JP2004145868A - 比例積分制御器の制御方法 - Google Patents
比例積分制御器の制御方法 Download PDFInfo
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- JP2004145868A JP2004145868A JP2003332273A JP2003332273A JP2004145868A JP 2004145868 A JP2004145868 A JP 2004145868A JP 2003332273 A JP2003332273 A JP 2003332273A JP 2003332273 A JP2003332273 A JP 2003332273A JP 2004145868 A JP2004145868 A JP 2004145868A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000003595 spectral effect Effects 0.000 claims abstract description 19
- 230000004044 response Effects 0.000 claims description 18
- 230000001131 transforming effect Effects 0.000 claims description 6
- 230000009466 transformation Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000001228 spectrum Methods 0.000 description 5
- 230000010354 integration Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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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
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
-
- 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
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Medical Informatics (AREA)
- Software Systems (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
【解決手段】比例制御と比例積分制御を選択的に行う比例積分制御器の制御方法は、前記比例積分制御器の出力をフーリエ変換する段階と;全ての周波数の領域に対する所定の基準周波数の前記変換された比例積分制御器の出力のスペクトルエネルギーの比率を計算する段階と;前記計算されたスペクトルエネルギーの比率が所定の基準比率を超える場合、前記比例制御を行い、前記スペクトルエネルギーの比率が前記基準比率以下である場合、前記比例積分制御を行う段階と;を含むことを特徴とする。
【選択図】図3
Description
11 比例制御器
12 積分制御器
30 インバーター
50 駆動部
Claims (6)
- 比例制御と比例積分制御を選択的に行う比例積分制御器の制御方法において、
前記比例積分制御器の出力をフーリエ変換する段階と;
全ての周波数の領域に対する所定の基準周波数の前記変換された比例積分制御器の出力のスペクトルエネルギーの比率を計算する段階と;
前記計算されたスペクトルエネルギーの比率が所定の基準比率を超える場合、前記比例制御を行い、前記スペクトルエネルギーの比率が前記基準比率以下である場合、前記比例積分制御を行う段階と;
を含むことを特徴とする比例積分制御器の制御方法。 - 前記基準周波数は、前記制御器により制御される駆動部の周波数応答での折点周波数であることを特徴とする請求項1に記載の比例積分制御器の制御方法。
- 前記フーリエ変換する段階は、離散フーリエ変換を含むことを特徴とする請求項2に記載の比例積分制御器の制御方法。
- 前記フーリエ変換する段階は、高速フーリエ変換を含むことを特徴とする請求項2に記載の比例積分制御器の制御方法。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2002-0064851A KR100461186B1 (ko) | 2002-10-23 | 2002-10-23 | 비례적분제어기의 제어방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2004145868A true JP2004145868A (ja) | 2004-05-20 |
JP3875674B2 JP3875674B2 (ja) | 2007-01-31 |
Family
ID=36795030
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2003332273A Expired - Fee Related JP3875674B2 (ja) | 2002-10-23 | 2003-09-24 | 比例積分制御器の制御方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7085611B2 (ja) |
JP (1) | JP3875674B2 (ja) |
KR (1) | KR100461186B1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080065257A1 (en) * | 2006-09-13 | 2008-03-13 | Jianmin He | Controlled material removal rate (CMRR) and self-tuning force control in robotic machining process |
CN101753097A (zh) * | 2008-12-03 | 2010-06-23 | 鸿富锦精密工业(深圳)有限公司 | 马达驱动装置 |
TWI410039B (zh) * | 2008-12-12 | 2013-09-21 | Foxnum Technology Co Ltd | 馬達驅動裝置 |
US8624559B2 (en) * | 2010-10-14 | 2014-01-07 | GM Global Technology Operations LLC | Excessive current detection controls method |
DE102016011865A1 (de) * | 2016-10-01 | 2018-04-05 | Khd Humboldt Wedag Gmbh | Regelvorrichtung mit Einstellbarkeit des Regelverhaltens |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3946297A (en) * | 1974-03-05 | 1976-03-23 | Johnson Service Company | Insertion integrating controller |
US4600870A (en) * | 1983-11-17 | 1986-07-15 | United Technologies Corporation | Dual controller position control system |
WO1986003904A1 (en) * | 1984-12-22 | 1986-07-03 | Yaskawa Electric Mfg. Co., Ltd. | Method and apparatus for controlling servo motor |
JPS6266301A (ja) | 1985-09-18 | 1987-03-25 | Yamatake Honeywell Co Ltd | オ−トチユ−ニングコントロ−ラ |
JPS6311077A (ja) * | 1986-06-27 | 1988-01-18 | Dainippon Screen Mfg Co Ltd | モ−タの回転制御方法 |
JPS63101901A (ja) | 1986-10-17 | 1988-05-06 | Mitsubishi Heavy Ind Ltd | フイ−ドバツク制御装置 |
JPH0210197A (ja) | 1988-06-29 | 1990-01-12 | Hitachi Ltd | 縦型圧力管式原子炉 |
US5157597A (en) * | 1988-12-23 | 1992-10-20 | Fanuc Ltd. | Method of detecting oscillation of a servo system and automatically adjusting speed loop gain thereof |
JPH02264302A (ja) * | 1989-04-04 | 1990-10-29 | Toshiba Corp | プロセス制御装置 |
JPH05134758A (ja) * | 1991-05-17 | 1993-06-01 | Fanuc Ltd | サーボモータの制御方式 |
JPH06230803A (ja) * | 1993-02-05 | 1994-08-19 | Shinko Electric Co Ltd | 振動制御装置 |
JP2824186B2 (ja) * | 1993-03-23 | 1998-11-11 | 新日本製鐵株式会社 | 二つのブロックミルよりなる線材仕上ミルの速度制御方法 |
JPH0736504A (ja) | 1993-07-19 | 1995-02-07 | Komatsu Ltd | Pid制御装置の制御定数調整装置 |
JPH0816205A (ja) | 1994-06-30 | 1996-01-19 | Fujitsu Ltd | サーボ制御システム及びそのチューニング方法 |
JP3510021B2 (ja) | 1995-09-29 | 2004-03-22 | 松下電器産業株式会社 | 内燃機関の空燃比制御装置 |
US5742503A (en) * | 1996-03-25 | 1998-04-21 | National Science Council | Use of saturation relay feedback in PID controller tuning |
JP3201337B2 (ja) | 1998-03-27 | 2001-08-20 | 双葉電子工業株式会社 | 移動体の操縦装置 |
JP3449229B2 (ja) | 1998-07-22 | 2003-09-22 | 株式会社デンソー | システム制御装置 |
US6326758B1 (en) * | 1999-12-15 | 2001-12-04 | Reliance Electric Technologies, Llc | Integrated diagnostics and control systems |
US6198246B1 (en) | 1999-08-19 | 2001-03-06 | Siemens Energy & Automation, Inc. | Method and apparatus for tuning control system parameters |
WO2001082462A1 (fr) * | 2000-04-20 | 2001-11-01 | Kabushiki Kaisha Yaskawa Denki | Commande de moteur |
US6366049B1 (en) * | 2000-05-10 | 2002-04-02 | Ecostar Electric Drive Systems L.L.C. | Motor starter and speed controller system |
JP3965668B2 (ja) * | 2000-08-30 | 2007-08-29 | 横河電機株式会社 | 適応制御方法およびその装置 |
US7035695B2 (en) * | 2002-01-22 | 2006-04-25 | Imb Controls Inc. | Method and apparatus for tuning a PID controller |
-
2002
- 2002-10-23 KR KR10-2002-0064851A patent/KR100461186B1/ko active IP Right Grant
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2003
- 2003-08-06 US US10/634,788 patent/US7085611B2/en not_active Expired - Lifetime
- 2003-09-24 JP JP2003332273A patent/JP3875674B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
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JP3875674B2 (ja) | 2007-01-31 |
US7085611B2 (en) | 2006-08-01 |
US20040083249A1 (en) | 2004-04-29 |
KR20040036064A (ko) | 2004-04-30 |
KR100461186B1 (ko) | 2004-12-14 |
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