EP4029138A1 - Procédé et appareil pour la régulation en boucle fermée de la valeur réelle d'une variable régulée d'un système, et appareil de travail - Google Patents

Procédé et appareil pour la régulation en boucle fermée de la valeur réelle d'une variable régulée d'un système, et appareil de travail

Info

Publication number
EP4029138A1
EP4029138A1 EP20749851.0A EP20749851A EP4029138A1 EP 4029138 A1 EP4029138 A1 EP 4029138A1 EP 20749851 A EP20749851 A EP 20749851A EP 4029138 A1 EP4029138 A1 EP 4029138A1
Authority
EP
European Patent Office
Prior art keywords
hysteresis
controller
generalized
control unit
control
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
Application number
EP20749851.0A
Other languages
German (de)
English (en)
Inventor
Andreas Krämer
Mirza CIZMIC
Abid Ali
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TECHNISCHE HOCHSCHULE WUERZBURG-SCHWEINFURT
Original Assignee
Fhws Hochschule Fuer Angewandte Wissenschaften Wuerzburg Schweinfurt
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fhws Hochschule Fuer Angewandte Wissenschaften Wuerzburg Schweinfurt filed Critical Fhws Hochschule Fuer Angewandte Wissenschaften Wuerzburg Schweinfurt
Publication of EP4029138A1 publication Critical patent/EP4029138A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G05B5/00—Anti-hunting arrangements
    • G05B5/01—Anti-hunting arrangements electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41121—Eliminating oscillations, hunting motor, actuator
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42003—Three point, hysteresis comparator, controller
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0025—Arrangements for modifying reference values, feedback values or error values in the control loop of a converter

Definitions

  • the invention relates to a method and a device for regulating the actual value of a controlled variable of a system as well as a working device.
  • Hysteresis-based control loops are used in many applications. In such hysteresis-based control loops, the mean value of an actual value of a variable deviates from a specified setpoint value in such a way that - depending on the setpoint value, a given hysteresis range, parameters of the controlled system and the sampling time of the control unit - a control deviation remains on average.
  • the present invention relates to a method for regulating the actual value of a controlled variable of a system, in which (I) on the basis of a hysteresis-based control unit with a hysteresis element and a setpoint-actual value comparison a control deviation of the actual value of a controlled variable is recorded from a predetermined setpoint and (II) on the basis and / or use of at least one generalized or generalized integral control unit and in one of the hysteresis-based control unit with a hysteresis element upstream and the control deviation supplying path in the control deviation superimposed components to be compensated and in particular are added up, in particular in order to thereby reduce the value of the system deviation.
  • the values of the components to be compensated are determined by one or more generalized or generalized integral controllers, which can also be referred to as Gl controllers for short.
  • the parallel path of the Gl controller determines the value of the components to be compensated from the control deviation and adds this to the control deviation.
  • the relevant path which is connected upstream of the hysteresis-based control unit with a hysteresis element and in or via which the control deviation is fed, can also be referred to as the path feeding the hysteresis-based controller, this being in particular made up of the addition of the control deviation and the output of the equation Controller is created.
  • a resonant control unit is used as a generalized or generalized integral control unit.
  • an integral control unit is used as a generalized or generalized integral control unit.
  • a control unit is used as a generalized or generalized integral control unit which has a - in particular continuous - transfer function GGI (S) for one or with a frequency coo, which has at least one of the following relations (I ) or (II) with and and / or an adequate discrete-time implementation is sufficient, where K denotes a setting parameter for the dynamics and s a Laplace parameter.
  • GGI continuous - transfer function
  • variable d describes an additional or optional damping parameter which is used to dampen a frequency range around a specific frequency w 0 in the control deviation and not just this individual frequency.
  • the respective frequency coo can be fixed or variable depending on the application.
  • a plurality of generalized or generalized integral control units connected in parallel can be used in the path upstream of the hysteresis-based controller with a hysteresis element and supplying the control deviation.
  • harmonics at a given frequency w 0 can also be taken into account in a particularly reliable manner and minimized in the control deviation, that is to say with regard to one or more integer multiples of the frequency coo.
  • the generalized or generalized integral control units can advantageously be designed, in particular, for fixed or variable frequencies w 0 that differ from one another in terms of the control deviation.
  • the frequency w 0 occurs in the system deviation, not necessarily in the reference variable and / or the setpoint variable.
  • the frequency can be caused by the reference variable, a disturbance variable or a system characteristic in the control deviation.
  • the component to be compensated therefore has the frequency w 0 .
  • the controller knows the frequency to be compensated. In the simple version with only one Gl controller, w 0 is of course appropriately the frequency of the setpoint.
  • control units can be designed differently; this applies to hysteresis-based controllers as well as generalized or generalized integral controllers.
  • control unit with or from a single-variable hysteresis controller, a multivariable hysteresis controller, a multi-variable hysteresis controller, as a hysteresis-based control unit to use a direct current controller, an SHC controller, an SDHC controller and / or a switching controller.
  • the mean control deviation can be minimized, fundamental and / or harmonics in the values of the control deviation can be dampened and / or a frequency spectrum - in particular the actual value of the controlled variable - can be varied and / or set.
  • a control unit can be used as the respective hysteresis-based control unit and / or as a generalized or generalized integral control unit, which is designed wholly or partially as a software unit and / or as a hardware unit, in particular as an ASIC, FPGA and / or as a discrete circuit with or from discrete components .
  • the invention also relates to a device for regulating the actual value of a controlled variable of a system, which is set up and / or has means to initiate, run or execute a method for controlling the actual value of a controlled variable of a system according to the present invention, or in the case of such a method Procedure to be used.
  • the present invention also relates to a working device which has a unit and which is set up to carry out a work process in a controlled or regulated manner by operating the unit.
  • a device designed according to the invention is designed for regulating or controlling the operation of the unit.
  • the working device is set up to initiate, run or execute a method according to the invention or to be used in such a method.
  • FIG. 1A shows schematically in the manner of a block diagram the structure of a generalized or generalized integral hysteresis controller designed according to the invention.
  • FIG. 1B shows schematically in the manner of a block diagram the structure of a generalized or generalized integral controller or resonant controller, which in one embodiment of the generalized or generalized integral hysteresis controller according to the invention can be used.
  • FIGS. 2 and 3 show, in the form of graphs, measured signal curves of an actual variable y and the corresponding mean actual variable y with a constant target variable w using a conventional one
  • Hysteresis regulation (FIG. 2) or using a Gl hysteresis regulator according to the invention (FIG. 3).
  • FIGS. 4 and 5 show, in the form of graphs, measured signal curves of an actual variable y and the corresponding mean actual variable y with a sinusoidal target variable w using a conventional one
  • Hysteresis control (FIG. 4) and with a Gl hysteresis controller according to the invention (FIG. 5).
  • FIG. 6 shows schematically in the manner of a block diagram the structure of a generalized or generalized integral hysteresis regulator designed according to the invention with an alternative structure through the use of a plurality of Gl regulators connected in parallel.
  • FIGS. 7 and 8 show, in the form of graphs, amplitude spectra of a frequency analysis using a conventional hysteresis control (FIG. 7) and with a GI hysteresis controller according to the invention (FIG. 8) with a plurality of GI controllers connected in parallel.
  • FIG. 9 shows, in the manner of a block diagram, a conventional single variable hysteresis control loop for controlling a technical system understood as a controlled system.
  • FIGS. 1 to 13 Identical and equivalent as well as identically or equivalent-acting elements and components are denoted by the same reference symbols. The detailed description of the designated elements and components is not given in every case of their occurrence.
  • the present invention also relates in particular to measures and methods for improving the control quality and for damping vibrations in switching controllers.
  • FIG. 9 shows schematically in the manner of a block diagram a conventional single variable hysteresis control loop as a conventional control system 100 ‘for controlling a technical system 1 understood as a controlled system.
  • Such hysteresis controllers or hysteresis-based control systems 100 with two or more hysteresis levels or switching controllers are generally suitable for various control tasks, for example for temperature or current control with inverters.
  • hysteresis-based controllers are generally independent of the system parameters of the controlled system or adapt themselves.
  • the control loop consists of a target / actual value comparison 20, a hysteresis-based controller 10 with a hysteresis element 11, and a technical system 1 to be controlled as a path, which can be linear as well as non-linear.
  • Such a conventional control loop 100 'with a hysteresis-based control unit 10 is shown in FIG.
  • a hysteresis-based control unit 10 with hysteresis unit 11, which is also called Hysteresis element can be designated, and the controlled system 1, understood as a technical system to be controlled, a time-dependent manipulated variable u supplies.
  • a generally time-dependent disturbance variable z also acts on the technical system 1.
  • the controlled variable y is set accordingly and fed back via the second or output node 56-2 via the feedback path 56 to the first or input node 56-1.
  • a comparison unit 20 for example in the sense of an adder or subtracter, is formed at the first or input node 56-1, through which the value of the controlled variable y fed back via the feedback path 56 with the value of the reference variable w, which is fed via the input path 51, is compared, for example by forming a difference.
  • the result of the comparison gives the value of a control deviation e, which is fed to the hysteresis-based controller 10 with the hysteresis element 11 via the feed path 52.
  • the control network 50 of the conventional control system 100 is thus closed.
  • FIGS. 10 and 11 therefore show, in the form of graphs 180 and 190, signal curves 183, 193 of an actual variable y and an average actual variable y in tracks 185, 195 with a constant setpoint w, which is shown in tracks 184, 194, namely below
  • the times are plotted on the abscissas 181, 191 and the signal amplitudes are plotted on the ordinates 182, 192.
  • the mean control deviation can be calculated using complex numerical methods or sometimes also analytically.
  • FIGS. 12 and 13 This is shown in FIGS. 12 and 13 for a controlled system with a first-order low-pass behavior.
  • Inverter dead times and multi-phase direct current control using a hysteresis current controller result in not only the desired fundamental oscillation but also additional harmonics (multiples of the fundamental oscillation). Vibration-capable paths can also be stimulated by the variable switching frequency of the hysteresis elements.
  • a superimposed control can be used, which adds the mean control deviation to the setpoint. In any case, however, a higher-level control loop or an additional control loop is created.
  • linear controllers are predominantly used.
  • linear proportional integral controllers PI controllers
  • proportional resonant controllers PR controllers
  • PWM pulse width modulation
  • One aim of the invention is, inter alia, to achieve a reduction or even minimization of the mean control deviation for the useful signal (fundamental oscillation or constant component).
  • FIG. 1A shows schematically in the manner of a block diagram the structure of a generalized or generalized integral hysteresis controller 60 configured according to the invention.
  • a generalized or generalized integral controller 30 is additionally in parallel in the feed path 52 to the hysteresis-based controller 10 with hysteresis element 11 to the feed path 52, namely inserted between the sections 52-1 and 52-2 and the corresponding nodes 52-3 and 52-4.
  • the generalized or generalized integral controller 30 inserted according to the invention is also referred to above and below as a Gl controller 30 for the sake of simplicity.
  • the instantaneous value of the control deviation e is fed to the Gl controller 30 via the input node 52-3.
  • the Gl controller 30 is designed to generate an adaptation value or compensation value Ae for the control deviation e.
  • the exact process for generating the adjustment value Ae is explained in detail below in connection with FIG. 1B.
  • the adaptation value Ae for the control deviation e is added to the instantaneous value of the control deviation e via the node 52-4, at which an adder 21 is formed, namely by superimposition or addition.
  • the result of this superposition then forms the input value for the hysteresis-based controller 10 with hysteresis element 11.
  • hysteresis controller 10 with hysteresis element 11 it does not matter what type of underlying hysteresis controller 10 with hysteresis element 11 is used.
  • General single-variable hysteresis regulators, multivariable hysteresis regulators or special hysteresis regulators for direct current control (for example SHC, SDHC) or other switching regulators are conceivable.
  • the expansion according to the invention can be used for all hysteresis-based controllers 10 and always contributes to improving the control quality without the structure or any parameters of the underlying hysteresis controller 10 having to be changed.
  • the structure of the Gl controller 30 used according to the invention is described in FIG. 1B and can be described for a fixed frequency by the transfer function G CI (s) of a basic unit, in particular - as already shown above - according to the relationship (I) or according to the context (II) where w 0 denotes the frequency of the component to be compensated in the control deviation e, K denotes a setting parameter for the dynamics, s a Laplace parameter and d denotes an additional, possibly optional, damping parameter, the latter can be used to set a frequency range around a certain frequency w 0 in the control deviation and not just to attenuate this single frequency.
  • FIG. 1B shows schematically in the manner of a block diagram the structure of a generalized or generalized integral controller 30 or resonant controller, which can be used in an embodiment of the generalized or generalized integral hysteresis controller 60 according to the invention. Details of the configuration and the functionalities of a generalized or generalized integral controller as such can be found in the publication [3].
  • the control loop 36 or the control network 36 of a generalized or generalized integral controller 30, which is also referred to above and below as Gl controller 30 for short, has (i) an input path 36-1 with an amplifier 34 ′′ with gain K with an output to a first or input node 31-1 and (ii) an output path 36-4 at an output node 31-2.
  • the variable supplied via the input path 36-1 is the control deviation e.
  • variable output via the output path 36-4 is the adaptation value or compensation value Ae generated and output by the Gl controller 30.
  • the output of the amplifier 34 ′′ thus forms the input or feed path to the first node 31-1, at which the comparator 37, for example in the sense of an adder or subtracter, is formed.
  • the adaptation value Ae generated is transmitted via a feedback path 38 divided into two at the node 31-2 'with partial paths 36-5, 36-6, 36-8, 36-8' for a first partial feedback path 38 'and with Partial paths 36-5 ', 36-6', 36-8 "for a second partial feedback path 38" returned.
  • Both partial feedback paths 38 ′, 38 ′′ are superimposed and, in particular, added in an adder 37 ′ at node 31 -T, which results in the first intermediate adjustment value Ae ′.
  • the first intermediate adjustment value Ae ' is converted into a second intermediate adjustment value Ae "via the comparator 37 at the node 31-1 in cooperation with the control deviation Ae" amplified by the amplifier 34 ".
  • the main components of the GI controller 30 are first and second integrators 32 and 33 arranged in the control network 36.
  • the first integrator 32 is located in the main path between the first and second nodes 31-1 and 31-2 and thus between the partial paths 36-2 and 36-3.
  • the second integrator 33 is located in the first partial feedback path 56 ‘and thus between the partial paths 36-5 and 36-6.
  • the second integrator 33 generates, in cooperation with a multiplier 35 (with three inputs), a feeder 34 of a frequency w 0 via feeding sub-paths 36-8 and 38-8 'and the second sub-feedback path 38 ′′, the first intermediate adjustment value Ae', in particular in the sense an overlay or addition by means of the adder 37 'at the node 31 -T.
  • the generated adaptation value Ae is transferred via an amplifier 34 'with amplification 2d and a multiplier 35' with the frequency w 0 to adder 37 'at node 31 -T returned.
  • the Gl controller describes in particular an oscillator with the frequency w 0 with or without damping, which determines the components to be compensated in the control deviation and adds them to the control deviation.
  • the dynamics of the transient process of the oscillator can be set using the parameter K and damping of the oscillator can be set using the parameter d, which additionally increases the frequency range around the frequency w 0 .
  • this controller is based on the inner model principle.
  • control deviation of a frequency w 0 can be minimized or regulated to zero.
  • the frequency w 0 is tracked for a variable frequency in the control deviation.
  • FIGS. 2 to 5 show a comparison of the invention with the prior art, once for constant and once for sinusoidal setpoint values.
  • FIGS. 2 and 4 the curves with a conventional or standard hysteresis controller 60 and in FIGS. 3 and 5, the curves with the expansion according to the invention with G 1 hysteresis controller 60 are shown.
  • FIGS. 2 and 3 show, in the form of graphs 120 and 130, measured signal profiles in tracks 123 and 133 of an actual variable y and in tracks 125 and 135 of the corresponding mean actual variable y with a constant target variable w, which is in tracks 124 and 134 is shown, specifically using a conventional hysteresis control with a conventional controller 60 'in Figure 2 or using a Gl hysteresis controller 60 according to the invention in Figure 3.
  • FIGS. 4 and 5 with graphs 140 and 150 show measured signal curves of an actual variable y in tracks 143 and 153 as well as the corresponding mean actual variable y in tracks 145 and 155 with a sinusoidal target variable w, which is shown in tracks 144 and 154 is, specifically using a conventional hysteresis control with a known controller 60 'in Figure 4 and with a Gl hysteresis controller 60 used according to the invention in Figure 5.
  • the controller 60 ‘and 60 was implemented on a real-time computer system for this purpose.
  • the computing frequency is 125 kHz.
  • the harmonics are even multiples of the fundamental.
  • the i-th harmonic can also be controlled to zero.
  • w 0 0, i.e. for the constant component.
  • the inner model principle applies here again. Any number of basic units can be connected in parallel to one another in order to minimize all the desired fundamental and harmonic components as well as the constant component in the control deviation.
  • the arrangement according to FIG. 6 has a plurality of basic units of the Gl controller connected in parallel in connection with a hysteresis controller.
  • FIG. 6 shows schematically in the manner of a block diagram the structure of a generalized or generalized integral hysteresis regulator 60 designed according to the invention with an alternative structure, namely by using a plurality of Gl regulators 30 connected in parallel.
  • the graphs 160 and 170 shown there are semi-logarithmic representations in which the frequency on the abscissas 171 and 181 and the Fourier spectrum of the respective fault current amplitudes on the ordinates 172 and 182 logarithmically for the in tracks 173, 174, 175 and 183, 184, 185 illustrated phases u, v and w of a three-phase current are plotted.
  • FIGS. 7 and 8 describe, in the form of graphs, a frequency analysis (FFT) of a control error for three phase currents when using the controller SDHC according to the prior art in FIG. 7 and in a further development of the present invention using parallel GI controllers for FIG. , 5th, 7th and 13th harmonics in Figure 8.
  • FFT frequency analysis
  • G GI (S) K s 2 + 2da> 0 s + a> 0 2
  • a core aspect of the present invention results from the integration of a Gl controller 30 in a hysteresis control circuit 50.
  • a GI hysteresis controller 60 designed according to the invention in this way has the dynamics of a conventional hysteresis controller 10 and also has the positive properties of the linear controller, for example a PI controller or a PR controller, on the control deviation.
  • Such a combination is of particular advantage according to the invention because hitherto and thus conventionally the structure of the hysteresis control loop has been seen as an unchangeable unit.
  • the novel configuration can also be understood as a series connection of two controllers, namely a hysteresis controller and a Gl controller, in a single control loop.
  • a linear controller with a hysteresis modulator can also be used in this context, deviating from or as an alternative to a pulse width modulator.
  • the additional Gl controller can actively influence or change the frequency spectrum of the hysteresis-controlled actual variable.
  • Frequency components can be both attenuated and amplified. This enables the specific shaping of the spectrum and the prevention of resonance excitations.
  • Such an extension can be used or transferred for all hysteresis controllers or switching controllers. There are no restrictions on specific types.
  • one aspect of the present invention consists in providing a control of a technical system by means of a hysteresis controller, in which an actual value is kept within a hysteresis limit around a setpoint value.
  • a linear controller is connected and operated in series with the hysteresis controller to prevent a mean permanent control deviation and to set the frequency spectrum.
  • the present invention can also create or have one or more of the aspects listed below:
  • Control deviation e is minimized by adjusting control deviations relative to a predetermined hysteresis window of the hysteresis controller.
  • transfer functions related to the invention can be implemented continuously or in a time-discrete manner.
  • the integrators or integrators provided in each case can also be implemented continuously or in a time-discrete manner.
  • the device 100 according to the invention and the method according to the invention for regulating can be implemented entirely or partially as software or as hardware, in the latter case partially or completely as an ASIC, FPGA and / or with or as one or more discrete circuits with or from discrete components.
  • a mean value can be understood as a mean value or mean value over a comparatively short time horizon and in particular over a switching cycle in which the value of a variable to be considered is averaged.
  • explicit reference is hereby made to the graphic representation of the invention in FIGS. 1 to 13 for its supplementary disclosure.
  • SIEMENS AG "Hysteresis regulation of an output current of a converter", EP 3 327 912 A1, 2016.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

L'invention concerne un procédé et un appareil pour la régulation en boucle fermée de la valeur réelle d'une variable régulée (y) d'un système (1) dans lequel (I) une erreur de régulation (e) de la valeur réelle d'une variable régulée (y) par rapport à une valeur de consigne prédéfinie (w) est capturée sur la base d'une unité de régulation en boucle fermée basée sur l'hystérésis (10) avec un élément d'hystérésis (11) et une comparaison valeur de consigne/valeur réelle (20), et (II) des composants à compenser dans l'erreur de régulation (e) sont superposés et, en particulier, ajoutés (21) sur la base d'au moins une unité de régulation en boucle fermée intégrale généralisée (30) et dans un trajet (52) qui est connecté en amont de l'unité de régulation en boucle fermée en fonction de l'hystérésis (10) avec l'élément d'hystérésis (11) et fournit l'erreur de régulation (e). La présente invention concerne également un appareil de travail ayant un ensemble qui est conçu pour effectuer un processus de travail avec régulation en boucle ouverte ou en boucle fermée en faisant fonctionner l'ensemble et, pour la régulation en boucle fermée ou en boucle ouverte du fonctionnement de l'ensemble, (a) a un appareil de régulation en boucle fermée conçu selon l'invention et/ou (b) est conçu pour initier ou mettre en œuvre un procédé de régulation en boucle fermée selon l'invention ou être utilisé dans un tel procédé.
EP20749851.0A 2019-09-13 2020-07-29 Procédé et appareil pour la régulation en boucle fermée de la valeur réelle d'une variable régulée d'un système, et appareil de travail Pending EP4029138A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019213977.9A DE102019213977A1 (de) 2019-09-13 2019-09-13 Verfahren und Vorrichtung zum Regeln des Istwerts einer Regelgröße eines Systems und Arbeitsvorrichtung
PCT/EP2020/071366 WO2021047818A1 (fr) 2019-09-13 2020-07-29 Procédé et appareil pour la régulation en boucle fermée de la valeur réelle d'une variable régulée d'un système, et appareil de travail

Publications (1)

Publication Number Publication Date
EP4029138A1 true EP4029138A1 (fr) 2022-07-20

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EP20749851.0A Pending EP4029138A1 (fr) 2019-09-13 2020-07-29 Procédé et appareil pour la régulation en boucle fermée de la valeur réelle d'une variable régulée d'un système, et appareil de travail

Country Status (3)

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EP (1) EP4029138A1 (fr)
DE (1) DE102019213977A1 (fr)
WO (1) WO2021047818A1 (fr)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4669058A (en) * 1985-09-30 1987-05-26 United Technologies Corporation Integral control of a dependent variable in a system having at least two independent variables which influence the dependent variable
EP3327912A1 (fr) 2016-11-24 2018-05-30 Siemens Aktiengesellschaft Réglage hysterese d'un courant de sortie d'un convertisseur

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WO2021047818A1 (fr) 2021-03-18

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