CN1690891A - Closed loop control system and method - Google Patents
Closed loop control system and method Download PDFInfo
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- CN1690891A CN1690891A CN 200410035046 CN200410035046A CN1690891A CN 1690891 A CN1690891 A CN 1690891A CN 200410035046 CN200410035046 CN 200410035046 CN 200410035046 A CN200410035046 A CN 200410035046A CN 1690891 A CN1690891 A CN 1690891A
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Abstract
Closed-loop control system comprises controlled system, first monitor unit, second monitor unit and feedback control unit. Controlled system has controlled variety and control variety. First and second monitor unit is used separated to sense controlled system, and output corresponding first and second feedback values of control variety. After compute by program, feedback control unit outputs control controlled system according to different value between first and second feedback value and predetermined, makes control variety of controlled system to come their predetermined values and decide whether the monitor unit normal by the absolute different value of first and second feedback value. When absolute different value is less predetermined value, lock in the controlled variety to fixed value, and control controlled variety by narmal first and second feedback value.
Description
Technical field
The invention relates to a kind of closed loop control system (Close Loop Control) and method thereof, and particularly judge feedback signal whether normally closed loop control system and method thereof relevant for a kind of feedback signal of two groups of monitoring means outputs of utilizing.
Background technology
The closed loop control system is the basic framework for various automatic controls.The supply pressure that comprises systems such as frozen water, warm water, hot water in the practical application aspect is controlled, temperature, humidity and the static pressure of dust free room control, the static pressure of exhaust system controls and the potential of hydrogen of air-conditioning system and electrical conductivity control etc.The closed loop control system is to calculate, relatively reach the reference of revising output as control program by the monitoring means feedback signal relevant with control variable, so that control variable arrives and be stable at target value set.
Please refer to Fig. 1, it illustrates traditional closed loop control system structure calcspar.Closed loop control system 100 comprises controlled system 110 (for example being hot water supply system), monitoring means 120 and control module 130.Controlled system 110 has controlled variable, for example is the rotating speed of the Pu Mada of group in the hot water supply system.Monitoring means 120 is to be a kind of feedback component, in order to sensing controlled system 110, and the output feedback signal A relevant with control variable, for example be the supply hydraulic pressure value.Control module 130 is to carry out microcomputer program PID (Proportional Integrated Differential) operation, comparison according to feedback signal A and target predetermined value Ao, the controlled variable of assembly 110 is awarded in adjustment, so that the control variable of controlled system arrives preset target value.
When feedback signal A value during greater than target predetermined value Ao, the supply hydraulic pressure (control variable) that expression hot water supply system (controlled system 110) is produced is excessive.Control module 130 promptly reduces the rotating speed (controlled variable) of the Pu Mada of group, to reduce to supply hydraulic pressure.And when feedback signal A value during less than target predetermined value Ao, the expression supply hydraulic pressure deficiency that hot water supply system produced.Control module 130 just improves the rotating speed of the Pu Mada of group, with the hydraulic pressure amount that replenishes the supply.
Yet monitoring means 120 can be because the life-span, quality be bad and be subjected to that problem such as outside destroy makes that its sensing component fault, forwarder are unusual, pilot pipeline, joint leak, lead is unusual and load module is unusual.Therefore, cause the feedback signal A of its output unusual, can't normal reaction go out the state of controlled system 110.For example help the Pu Mada actual speed to be about per second 1100 at present and change the corresponding about 20.5kg/cm of supply hydraulic pressure
2, and target predetermined value Ao is made as 20kg/cm
2, corresponding motor rotary speed is predefined for per second 1050 to be changeed.Because feedback signal A is unusual, the feedback signal A value that controller 130 receives is fixed as 19kg/cm always
2So controller 130 according to the comparison of feedback signal A value and target predetermined value Ao, thinks that motor rotary speed is slow excessively, just increases motor rotary speed, causes motor out of control at last always, even whole hot water supply system damages.
General closed loop control system there is no the unusual arbitration functions of feedback signal.Therefore, be easy to cause above-mentioned system out of control and influence is produced, increase the risk of system.And when system sent unusual alert news, the staff must arrive and on-the-spot shut down and repair with manual mode, to be repaired after the running of recovery system again.Can't when feedback signal is unusual, continue to keep normal operation, have a strong impact on follow-up control program.
Summary of the invention
In view of this, purpose of the present invention is providing a kind of closed loop control system and method thereof exactly.Utilize two groups of feedback signals to judge whether feedback signal itself is normal; and when feedback signal is unusual; the controlled variable of locking controlled system; to avoid controlled system out of control; and the normal monitoring means of changeable use continues running, need not shut down direct monitoring means in on-line maintenance or update anomalies.Can recover automatic control function immediately, not be subjected to the restriction of abnormality processing time.
According to purpose of the present invention, a kind of closed loop control system is proposed, it comprises controlled system, first monitoring means, second monitoring means and feedback control unit.Controlled system has controlled variable and control variable.First monitoring means is in order to the sensing controlled system, and exports first value of feedback of corresponding control variable.Second monitoring means is in order to the sensing controlled system, and exports second value of feedback of corresponding control variable.Feedback control unit is exported the control controlled system according to the difference of first value of feedback or second value of feedback and setting value behind sequential operation, make the control variable of this controlled system arrive default setting value, and utilize the absolute difference of first value of feedback and second value of feedback to judge whether monitoring means is normal.When absolute difference during less than the error predetermined value, feedback control unit is adjusted controlled variable according to first value of feedback, and when absolute difference is not less than the error predetermined value, it is fixed value that feedback control unit locks controlled variable.
Absolute difference is during less than the error predetermined value, and feedback control unit is to carry out the PID procedure operation, and the comparison according to first value of feedback and target predetermined value obtains output valve, to control controlled variable.Feedback control unit more comprises buffer, in order to synchronous storage control module output valve, and stores fixing the resultant up-to-date output valve of feedback control unit execution PID procedure operation in the buffer.When absolute difference was not less than the error predetermined value, feedback control unit was fixed value according to the mean value that stores a fixing output valve in the buffer with the locking controlled variable.
Feedback control unit comprises judgement unit and controller.Judgement unit is in order to receiving first value of feedback and second value of feedback, and exports judgment signal according to this.When the absolute difference of first value of feedback and second value of feedback during less than the error predetermined value, judgment signal is normal, and when absolute difference was not less than the error predetermined value, judgment signal was unusual.Controller is then in order to according to differentiating adjustment as a result or locking controlled variable.When judgment signal for just often, controller is according to the comparison of first value of feedback and target predetermined value, adjusts controlled variable; When judgment signal when being unusual, the controller lock controlled variable is a fixed value.
Feedback control unit more comprises switch unit, to return the value of being subjected to be that reference point exports controller in order to receive first value of feedback and this second value of feedback and can select wherein one group by the operator, when the operator selects the first or second value of feedback reference point, controller can be adjusted the controlled variable of controlled system according to the variation of this selected value of feedback, another organize non-selected value of feedback (non-reference point) then by judgement unit in order to calculate with the absolute difference of reference point value of feedback with the decision value of feedback normally whether and in judgment signal just often, switch unit is that the selecteed reference point value of feedback of output is to this controller.In judgment signal is unusual, and is the monitoring means of reference point when unusual through judgement, can select another group value of feedback (non-reference point) of output to controller by switch unit, and the discrimination function with judgement unit temporarily stops activation (Disable) simultaneously.
Unusual in judgment signal, and when the monitoring means of the reference point that judges between right and wrong is unusual, then can the discrimination function of judgement unit temporarily be stopped activation (Disable) by the operator, feedback control unit is promptly removed the output locking and is recovered according to former selecteed reference point value of feedback control controlled variable.When the first unusual monitoring means or second monitoring means after tieing up multiple or upgrading, operator's activation again (Enable) judgement unit recovers the arbitration functions of judging unit.Therefore, can be when feedback signal be unusual, utilize the controlled variable of locking controlled system, avoid controlled system out of control, and the activation and the disabled of handoff functionality and arbitration functions are provided, make system feedback signal take place not only to avoid when unusual system out of control and recover immediately to turn round automatically and provide system run well under the feedback signal fault of execute exception get rid of.
According to purpose of the present invention, a kind of closed loop control method is proposed, in order to the control variable of control controlled system.The closed loop control method comprises: use first monitoring means and the second monitoring means sensing controlled system respectively, to obtain corresponding first value of feedback and second value of feedback; Whether the absolute difference of judging first value of feedback and second value of feedback is less than the error predetermined value, if absolute difference less than the error predetermined value, according to first value of feedback (changeable), is adjusted controlled variable, and continues to carry out the step of sensing controlled system; If absolute difference is not less than the error predetermined value, the locking controlled variable is a fixed value; According to normal first value of feedback or second value of feedback, adjust controlled variable; And first monitoring means of reparation or update anomalies or second monitoring means, and the step of sensing controlled system is carried out in continuation.
During less than the error predetermined value, carry out the PID procedure operation in absolute difference, the comparison according to first value of feedback and target predetermined value obtains output valve, to control controlled variable.This method comprises that more storing fixing carries out the resultant up-to-date output valve of PID procedure operation.The locking controlled variable is that the step of fixed value is that the locking controlled variable is a fixed value according to the mean value that stores a fixing output valve in advance.Therefore, when the monitoring means fault, can switch to the normal monitoring means of another and continue running, be not subjected to the restriction of abnormality processing time.
Description of drawings
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, a preferred embodiment cited below particularly, and cooperate appended graphicly, be described in detail below:
Fig. 1 illustrates traditional closed loop control system structure calcspar;
Fig. 2 illustrates according to a preferred embodiment of the present invention closed loop control system structure calcspar; And
Fig. 3 illustrates according to preferred embodiment of the present invention closed loop control method process flow diagram.
Embodiment
Characteristics of the present invention are to utilize simultaneously two groups of monitoring means sensing controlled systems, and judge by two groups of feedback signals of its output whether feedback signal itself is normal.When feedback signal is unusual, the controlled variable of locking controlled system, out of control to avoid controlled system.And can switch to normal one group of monitoring means continuation running, and directly one group of unusual monitoring means is keeped in repair, proofreaies and correct and do not maintain and need shut down online.Therefore, can recover automatic control function immediately, not be subjected to the restriction of abnormality processing time.
Please refer to Fig. 2, it illustrates according to a preferred embodiment of the present invention closed loop control system structure calcspar.Closed loop control system 200 comprises controlled system 210, first monitoring means 220, second monitoring means 230 and feedback control unit 240.Controlled system 210 for example is a kind of hot water supply system, and feedback control unit 240 is controlled variables in order to control controlled system 210, for example being the rotating speed of the Pu Mada of group in the hot water supply system, to reach the desired value of a control variable, for example is 20kg/cm
2Hydraulic pressure.First monitoring means 220 and second monitoring means 230 are respectively in order to first value of feedback S1 and the second value of feedback S2 of sensing controlled system 210 to export corresponding control variable, for example are the hydraulic pressure values of hot water supply system supply.
In addition, feedback control unit 240 is according to the first value of feedback S1 and the second value of feedback S2, with the controlled variable of control controlled system 210.Feedback control unit 240 comprises judgement unit 242, controller 244, buffer 246 and switch unit 248.Judgement unit 242 is in order to receiving the first value of feedback S1 and the second value of feedback S2, and exports judgment signal Sd according to this.Absolute difference X=|S as the first value of feedback S1 and the second value of feedback S2
1-S
2| during less than error predetermined value D.SP (Differential Value Setup), judgment signal Sd is for normally, and when absolute difference X is not less than error predetermined value D.SP, and judgment signal Sd is for unusually.
Whether controller 244 is according to the normal of judgment signal Sd or unusual, normal to judge value of feedback S1 or S2, and controls controlled variable according to this.When judgment signal Sd for just often, controller 244 carries out the PID procedure operation, according to making comparisons as the first value of feedback S1 (or second value of feedback S2) of feedback reference point and target predetermined value So, to adjust controlled variable.As judgment signal Sd when being unusual, 244 lockings of controller controlled variable is a fixed value Pc, to keep the normal running of controlled system 210.
In the PID procedure operation, controller 244 is according to the comparison of the first value of feedback S1 (or second value of feedback S2) with target predetermined value So, to obtain an output valve Op, with the control controlled variable.Output valve Op for example is 12 a digital value 0 ~ 4096.And digital value is converted to simulating signal A, for example is current value 4 ~ 20mA, with the control controlled variable, for example is that corresponding motor rotary speed per second 0 ~ 1800 changes.Controller 244 can be stored in the buffer 246 simultaneously in the resulting output valve Op of each execution PID procedure operation.And the data in the buffer 246 upgrade at any time, store fixing (for example being 10) up-to-date output valve Op to keep.In addition, switch unit 248 is to export controller 244 in order to receive the first value of feedback S1 and the second value of feedback S2 and to select one, as with target predetermined value So FEEDBACK CONTROL reference point relatively.
When judgment signal Sd is output as just often, represent that the first value of feedback S1 and the second value of feedback S2 are normal.At this moment, controller 244 is according to the output of switch unit 248, with as making comparisons with reference to the first value of feedback S1 of point or the second value of feedback S2 and target predetermined value So.When judgment signal Sd is output as when unusual, with manual mode switch unit 248 is switched to normal monitoring means 220 or 230, again judgement unit 242 is stopped activation.So controller 244 is just according to this moment normal value of feedback S1 or S2 control controlled variable., when repairing or upgrade,, continue up to unusual monitoring means 220 or 230 according to judgment signal Sd control controlled variable again with manual mode activation judgement unit 242 again.
Please refer to Fig. 3, it illustrates according to preferred embodiment of the present invention closed loop control method process flow diagram.At first, in step 300, use first monitoring means 220 and second monitoring means, 230 sensing controlled systems 210 respectively, for example be hot water supply system, to obtain the corresponding wherein first value of feedback S1 and the second value of feedback S2 of hot water service pressure, for example be the supply hydraulic pressure value.Then, in step 302, judge the absolute difference X=|S of the first value of feedback S1 and the second value of feedback S2
1-S
2| whether less than error predetermined value D.SP.
If absolute difference X less than error predetermined value D.SP, then carries out the PID procedure operation of step 304, promptly make comparisons according to the first value of feedback S1 (being made as reference point) and target predetermined value So, with the adjustment controlled variable, and continue execution in step 300.If absolute difference X is not less than error predetermined value D.SP, wherein one unusual of expression first value of feedback S1 this moment and the second value of feedback S2, just first monitoring means 220 and second monitoring means 230 wherein have a component faults.So in step 306, controller 244 sends unusual alert news, and, be fixed value Pc with the locking controlled variable according to the mean value that stores a fixing output valve Op in the above-mentioned buffer 246.Controller 244 can be fixed value Pc with the locking controlled variable according to set time the last period (for example being 1 minute) of judgment signal Sd output abnormality output valve Op of buffer 246 records at that time also.
Be different from and knownly have only one group of feedback signal can't judge whether feedback signal is unusual, characteristics of the present invention just are to utilize the absolute difference X of two value of feedback S1 and S2 to judge whether value of feedback S1 or S2 that controller 244 is received be normal.When monitoring means 220 and 230 all during normal running, value of feedback S1 and S2 should be quite approaching, and just its absolute difference X can be less than an error predetermined value D.SP.Yet, when monitoring means 220 or 230 wherein one because faults such as above-mentioned sensing component, forwarder, lead and load module are when causing the value of feedback S1 of its output or S2 unusual, the absolute difference X of value of feedback S1 and S2 can surpass error predetermined value D.SP.
At this moment, controller 244 can be unusually by the judgment signal Sd of judgement unit 242 output, learns monitoring means 220 or 230 situation that broken down, so immediately the controlled variable of controlled system 210 is locked in fixed value Pc.This fixed value Pc is in monitoring means 220 or 230 as yet not during fault by controller 244, the mean value of up-to-date several output valves Op that buffer 246 stores determines, or set time the last period, for example before 1 minute, the stored at that time output valve Op of buffer 246 determines.Therefore, fixed value Pc still roughly reacts the actual state of controlled system 210 (for example being the actual speed of the Pu Mada of group) at that time, can avoid the situation that causes above-mentioned total system out of control.
Then, in step 308, judge whether first monitoring means 220 is unusual.The staff arrives the system operation site inspection immediately after receiving unusual alert news.When first monitoring means 220 that is found to be reference point is unusual,, utilize switch unit 248 to do to switch with the normal second value of feedback S2 as the feedback reference point in step 310.Then, in step 312, then temporarily judgement unit 242 is stopped activation (Disable) by personnel operation, lock temporarily to stop to carry out the unusual judgement of absolute difference and removing output, and recover original PID procedure operation, then make comparisons according to normal second value of feedback S2 and target predetermined value So this moment, to adjust controlled variable.If the staff is after receiving unusual alert news, be found to be the second value of feedback S2 (non-reference point) to the system operation site inspection, directly carry out step 312, temporarily judgement unit 242 is stopped activation by personnel operation, lock temporarily to stop to carry out the unusual judgement of absolute difference and removing output, and recover original PID procedure operation.
At last, in step 314, treat that the staff repairs the monitoring means 220 or 230 of fault or upgrades, and confirm by the value of feedback S1 of two groups of monitoring means 220 and 230 outputs and S2 normal after, by personnel operation judgement unit 242 is recovered activation, and get back to step 300, again controlled system 210 is carried out the detecting operation of two groups of values of feedback.
According to above-mentioned preferred embodiment, closed loop of the present invention control system has following several advantages:
1. closed loop of the present invention control system has used two groups of feedback reference points to switch mutually, and whether controller can be differentiated feedback signal according to two groups of feedback signals normal, and when feedback signal is unusual the controlled variable of real-time lock controlled system, avoid total system out of control and influence is produced.
2. closed loop of the present invention control system is when feedback signal is unusual, and the controlled variable of lockable controlled system keeping the normal operation of system, and is switched immediately and used normal value of feedback as the feedback reference point.Therefore, must not shut down can be in online maintenance, correction and the maintenance of carrying out monitoring means.And can recover automatic control function immediately, be not subjected to the restriction of abnormality processing time.
In sum; though the present invention discloses as above with a preferred embodiment; right its is not in order to limit the present invention; anyly have the knack of this skill person; without departing from the spirit and scope of the present invention; when can being used for a variety of modifications and variations, so protection scope of the present invention will go the person of defining to be as the criterion when looking appended right.
Claims (16)
1. closed loop control system comprises:
One controlled system has a controlled variable and a control variable;
One first monitoring means, in order to this controlled system of sensing, and output is to one first value of feedback that should control variable;
One second monitoring means, in order to this controlled system of sensing, and output is to one second value of feedback that should control variable; And
One feedback control unit is in order to the absolute difference according to this first value of feedback and this second value of feedback, to control this controlled variable;
Wherein, when this absolute difference during less than an error predetermined value, this feedback control unit is adjusted this controlled variable according to this selecteed first value of feedback or second value of feedback, and when this absolute difference was not less than this error predetermined value, it was a fixed value that this feedback control unit locks this controlled variable.
2. the system as claimed in claim 1, it is characterized in that, in this absolute difference during less than this error predetermined value, this feedback control unit is to carry out the PID procedure operation, comparison according to this selecteed first value of feedback or second value of feedback and a target predetermined value, obtain an output valve, to control this controlled variable.
3. system as claimed in claim 2, it is characterized in that, this feedback control unit more comprises a buffer, in order to storing this output valve, and stores fixing this feedback control unit in this buffer and carries out resultant these the up-to-date output valves of this PID procedure operation.
4. system as claimed in claim 3 is characterized in that, when this absolute difference was not less than this error predetermined value, this feedback control unit was according to the mean value that stores fixing these output valves in this buffer, and locking this controlled variable is this fixed value.
5. the system as claimed in claim 1 is characterized in that, locks this controlled variable for after this fixed value in this feedback control unit, and this feedback control unit is controlled this controlled variable according to normal this first value of feedback or this second value of feedback.
6. system as claimed in claim 5 is characterized in that, after treating this unusual first monitoring means or this second monitoring means reparation or upgrading, this feedback control unit is controlled this controlled variable according to this absolute difference.
7. the system as claimed in claim 1 is characterized in that, this feedback control unit more comprises:
One judgement unit in order to receiving this first value of feedback and this second value of feedback, and is exported a judgment signal according to this, wherein when this absolute difference during less than this error predetermined value, this judgment signal is normal, and when this absolute difference was not less than this error predetermined value, this judgment signal was unusual; And
One controller, in order to according to this judgment signal, control this controlled variable, wherein work as this judgment signal for just often, this controller is adjusted this controlled variable according to being somebody's turn to do this selecteed first value of feedback or second value of feedback, and when this judgment signal when being unusual, this controlled variable of this controller lock is this fixed value.
8. system as claimed in claim 7, it is characterized in that, this feedback control unit comprises that more one switches the unit, export this controller in order to receive this first value of feedback and this second value of feedback and to select one, and in this judgment signal just often, this switch unit be output should this selecteed first value of feedback or second value of feedback to this controller.
9. system as claimed in claim 8, it is characterized in that, be unusual in this judgment signal, and be that this first monitoring means is when unusual through judgement, this switch unit switches this second value of feedback of output to this controller, can stop this judgement unit of activation (Disable) simultaneously.
10. system as claimed in claim 9, it is characterized in that, unusual in this judgment signal, and be that the monitoring means of this non-selected reference value is when unusual through judgement, can stop this judgement unit of activation, and continue this controlled variable of control according to the reference value of this former selected monitoring means.
11. system as claimed in claim 10 is characterized in that, when this unusual first monitoring means or this second monitoring means when repairing or upgrade, this judgement unit of this controller activation again (Enable), and control this controlled variable according to this judgment signal.
12. a closed loop control method, in order to control a controlled variable of a controlled system, this closed loop control method comprises:
Use one first monitoring means and one second this controlled system of monitoring means sensing respectively, to obtain to one first value of feedback and one second value of feedback that should control variable;
Whether an absolute difference of judging this first value of feedback and this second value of feedback is less than an error predetermined value, if this absolute difference is less than this error predetermined value, adjust this controlled variable according to this selected first value of feedback or second value of feedback that is decided to be reference point, and continue to carry out this step of this controlled system of sensing;
If this absolute difference is not less than this error predetermined value, locking this controlled variable is a fixed value; According to normal this first value of feedback or this second value of feedback, adjust this controlled variable; And
This first monitoring means or this second monitoring means of reparation or update anomalies, and this step of this controlled system of sensing is carried out in continuation.
13. method as claimed in claim 12, it is characterized in that, when this absolute difference during less than this error predetermined value, be to carry out the PID procedure operation, according to this selected comparison that is decided to be first value of feedback or second value of feedback and a target predetermined value of reference point, obtain an output valve, to control this controlled variable.
14. method as claimed in claim 13 is characterized in that, this method comprises that more storing fixing carries out resultant these the up-to-date output valves of PID procedure operation.
15. method as claimed in claim 14 is characterized in that, locks this controlled variable for this step of this fixed value comprises according to the mean value that stores fixing these output valves in advance, is this fixed value to lock this controlled variable.
16. method as claimed in claim 15, it is characterized in that, this step of adjusting this controlled variable according to normal this first value of feedback or this second value of feedback comprises judges whether this first and second monitoring means is unusual, if this first monitoring means is unusual, according to the comparison of normal this second value of feedback and this target predetermined value, adjust this controlled variable; If this first monitoring means is normal,, adjust this controlled variable according to the comparison of normal this first value of feedback and this target predetermined value.
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| CNB2004100350463A CN100432871C (en) | 2004-04-19 | 2004-04-19 | Closed loop control system and method |
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| CNB2004100350463A CN100432871C (en) | 2004-04-19 | 2004-04-19 | Closed loop control system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102455659A (en) * | 2010-10-22 | 2012-05-16 | 全利机械股份有限公司 | Optimized PID control method for process equipment system |
| CN114684896A (en) * | 2020-12-29 | 2022-07-01 | 庆东纳碧安株式会社 | Apparatus and method for controlling water softener |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI659158B (en) * | 2018-04-17 | 2019-05-11 | 太琦科技股份有限公司 | Pump control system and abnormal processing and recovering method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3438406B2 (en) * | 1995-05-18 | 2003-08-18 | 株式会社デンソー | Throttle control device for internal combustion engine |
| JP3296222B2 (en) * | 1996-12-19 | 2002-06-24 | トヨタ自動車株式会社 | Throttle control device |
| JP3770675B2 (en) * | 1996-12-19 | 2006-04-26 | トヨタ自動車株式会社 | Throttle control device |
| JPH10238372A (en) * | 1997-02-27 | 1998-09-08 | Aisan Ind Co Ltd | Throttle valve controller |
| US6317637B1 (en) * | 1998-10-22 | 2001-11-13 | National Instruments Corporation | System and method for maintaining output continuity of PID controllers in response to changes in controller parameters |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102455659A (en) * | 2010-10-22 | 2012-05-16 | 全利机械股份有限公司 | Optimized PID control method for process equipment system |
| CN114684896A (en) * | 2020-12-29 | 2022-07-01 | 庆东纳碧安株式会社 | Apparatus and method for controlling water softener |
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