the continuous time system. This is a digital control method that allows parameters to be calculated, and by using this, a digital control system can be designed as a continuous time system that can be easily linked to a physical image.
本発明はディジタル制御方式に関し、特にディジタル制
御系を連続時間系として設計可能ならしめたものである
。The present invention relates to a digital control system, and in particular allows a digital control system to be designed as a continuous time system.
コストの低下、装置のコンパクト化が可能で、ゲイン調
整や制御アルゴリズムの変更が容易といった特徴を有す
ることから、最近の制御装置は従来のアナログ制御から
ディジタル制御に移りつつある。Recent control devices are shifting from conventional analog control to digital control because it has the characteristics of lower costs, the ability to make the device more compact, and easier gain adjustment and control algorithm changes.
しかし、ディジクル制御であるために、本来連続時間系
である制御対象を、サンプリング周期で離散時間化して
設計しなければならないという煩雑さを有する。However, since digital control is used, the control target, which is originally a continuous time system, has to be designed in a discrete time manner using a sampling period, which is complicated.
第３図に従来の制御装置の設計方法を示す。FIG. 3 shows a conventional control device design method.
従来の設計方法は、まず、制御対象のモデルの同定を行
い、連続時間系の数学モデルを立てる〔同図の２１参照
〕。In the conventional design method, first, a model of the controlled object is identified, and a continuous-time mathematical model is established [see 21 in the same figure].
次いで、サンプリング定理などからサンプリング周期を
決め、適当な離散時間化の手法を選択して、離散時間系
のモデルを作る〔同図の２２参照〕。Next, the sampling period is determined based on the sampling theorem, etc., and an appropriate method of discretization is selected to create a model of the discrete time system [see 22 in the same figure].
上記作成されたモデルについて離散時間系の解析を行い
、制御パラメータを決める（同図の２３参照〕。具体的
には離散時間系のりカッチ方程式を解いて、最適フィー
ドバックゲインを求めたり、Ｚ平面上で極配置を操作す
るなどである。Analyze the discrete time system for the model created above and determine the control parameters (see 23 in the same figure).Specifically, solve the Norikatti equation for the discrete time system to find the optimal feedback gain, and For example, you can manipulate the pole placement with .
最後に、実際に動作チェックを行い、制御対象の同定を
やり直す場合ば同図の２１へ、サンプリング周期の変更
や離散時間系モデルの変更の場合は同図の２２へ、フィ
ードバックゲインの調整などの場合は同図の２３へ戻り
、以下上記操作を繰り返す。Finally, if you want to actually check the operation and re-identify the controlled object, go to 21 in the same figure. If you want to change the sampling period or change the discrete time model, go to 22 in the figure. If so, return to step 23 in the figure and repeat the above operations.
このように従来は、ディジタル制御系を設計するに際し
、制御対象の連続時間系モデルを離散時間系のモデルに
変換し、この離散時間系モデルについて解析を行なって
制御パラメータを決定していた。Conventionally, when designing a digital control system, a continuous time model of the controlled object is converted into a discrete time model, and the discrete time model is analyzed to determine control parameters.
制御対象は本来連続時間系で動作するものであって、連
続時間系としての解析は物理的な直感と対応するが、離
散時間系の解析は物理的な直感と結びつけにくいこと、
及び解析性自身が連続時間系の解析法に比べて一般的で
なく、設計者にとって扱いに（い等の問題がある。The controlled object originally operates in a continuous time system, and analysis in a continuous time system corresponds to physical intuition, but analysis in a discrete time system is difficult to connect with physical intuition.
The analyticity itself is less common than continuous-time analysis methods, and there are problems for designers to handle it.
そこで本発明は、ディジクル制御系の設計を、物理的な
イメージと対応しやすい連続時間系を基本に進められる
ようにすることを目的とする。Therefore, an object of the present invention is to enable the design of a digital control system to be carried out based on a continuous time system that easily corresponds to a physical image.
第１図は本発明による設計方法の原理図である。 FIG. 1 is a diagram showing the principle of the design method according to the present invention.
まず、制御対象モデルの同定を行い〔同図の１参照〕、
次いで連続時間系としての解析を行って連続時間系とし
ての制御パラメータを算出する〔同図の２参照〕。First, identify the model to be controlled [see 1 in the same figure],
Next, analysis is performed as a continuous time system to calculate control parameters as a continuous time system [see 2 in the same figure].
プログラムメモリ上の離散時間系制御アルゴリズムやデ
ータメモリ上のサンプリング周期など、離散時間系特有
の要因の変更の場合は同図の３へ、これ以外の場合は同
図の４で連続時間系の制御パラメータから、離散時間系
の制１１１Ｊパラメータへの置き換えを行う。If you want to change the factors specific to discrete time systems, such as the discrete time control algorithm on the program memory or the sampling period on the data memory, go to 3 in the same figure. Otherwise, go to 4 in the same figure to control the continuous time system. The parameters are replaced with discrete time system 111J parameters.
最後に実際に動作チェックを行い〔同図の４参照〕、そ
の結果から要因に応じて同図の１，２゜３へ戻り、以下
同様の操作を繰り返すことによって、サーボ制御系６の
設計が完了する。Finally, perform an actual operation check [see 4 in the same figure], and based on the results, return to steps 1, 2 and 3 in the figure depending on the factor, and repeat the same operations to determine the design of the servo control system 6. Complete.
本発明のディジタル制御方式を用いると、連続時間系と
しての一般的な解析による制御パラメータの調整と、離
散時間系特有の要因による調整に分離でき、前者の場合
、同図の１→２−４−５−１ｏｒ２・・・の順に、ディ
ジタル系であることに煩わされず設計でき、また、後者
の操作は、既に前者で得られた制御パラメータを変更内
容に応じて離散時間系に変換するだけの形式的な処理で
ある。By using the digital control method of the present invention, it is possible to separate adjustment of control parameters through general analysis for a continuous time system and adjustment due to factors specific to a discrete time system. -5-1 or 2... can be designed without worrying about the fact that it is a digital system, and the latter operation is simply a matter of converting the control parameters obtained in the former to a discrete time system according to the changes. It is a formal process.
従って全体としてみると、連続時間系の解析をもとにデ
ィジタル制御系の設計を容易に行うことができる。Therefore, overall, it is possible to easily design a digital control system based on analysis of a continuous time system.
第２図は本発明の一実施例として、ＤＣモータの位置決
め制御系の設計手順を示す図である。FIG. 2 is a diagram showing a design procedure for a positioning control system for a DC motor as an embodiment of the present invention.
同図に示す如く、本実施例では、まず、ＤＣモータのゲ
インｇを同定する〔同図の１１参照〕。As shown in the figure, in this embodiment, first, the gain g of the DC motor is identified [see 11 in the figure].
次いで連続時間系の状態方程式を求め、閉ループ系極配
置をバターワースバクーンに設計する〔同図の１２参照
〕。なおここで、ｘ、は位置＋Ｘ２は速度、Ｕはモータ
の入力電流、η１．η２はバターワース極を示す。Next, the equation of state of the continuous time system is determined, and the closed-loop system pole arrangement is designed as Butterworth-Bakuun [see 12 in the same figure]. Here, x is the position + X2 is the speed, U is the input current of the motor, and η1. η2 indicates the Butterworth pole.
状態方程式を離散時間化し、これをディジタル制？１１
１のためのアルゴリズムとしてプログラムメモリに書き
込むとともに、サンプリング周期Ｔについては、変更す
る場合だけデータメモリ上の値を更新する〔同図の１３
参照〕。なお、Ｘ＋”、Ｘｚｏは１サンプリング周期で
ある。Is it possible to convert the equation of state into a discrete time system and convert it into a digital system? 11
1 in the program memory, and update the value in the data memory only when changing the sampling period T [13 in the same figure]
reference〕. Note that X+'' and Xzo are one sampling period.
０次ホールドの場合、連続時間系の極η直と離散時間系
の極λ、の間には、
λ（＝ｅｘｐ （ηｉ Ｔ）
の関係が成り立ち、更にλ、からディジタル系のフィー
ドバックゲインｆ、 （ｉ＝１．２）が求まる〔同図
の１４参照〕。In the case of zero-order hold, the relationship λ(=exp (ηi T)) holds between the pole η of the continuous time system and the pole λ of the discrete time system, and furthermore, from λ, the feedback gain f of the digital system, (i=1.2) is found [see 14 in the same figure].
実際に、フィードバックｕ＝−ｆｌｘｌ ｆ、ｘ。In fact, the feedback u=-flxl f, x.
を加えてテストし〔同図の１５参照〕、ゲインｇの同定
をやり直す場合は同図の１１から、閉ループの帯域を変
える時は同図の１２へ戻り、またサンプリング周期Ｔを
変更するときは同図の１３から以降をやり直す。[See 15 in the same figure]. If you want to re-identify the gain g, go to 11 in the same figure. If you want to change the closed-loop band, go back to 12 in the figure. Also, if you want to change the sampling period T, go back to 12 in the figure. Redo the steps starting from 13 in the same figure.
以上により本実施例では連続時間系の設計方法に基づい
て、ＤＣモータの位置決め制御系を設計することができ
、離散時間系としての解析が不要化される。As described above, in this embodiment, the positioning control system of the DC motor can be designed based on the continuous time system design method, and analysis as a discrete time system becomes unnecessary.
以上説明した如く本発明によれば、ディジクル制御系の
設計を、−ｉ的な連続系としての設計モジュールと離散
系特有の設計モジュールに分けて効率よく行うことがで
きる。また連続時間系の制御パラメータを離散時間系へ
変換する処理は形式的なものであり、全体として物理的
な直感と対応しやすい連続時間系を基本に設計を進める
ことができる。As explained above, according to the present invention, it is possible to efficiently design a digital control system by dividing it into a -i-like continuous system design module and a discrete system-specific design module. Furthermore, the process of converting continuous time system control parameters to discrete time system is a formal process, and overall design can proceed based on the continuous time system, which is easy to correspond to physical intuition.
第１図は本発明の原理説明図、
第２図は上記一実施例の説明図、
第３図は従来の設計手順の原理を示す図である。
図において、ｌは制御対象のモデル化、２は連続時間系
としての解析、３は離散時間系特有の設計要因の変更、
４は制御パラメータの算出、５はテスト・評価、６はサ
ーボ制御装置、７はディジタル制御系設計支援ツールを
示す。
本発明の原理説明図
第１７
パラメータｇ同定し直し
本発明一実施例の説明図
センサ、アクチュエータへ
従来の制御装置の設計手順
第３図FIG. 1 is an explanatory diagram of the principle of the present invention, FIG. 2 is an explanatory diagram of the above embodiment, and FIG. 3 is a diagram illustrating the principle of a conventional design procedure. In the figure, l is modeling of the controlled object, 2 is analysis as a continuous time system, 3 is change of design factors specific to discrete time system,
Reference numeral 4 indicates calculation of control parameters, 5 indicates test/evaluation, 6 indicates a servo control device, and 7 indicates a digital control system design support tool. Diagram for explaining the principle of the present invention No. 17 Diagram for re-identifying the parameter g Explanation diagram for an embodiment of the present invention FIG. 3 Design procedure for conventional control devices for sensors and actuators
Claims (1)
制御対象を連続時間系として解析することにより、連続
時間系としての制御パラメータを算出し、離散時間系特
有の設計要因を連続時間系の解析から分離して決定し、
前記連続時間系の制御パラメータから離散、時間系制御
パラメータを算出し、該得られた離散時間系制御パラメ
ータを用いて制御対象の動作をテストし、該テストの評
価結果に基づいて前記制御対象の同定または連続時間系
としての解析以降の操作を繰り返すことにより、ディジ
タル制御系の制御パラメータを求めるようにしたことを
特徴とするディジタル制御方式。By analyzing the controlled object as a continuous time system according to the mathematical model obtained by identifying the controlled object, the control parameters as a continuous time system are calculated, and the design factors specific to the discrete time system are analyzed in the continuous time system. Separate and determine from
Discrete and time-based control parameters are calculated from the continuous-time control parameters, the operation of the controlled object is tested using the obtained discrete-time control parameters, and the operation of the controlled object is calculated based on the evaluation result of the test. A digital control method characterized in that control parameters of a digital control system are determined by repeating operations after identification or analysis as a continuous time system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20257086A JPS6356702A (en) | 1986-08-27 | 1986-08-27 | Digital control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20257086A JPS6356702A (en) | 1986-08-27 | 1986-08-27 | Digital control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6356702A true JPS6356702A (en) | 1988-03-11 |
Family
ID=16459686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20257086A Pending JPS6356702A (en) | 1986-08-27 | 1986-08-27 | Digital control system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6356702A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6211505B1 (en) | 1997-12-25 | 2001-04-03 | Nec Corporation | Method and apparatus for checking shape |
| US6426510B1 (en) | 1998-12-07 | 2002-07-30 | Nec Corporation | Device and method for inspecting pattern shapes |
-
1986
- 1986-08-27 JP JP20257086A patent/JPS6356702A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6211505B1 (en) | 1997-12-25 | 2001-04-03 | Nec Corporation | Method and apparatus for checking shape |
| US6326606B2 (en) | 1997-12-25 | 2001-12-04 | Nec Corporation | Method and apparatus for checking shape |
| US6426510B1 (en) | 1998-12-07 | 2002-07-30 | Nec Corporation | Device and method for inspecting pattern shapes |
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