JP2016018425A - Disturbance suppression control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely suppress disturbance applied to a control object.SOLUTION: A disturbance suppression control device configured to suppress disturbance that is applied to a control object to monotonously increase in either a positive or a negative direction detects control results of the control object to estimate disturbance on the basis of a control command value to the control object and control results of the control object. When the disturbance monotonously increases in a positive direction, the maximum value of estimated disturbance is held. When the disturbance monotonously increases in a negative direction, the minimum value of the estimated disturbance is held. Then, based on the held value, the control command value to the control object is corrected.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an apparatus for suppressing disturbance applied to an object to be controlled.

  There is known an apparatus that estimates a disturbance applied to a control target from a control input to the control target, a control amount detection value, and a control target mathematical model, and corrects the control input using the estimated value (see Patent Document 1). ).

JP 2009-167981 A

  In the device disclosed in Patent Document 1, a value obtained by filtering the estimated disturbance value is fed back to the control input. Here, by reducing the time constant of the filter processing, it is possible to obtain the estimated disturbance value without delay for the applied disturbance. However, if the time constant is too small, the control system becomes unstable and diverges. End up. Therefore, the time constant of the filter processing needs to be set to a value that does not diverge, but depending on how the disturbance is applied, the disturbance cannot be suppressed with high accuracy due to the estimated delay.

  An object of this invention is to suppress the disturbance applied with respect to a control object accurately.

  A disturbance suppression control device according to the present invention is a device that suppresses a disturbance that is applied to a controlled object and monotonously increases in either positive or negative direction, detects a control result of the controlled object, and controls a control command for the controlled object. The disturbance is estimated based on the value and the control result of the control target. If the disturbance is monotonically increasing in the positive direction, the estimated maximum value of the disturbance is retained, and if the disturbance is monotonically increasing in the negative direction, the estimated minimum value of the disturbance is retained and retained. The control command value for the controlled object is corrected based on the value that is being controlled.

  According to the present invention, when the disturbance is monotonically increasing in the positive direction, the estimated maximum value of the disturbance is held, and when the disturbance is monotonically increasing in the negative direction, the estimated minimum value of the disturbance is retained. Since the control command value for the control target is corrected based on the held value, disturbance can be suppressed without divergence of the control system. As a result, a disturbance observer with a sufficiently fast (small) time constant with respect to the disturbance can be used, so that the disturbance can be accurately estimated and the disturbance can be suppressed with high accuracy.

FIG. 1 is a diagram illustrating a main configuration of a parallel hybrid vehicle. FIG. 2 is a block configuration diagram for controlling the drive motor based on the motor torque command value. FIG. 3 is a flowchart showing a process flow until the limiter 21 outputs the motor torque command value Tm ′ _lim after the limiter process. FIG. 4 is a diagram illustrating a control result of the disturbance suppression control device according to the first embodiment. FIG. 5 is a block configuration diagram for controlling the driving motor based on the motor torque command value in a configuration in which a disturbance that monotonously increases in the negative direction is applied, corresponding to the first embodiment. FIG. 6 is a block configuration diagram for controlling the drive motor based on the motor torque command value in the disturbance suppression control apparatus according to the second embodiment. FIG. 7 is a flowchart showing a process flow until the limiter 21 outputs the motor torque command value Tm ′ _lim after the limiter process in the control apparatus for the electric vehicle according to the second embodiment. FIG. 8 is a diagram illustrating a control result of the disturbance suppression control device according to the second embodiment. FIG. 9 is a block configuration diagram for controlling the driving motor based on the motor torque command value in a configuration in which a disturbance that monotonously increases in the negative direction is applied, corresponding to the second embodiment.

<First Embodiment>
Below, the example which applied the disturbance suppression control apparatus by this invention to the parallel hybrid vehicle is demonstrated.

  FIG. 1 is a diagram illustrating a main configuration of a parallel hybrid vehicle. This hybrid vehicle includes a drive motor 1, an engine 2, a first clutch (dry clutch) 3, a second clutch (wet clutch) 4, a transmission 5, a starting motor 6, a second clutch input rotational speed sensor 7, 2-clutch output speed sensor 8, inverter 9, battery 10, accelerator position sensor (denoted as accelerator sensor in the figure) 11, engine speed sensor 12, clutch oil temperature sensor 13, stroke position sensor 14, integrated controller 15, speed change A machine controller 16, a clutch controller 17, an engine controller 18, a motor controller 19, and a battery controller 20.

  The drive motor 1 is an AC synchronous motor, is driven by drive torque control, and regenerative operation is performed by regenerative brake control. The energy obtained by the regenerative operation is collected in the battery 10.

  The engine 2 is a lean burnable engine, and is controlled by the engine controller 18 so that the engine torque matches the engine torque command value.

  The first clutch 3 is provided between the drive motor 1 and the engine 2, and engages / releases between the drive motor 1 and the engine 2. If the first clutch 3 is in the engaged state, the driving motor torque and the engine torque are transmitted to the second clutch 4, and if the first clutch 3 is in the released state, only the driving motor torque is transmitted to the second clutch 4.

  The second clutch 4 is provided between the drive motor 1 and the transmission 5 and generates a transmission torque (clutch torque capacity) according to the clutch hydraulic pressure (pressing force), whereby the drive motor 1 and the transmission 5 are provided. Fastening / releasing to / from. When the second clutch 4 is engaged, the torque output from the engine 2 and the drive motor 1 is transmitted to the drive wheels via the transmission 5 when the first clutch 3 is engaged. At the time of release, only the torque output from the drive motor 1 is transmitted to the drive wheels via the transmission 5.

  The transmission 5 is stepped and includes a plurality of planetary gears. Shifting is performed by changing the transmission path of the force by engaging / disengaging the clutch and brake inside the transmission 5. However, the transmission 5 is not limited to a stepped transmission, and may be a continuously variable transmission.

  The starter motor 6 is a motor for starting the engine 2 and transmits a cranking torque necessary for starting the engine to the engine 2.

  The second clutch input rotation speed sensor 7 is a position and rotation speed sensor of the second clutch input (drive motor), and detects the input rotation speed of the second clutch 4.

  The second clutch output rotational speed sensor 8 detects the output rotational speed of the second clutch 4.

  The inverter 9 is a high voltage inverter, converts the direct current of the battery 10 into an alternating current, and supplies the alternating current to the drive motor 1.

  The battery 10 is a high voltage battery, and supplies current to the drive motor 1 via the inverter 9 and accumulates regenerative energy from the drive motor 1.

  The accelerator position sensor 11 detects the accelerator opening.

  The engine speed sensor 12 detects the engine speed.

  The clutch oil temperature sensor 13 detects the oil temperature of the clutch.

  The stroke position sensor 14 detects the stroke position of the first clutch 3.

  The integrated controller 15 calculates a target drive torque based on the state of the battery 10, the accelerator opening, and the vehicle speed (a value synchronized with the transmission output rotation speed), and each actuator (the drive motor 1, Command values for the engine 2, the first clutch 3, the second clutch 4, the transmission 5, and the starting motor 6) are calculated and transmitted to each controller described later.

  The transmission controller 16 performs shift control of the transmission 5 so as to achieve the shift command input from the integrated controller 15.

  The clutch controller 17 controls the current of the solenoid valve so as to realize the clutch hydraulic pressure (current) command value for each clutch hydraulic pressure (current) command value input from the integrated controller 15.

  Based on the engine torque command value input from the integrated controller 15, the engine controller 18 operates the intake air amount by the throttle actuator, the fuel injection amount by the injector, and the ignition timing by the spark plug, so that the engine torque becomes the engine torque. The engine 2 is controlled so as to coincide with the torque command value.

  The motor controller 19 controls the driving motor 1 and the starting motor 6. The motor controller 19 controls the motor torque of the drive motor 1 based on the motor torque command value input from the integrated controller 15, and the start motor 6 based on the engine start request input from the integrated controller 15. The engine torque is controlled to start the engine 2.

  The battery controller 20 manages the charge state of the battery 10 and transmits the information to the integrated controller 15.

  FIG. 2 is a block configuration diagram for controlling the drive motor 1 based on the motor torque command value. Here, it is assumed that a torque capacity is generated in the first clutch 3 for engine cranking in a state where the second clutch 4 is completely engaged and the vehicle is running only with the drive motor 1. In the conventional control device, when torque capacity is generated in the first clutch 3, torque in the direction of increasing the rotational speed is applied to the engine 2, and torque in the deceleration direction is applied to the drive motor 1 in the same magnitude. Therefore, the driver feels the acceleration in the deceleration direction as uncomfortable.

In FIG. 2, a limiter 21 performs upper / lower limit processing on a motor torque command value Tm ′, which will be described later, and outputs a motor torque command value Tm ′ _lim after the limiter processing.

The control block 23 representing the vehicle model Gp (s) to be controlled has a value obtained by adding the motor torque command value Tm ′ _lim after the limiter processing by the adder 22 and the disturbance due to the engagement of the first clutch 3. Entered. The disturbance due to the engagement of the first clutch 3 is a disturbance that monotonously increases in the positive direction. The vehicle model Gp (s) is expressed by the following equation (1).

The low-pass filter 24 has a transfer characteristic H (s) expressed by the following equation (2), and performs a filtering process by inputting the motor torque command value Tm ′ _lim after the limiter process. In the equation (2), τ _h is a time constant and sets a sufficiently fast (small) value with respect to the applied disturbance.

  The control block 25 is a filter having a transfer characteristic of H (s) / Gp (s), and performs the filtering process by inputting the detected rotation speed of the driving motor 1.

The subtracter 26 subtracts the output of the low-pass filter 24 from the output of the control block 25, and outputs T _rbst that is the subtraction result. The subtraction result T _rbst is an estimated value of disturbance.

The control block 27 holds the maximum value of T _rbst input from the subtracter 26 and outputs the held maximum value as T _est .

The subtracter 28 subtracts the output value T _est of the control block 27 from the motor torque command value Tm, and outputs a subtraction result Tm ′.

FIG. 3 is a flowchart showing a process flow until the limiter 21 outputs the motor torque command value Tm ′ _lim after the limiter process.

In step S31, the low pass filter 24 performs a filtering process by inputting the motor torque command value Tm ′ _lim after the limiter process.

  In step S32, the control block 25 inputs the detected number of rotations of the drive motor 1 and performs a filtering process.

In step S33, the subtractor 26 subtracts the output of the low-pass filter 24 from the output of the control block 25, and outputs T _rbst as the subtraction result.

In step S34, the control block 27 holds the maximum value of T _rbst input from the subtractor 26, and outputs the held maximum value as T _est .

In step S35, the subtractor 28 subtracts the output value T _est of the control block 27 from the motor torque command value Tm, and outputs a subtraction result Tm ′.

In step S36, the limiter 21 performs upper / lower limit processing on the motor torque command value Tm ′, and outputs the motor torque command value Tm ′ _lim after the limiter processing.

FIG. 4 is a diagram illustrating a control result of the disturbance suppression control device according to the first embodiment. The upper graph in FIG. 4 represents the clutch engagement disturbance torque (Nm) due to the engagement of the first clutch 3, and the lower graph in FIG. 4 represents the longitudinal acceleration (m / s ² ) of the vehicle. Here, a disturbance torque 300 (Nm) generated at a time constant of 0.1 (s) is applied as a clutch engagement disturbance between times t1 and t2, and the longitudinal acceleration of the vehicle at that time is shown. In FIG. 4, the solid line indicates the control result of the disturbance suppression control device in the present embodiment, and the dotted line indicates a conventional control device that does not include the low-pass filter 24, the control block 25, the subtractor 26, and the control block 27 of FIG. 2. The control result is shown.

  In the conventional control device, a large acceleration is generated by inputting the clutch engagement disturbance torque. On the other hand, according to the disturbance suppression control apparatus in the present embodiment, the occurrence of acceleration in the longitudinal direction of the vehicle is suppressed even when clutch engagement disturbance torque is input.

  In the above description, control in the case where a disturbance that monotonously increases in the positive direction is applied has been described. However, even when a disturbance that monotonously increases in the negative direction is applied, the disturbance can be accurately suppressed.

  FIG. 5 is a block configuration diagram for controlling the driving motor 1 based on the motor torque command value in a configuration in which a disturbance that monotonously increases in the negative direction is applied. In FIG. 5, the same components as those in the block configuration diagram shown in FIG.

In the configuration shown in FIG. 5, a control block 81 is provided instead of the control block 27 shown in FIG. The control block 81 holds the minimum value of T _rbst input from the subtractor 26 and outputs the held minimum value as T _est . Also in this case, the applied disturbance can be suppressed with high accuracy.

As described above, the disturbance suppression control device according to the first embodiment is a device that suppresses disturbance that is applied to a controlled object and monotonously increases in either positive or negative direction, detects a control result of the controlled object, The disturbance is estimated based on the control command value (motor torque command value Tm ′ _lim ) for the control target and the control result of the control target (the rotation speed of the drive motor 1). If the disturbance is monotonically increasing in the positive direction, the estimated maximum value of the disturbance is retained, and if the disturbance is monotonically increasing in the negative direction, the estimated minimum value of the disturbance is retained and retained. The control command value for the controlled object is corrected based on the value that is being controlled. If the disturbance is monotonically increasing in the positive direction, the estimated maximum value of the disturbance is retained, and if the disturbance is monotonically increasing in the negative direction, the estimated minimum value of the disturbance is retained and retained. Since the control command value for the controlled object is corrected based on the value being controlled, disturbance can be suppressed without divergence of the control system. As a result, a disturbance observer with a sufficiently fast (small) time constant with respect to the disturbance can be used, so that the disturbance can be accurately estimated and the disturbance can be suppressed with high accuracy.

  If the disturbance is monotonically increasing in the positive direction, the estimated maximum value of the disturbance is retained, and if the disturbance is monotonically increasing in the negative direction, the estimated minimum value of the disturbance is retained and retained. The reason why the disturbance can be suppressed without divergence of the control system by correcting the control command value for the control target based on the value being controlled. In control, it is known that feedforward compensation does not affect the stability of feedback control. In the configuration that uses the estimated disturbance as it is to correct the control command value, it becomes feedback compensation and affects the stability of the control.However, as in this embodiment, the estimated disturbance maximum value or minimum value is used. By holding and correcting the control command value, it can be handled as feedforward compensation, so that stability is not affected.

<Second Embodiment>
FIG. 6 is a block configuration diagram for controlling the drive motor 1 based on the motor torque command value in the disturbance suppression control apparatus according to the second embodiment. The same components as those in the block configuration diagram shown in FIG. 2 are denoted by the same reference numerals, and detailed description thereof is omitted. As described above, the disturbance due to the engagement of the first clutch 3 is a disturbance that monotonously increases in the positive direction.

The low-pass filter 24 is the same as the low-pass filter 24 in the first embodiment, and the transfer characteristic H (s) is expressed by Expression (2). However, the time constant τ _h in Equation (2) is set to an appropriate value in consideration of the stability factor of the control system.

  The low-pass filter 24, the control block 25, and the subtractor 26 constitute a disturbance observer formed in consideration of the stability of the control system. As this disturbance observer, an existing disturbance observer can be used, and is hereinafter referred to as a first disturbance observer.

Low pass filter 51 has a transfer characteristic shown by the following formula (3) H2 (s), it performs a filtering process to input motor torque command value Tm _'lim after limiter processing. In Expression (3), τ _h2 is a time constant, and sets a sufficiently fast (small) value with respect to the applied disturbance.

  Similar to the control block 25, the control block 52 is a filter having a transfer characteristic of H (s) / Gp (s), and performs the filtering process by inputting the detected rotational speed of the driving motor 1.

The subtractor 53 subtracts the output of the low-pass filter 51 from the output of the control block 52, and outputs T _rbst2 that is the subtraction result. The subtraction result T _rbst2 is an estimated value of disturbance.

  The low-pass filter 51, the control block 52, and the subtractor 53 are disturbance observers having a time constant that is sufficiently fast (small) with respect to the applied disturbance, and are hereinafter referred to as a second disturbance observer.

The control block 54 holds the maximum value of T _rbst2 input from the subtractor 53 and outputs the held maximum value as T _max .

The high pass filter 55 has a function of advancing the phase of the input value, has a transfer characteristic H3 (s) expressed by the following equation (4), and performs the filtering process by inputting the output value T _max of the control block 54. Do. That is, the phase of the output value T _max of the control block 54 is advanced and output. Τ _h3 in the equation (4) is a time constant, and here, it is the same value as the time constant τ _h in the equation (2).

The adder 56 adds the subtraction result T _rbst of the subtractor 26 and the output T _hpf of the control block 55, and outputs the addition result T _est .

In this embodiment, the motor torque command value is corrected using the disturbance estimated by the first disturbance observer which is an existing disturbance observer. However, the time constant of the first disturbance observer considers the stability of the control system. Since the value is set, the value is not sufficiently fast (small) with respect to the disturbance, and the disturbance estimation is delayed. Therefore, in combination with the first disturbance observer, the second disturbance observer having a sufficiently fast (small) time constant with respect to the disturbance is used. If the disturbance estimated by the second disturbance observer is used as it is, the disturbance compensation is performed. Will be overcompensated. For this reason, the high-pass filter 55 having a function of advancing the phase with respect to the maximum value T _{max of the} disturbance estimated by the second disturbance observer is used. That is, according to the time constant of the high-pass filter 55, the maximum value T _max of the disturbance estimated by the second disturbance observer is finally 0, so that it is possible to prevent the disturbance compensation from being doubled.

Also, by matching the time constant (disturbance estimation time constant) τ _{h of} the first disturbance observer with the time constant (phase advance time constant) of the high-pass filter 55, in an ideal state, the output of the high-pass filter 55 The value is the difference between the disturbance estimated by the first disturbance observer and the actual disturbance. In other words, the output of the high-pass filter 55 is a value that compensates for the disturbance estimation delay of the first disturbance observer. Therefore, according to the configuration of this embodiment, the disturbance can be completely canceled.

FIG. 7 is a flowchart showing a process flow until the limiter 21 outputs the motor torque command value Tm ′ _lim after the limiter process in the control apparatus for the electric vehicle according to the second embodiment.

In step S61, the low-pass filter 24 performs a filtering process to input motor torque command value Tm _'lim after limiter processing.

  In step S62, the control block 25 inputs the detected number of rotations of the driving motor 1 and performs a filtering process.

In step S63, the subtractor 26 subtracts the output of the low-pass filter 24 from the output of the control block 25, and outputs T _rbst as the subtraction result.

In step S64, the low-pass filter 51 performs a filtering process to input motor torque command value Tm _'lim after limiter processing.

  In step S65, the control block 52 performs the filtering process by inputting the detected rotation speed of the driving motor 1.

In step S66, the subtractor 53 subtracts the output of the low pass filter 51 from the output of the control block 52, and outputs T _rbst2 that is the subtraction result.

In step S67, the control block 54 holds the maximum value of T _rbst2 input from the subtractor 53, and outputs the held maximum value as T _max .

In step S68, the high pass filter 55 receives the output value T _max of the control block and performs a filtering process.

In step S69, the adder 56 adds the subtraction result T _rbst of the subtractor 26 and the output T _hpf of the control block 55, and outputs the addition result T _est .

In step S70, the subtractor 28 subtracts the output value T _est of the control block 27 from the motor torque command value Tm, and outputs a subtraction result Tm ′.

In step S71, the limiter 21 performs upper / lower limit processing on the motor torque command value Tm ′, and outputs the motor torque command value Tm ′ _lim after the limiter processing.

FIG. 8 is a diagram illustrating a control result of the disturbance suppression control device according to the second embodiment. The upper graph in FIG. 8 represents the clutch engagement disturbance torque (Nm) due to the engagement of the first clutch 3, and the lower graph in FIG. 8 represents the longitudinal acceleration (m / s ² ) of the vehicle. Here, a disturbance torque 300 (Nm) generated at a time constant of 0.1 (s) is applied as a clutch engagement disturbance between times t1 and t2, and the longitudinal acceleration of the vehicle at that time is shown. In FIG. 8, the solid line indicates the control result of the disturbance suppression control device in this embodiment, and the dotted line indicates the conventional low-pass filter 51, control block 52, subtractor 53, control block 54, and high-pass filter 55 that are not provided in FIG. 6. The control result of the control device is shown.

  Even in the conventional control device, the motor torque command value Tm is corrected using the disturbance estimated by the first disturbance observer. However, the time constant of the first disturbance observer is a value that takes into account the stability of the control system. Since it is set, the value is not sufficiently fast (small) with respect to the disturbance, and a delay occurs in the disturbance estimation. For this reason, when the clutch engagement disturbance torque is input, acceleration in the longitudinal direction of the vehicle occurs. On the other hand, according to the disturbance suppression control apparatus in the present embodiment, when clutch engagement disturbance torque is input, the generation of acceleration in the longitudinal direction of the vehicle is suppressed as compared with the conventional control apparatus.

  In addition, the control result by the disturbance suppression control device in the first embodiment and the control result by the disturbance suppression control device in the second embodiment match in an ideal state.

  In the above description, the control in the case where a disturbance that monotonously increases in the positive direction is applied has been described. However, even when the disturbance that monotonously increases in the negative direction is applied, the disturbance can be accurately suppressed.

  FIG. 9 is a block configuration diagram for controlling the driving motor 1 based on the motor torque command value in a configuration in which a disturbance that monotonously increases in the negative direction is applied. 9, the same components as those in the block configuration diagram shown in FIG. 6 are denoted by the same reference numerals, and detailed description thereof is omitted.

In the configuration shown in FIG. 9, a control block 91 is provided instead of the control block 54 shown in FIG. The control block 91 holds the minimum value of T _rbst2 input from the subtractor 53 and outputs the held minimum value as T _min . Also in this case, the applied disturbance can be suppressed with high accuracy.

As mentioned above, according to the disturbance suppression control apparatus in 2nd Embodiment, it is an apparatus which suppresses the disturbance which is applied with respect to a control object and monotonously increases in any one direction of positive or negative, Comprising: The control result of a control object is detected A first disturbance observer for estimating a disturbance based on a control command value (motor torque command value Tm ′ _lim ) for the controlled object and a control result (the rotational speed of the driving motor 1) of the controlled object; The disturbance estimation speed is faster than the disturbance observer of 1, and the disturbance is determined based on the control command value (motor torque command value Tm ′ _lim ) for the controlled object and the control result of the controlled object (the rotational speed of the driving motor 1). A second disturbance observer for estimation. The disturbance suppression control apparatus further maintains the maximum value of the disturbance estimated by the second disturbance observer when the disturbance monotonically increases in the positive direction, and the disturbance monotonously increases in the negative direction. In this case, the phase is advanced by the control block 54 as a holding unit that holds the minimum value of the disturbance estimated by the second disturbance observer, the high-pass filter 55 that advances the phase of the held value, and the high-pass filter 55. And a subtractor 28 that corrects the control command value for the controlled object based on the disturbance estimated by the first disturbance observer. As a result, even when the first disturbance observer, which is an existing disturbance observer, is used, the disturbance is accurately suppressed using the second disturbance observer whose disturbance estimation speed is faster than that of the first disturbance observer. be able to. Further, since the maximum value or the minimum value of the disturbance estimated by the second disturbance observer is held and the phase is advanced with respect to the held value, compensation using the disturbance estimated by the first disturbance observer; It is possible to prevent the compensation using the disturbance estimated by the second disturbance observer from overlapping.

Further, the disturbance estimation time constant τ _h of the first disturbance observer and the phase advance time constant τ _{h3 of} the high-pass filter 55 are set to the same value. Thus, in an ideal state, the output value of the high-pass filter 55 is the difference between the disturbance estimated by the first disturbance observer and the actual disturbance. That is, the output of the high-pass filter 55 is a value that compensates for the disturbance estimation delay of the first disturbance observer, so that the disturbance can be completely canceled in an ideal state.

  The present invention is not limited to the embodiment described above. For example, in the above-described embodiment, the example in which the disturbance suppression control device according to the present invention is applied to a parallel hybrid vehicle has been described. However, the control target is not limited to the vehicle, and the disturbance monotonously increases in either positive or negative direction. Can be applied to various systems in which is applied to a controlled object.

DESCRIPTION OF SYMBOLS 1 ... Drive motor 7 ... 2nd clutch input rotation speed sensor (detection means)
DESCRIPTION OF SYMBOLS 19 ... Motor controller 24 ... Low pass filter (disturbance estimation means, 1st disturbance estimation means)
25 ... Control block (disturbance estimation means, first disturbance estimation means)
26 ... Subtractor (disturbance estimation means, first disturbance estimation means)
27 ... Control block (holding means)
28: Subtractor (correction means)
51. Low pass filter (second disturbance estimating means)
52... Control block (second disturbance estimating means)
53. Subtracter (second disturbance estimating means)
54 ... Control block (holding means)
55. High pass filter (phase changing means)
56. Adder (correction means)

Claims (3)

A disturbance suppression control device that suppresses disturbance that is applied to a controlled object and increases monotonically in either positive or negative direction,
Detecting means for detecting a control result of the control object;
Disturbance estimation means for estimating the disturbance based on a control command value for the control object and a control result of the control object;
When the disturbance is monotonically increasing in the positive direction, the maximum value of the disturbance estimated by the disturbance estimating means is held, and when the disturbance is monotonically increasing in the negative direction, the disturbance estimating means Holding means for holding the minimum value of the disturbance estimated by
Correction means for correcting a control command value for the control object based on a value held by the holding means;
A disturbance suppression control apparatus comprising: A disturbance suppression control device that suppresses disturbance that is applied to a controlled object and increases monotonically in either positive or negative direction,
Detecting means for detecting a control result of the control object;
First disturbance estimation means for estimating the disturbance based on a control command value for the control target and a control result of the control target;
A second disturbance estimation means for estimating the disturbance based on a control command value for the control object and a control result of the control object, the disturbance estimation speed being faster than that of the first disturbance estimation means;
When the disturbance is monotonically increasing in the positive direction, the maximum value of the disturbance estimated by the second disturbance estimating means is held, and when the disturbance is monotonically increasing in the negative direction, Holding means for holding a minimum value of the disturbance estimated by the second disturbance estimating means;
Phase changing means for advancing the phase of the value held by the holding means;
Correction means for correcting a control command value for the controlled object based on a value whose phase is advanced by the phase changing means and a disturbance estimated by the first disturbance estimating means;
A disturbance suppression control apparatus comprising: In the disturbance suppression control device according to claim 2,
The disturbance estimation time constant of the first disturbance estimation unit and the phase advance time constant of the phase change unit are set to the same value,
Disturbance suppression control device characterized by that.

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