JP3124169B2 - 2-DOF adjustment device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a two-degree-of-freedom adjusting device for simultaneously optimizing both a disturbance suppression characteristic and a target value tracking characteristic.

[0002]

2. Description of the Related Art This kind of PI or PID (P: proportional,
(I: integral, D: differential) regulators have been used extensively in all industrial fields since the history of control, and control systems in each industrial field are no longer feasible without PI or PID regulators.

[0003] Various adjustment calculation methods have been adopted in the conventional adjustment device, but with the passage of time, there has been a shift from an analog adjustment calculation method to a digital adjustment calculation method.
This trend is unlikely to change in the future and forms the basis of plant operation control systems.

[0004] The basic equation of this PI adjustment calculation is represented by the following equation. MV (s) = K _P [1+ (1 + / T _I s )] · E (s) (1) where MV (s): operation signal, E (s): deviation signal, K
_P : proportional gain, T _I : derivative time, s: Laplace operator.

The basic expression for this PI adjustment calculation is a one-degree-of-freedom PI
This is called an adjustment method, and only one set of PI parameters can be set. However, in an actual control system, it is necessary to optimize not only the disturbance suppression characteristics but also the target value follow-up characteristics. However, the parameters used for these optimization calculations, that is, the disturbance suppression optimum PI parameter and the target Value tracking optimal PI
The value with the D parameter is greatly different. as a result,
If the PI parameter is adjusted so as to optimize the disturbance suppression characteristics, the target value follow-up characteristics greatly overshoot and become oscillatory characteristics. Conversely, if the target value follow-up characteristics are optimized, the disturbance suppression characteristics deteriorate. I will. That is, the characteristics of the two cannot be optimized at the same time, and they are in a trade-off relationship, which is a major obstacle to the advancement of the control system.

Therefore, in this type of PID adjusting device, it has been desired to develop a technology capable of simultaneously optimizing the disturbance suppression characteristic and the target value tracking characteristic. However, in 1963, Issac M. Two degrees of Freedom PID A that Horowits can independently set two sets of PID parameters (Two Degrees of Freedom PID A
lgorithm: 2DOF PID).

[0007] Thereafter, the 2DOF PID has begun to be put into practical use, and has recently contributed greatly to the advancement of plant operation control systems. FIG. 5 shows that the two terms of PI are 2
It is a figure showing the basic block composition in the conventional 2DOF PI adjustment device with the freedom. This adjusting device has a configuration in which the two terms of PI are made to have two degrees of freedom by inserting a lead / lag element into a target value in the one-degree-of-freedom PI adjusting device. That is, the control device advances the target value SVn /
'After removal, this corrected target value SVn' lag element 51 correction target value is introduced into SVn introducing a controlled variable PVn from the control object 53 ₁ detected by the control amount detection means 52 and the deviation calculation unit 54 Here, the correction target value SVn
'Is subtracted from the control amount PVn, and the deviation signal E = (SVn
'-PVn). Then, the deviation calculating means 5
4 is introduced into the PI adjusting means 55,
Here, a PI adjustment operation is performed under the PI parameter, and the output signal is guided to the proportional gain means 56.

The proportional gain means 56 multiplies the output of the PI adjustment operation by the proportional gain Kp, applies the resulting multiplied signal as an operation signal MVn to the process 53, and calculates a deviation E =
0, that is, control is performed such that the correction target value signal SVn '= the control amount PVn.

Therefore, in order to set the target value SVn to be equal to the control amount PVn, the following equation is established using the final value theorem from the relationship SVn '= SVn · H (s). H (s) of the lead / lag element 51 may be selected.

[0010]

(Equation 1)

[0011]

By the way, in the conventional adjusting device as described above, it is actually examined by using a response equation whether or not the two degrees of freedom are properly realized. Therefore, when the response equation having the configuration shown in FIG. 5 is obtained, it can be expressed by the following equation (3). PVn = {[H (s) · Kp · C (s) · G (s)] / [1 + Kp · C (s) · G (s)]｝ · SVn + ｛G (s) / [1 + Kp · C ( s) · G (s)]｝ · D (s) (3) In the response equation of equation (3), the preceding term is a component with respect to the change of the target value SV, and the following term is with respect to the change of the disturbance D. Component. It is clear from the equation (3) that when the parameters of the transfer function H (s) constituting the lead / lag element 51 are adjusted, only the following characteristic with respect to the change of the target value SVn is affected, and the disturbance Dn (s It can be seen that there is no effect on the suppression characteristics with respect to the change of ()).

Therefore, from the above equation and its description, P
The PI parameter of the I adjusting means 55 is adjusted so as to be optimal for disturbance suppression characteristics, while the lead / lag element 51 is adjusted.
By adjusting the parameters of the transfer function H (s) to be optimal for the target value follow-up characteristic, two degrees of freedom can be realized.

However, the transfer function H of the lead / lag element 51
In the case of (s), the following problem occurs. Now, as a conventional advanced example using the transfer function H (s) of the lead / lag element 51, consider an example using a lead / lag element such as equation (4).

H (s) = (1 + αβT _I · s) / (1 + βT _I · s) (4) In the above equation, β is a parameter, T _I is an integration time, and s is a Laplace operator. Here, using the above equation (4),
Transfer function part H of the numerator related to adjustment in equation (3)
When (s) · Kp · C (s) is transformed, it can be expressed by the following equation (5).

[0015]

(Equation 2)

Therefore, in the equation (5), if the parameters α and β are adjusted, two degrees of freedom can be realized. Generally, 0 ≦ α ≦ 1, 1 ≦ β ≦ 2, and the optimal values are α = 0.4 and β = 1.35.

However, as is apparent from the equation (5), the addition of the lead / lag element H (s) in addition to the proportional term and the integral term makes it possible to add the lead / lag element H (s) to the equation (4). There are only two parameters that can be adjusted from the equation, α and β, where α is used for the proportional term, β is used for the integral term, and adjusted using the α and β parameters for the derivative component. Can not do it. This means that with two parameters α and β, it is impossible to optimally adjust and calculate three of the proportional term, the integral term and the differential component.

Therefore, since the differential component cannot be adjusted and calculated in an optimum state, the controllability is limited. The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a two-degree-of-freedom adjusting device that improves controllability.
It is another object of the present invention to provide a two-degree-of-freedom adjusting device that can adjust not only the proportional term and the integral term, but also the strength of the differential term.

[0019]

In order to solve the above-mentioned problems, the invention according to claim 1 is arranged such that a deviation between a correction target value obtained from a target value and a control amount from a control target becomes zero. In an adjusting device that executes a PI adjustment calculation by an adjustment unit and controls a control target using the obtained PI adjustment calculation signal, the target value SVn is set to [1+ {H (s) -1}].
, The static characteristic component element SVn and the dynamic characteristic component element ｛H
(s) -1｝ · SVn, and a correction target value calculating means for using the combined output of these two component elements as the correction target value; and varying the strength of the differential term to the output of the dynamic characteristic component element. This is a two-degree-of-freedom adjustment apparatus provided with parameter multiplication means for multiplying an adjustment parameter for performing the operation and synthesis means for synthesizing the output of the PI adjustment means and the output of the parameter multiplication means to have a differentiation function. However, in the above equation, H
(s) is a lead / lag element.

Next, according to a second aspect of the present invention, a PI adjustment calculation is executed by an adjusting means so that a deviation between a correction target value obtained from a target value and a control amount from a control object becomes zero, In the adjusting device for controlling the control object using the PI adjustment calculation signal obtained, the target value SVn is set to {1+
[(1 + αβT _I · s) / (1 + βT _I · s)] − 1｝
And the dynamic characteristic component element n [(1 + αβT _I · s) / (1 + βT _I · s)] −
1｝ · SVn, and a correction target value calculating unit that uses the combined output of these two component elements as the correction target value, and an adjustment for changing the strength of the differential term to the output of the dynamic characteristic component element. A parameter multiplying means for multiplying a parameter; and a synthesizing means for synthesizing an output of the PI adjusting means and an output of the parameter multiplying means to have a differentiation function.
This is a degree of freedom adjustment device. Where α and β are adjustment parameters, T _I is an integration time, and s is a Laplace operator.

Further, according to a third aspect of the present invention, a PI adjustment calculation is executed by an adjusting means so that a deviation between a correction target value obtained from a target value and a control amount from a control target becomes zero, and the obtained value is obtained. In the adjusting device for controlling the control object using the PI adjustment calculation signal, the target value SVn is set to {1+
[(Α-1) β T I · s] / (1 + βT it · s)} is multiplied by a static characteristic component elements SVn and dynamic characteristic component elements {[(alpha-
1) as well as separated into _{β T I · s] / (} 1 + βT I · s)} · SVn, the corrected target value calculating means for the combined output of both component element and the correction target value, the dynamic characteristic component elements A parameter multiplying means for multiplying the output of P by an adjustment parameter for varying the strength of the differential term, and a synthesizing means for synthesizing the output of the PI adjusting means and the output of the parameter multiplying means to have a differentiation function. This is a degree of freedom adjustment device. Where α and β are adjustment parameters, T _I
Is an integration time, and s is a Laplace operator.

Further, according to a fourth aspect of the present invention, a PI adjustment calculation is executed by an adjusting means so that a deviation between a correction target value obtained from a target value and a control amount from a control object becomes zero, and the obtained value is obtained. In the adjusting device for controlling the control target using the PI adjustment calculation signal, the target value SVn is set to {1+
(Α-1) [1- (1 / (1 + βT _I s))] {multiply by multiplying the static characteristic component SVn and the dynamic characteristic component} (α−
1) [1- (1 / (1 + βT _I · s))]｝ · SVn, and a correction target value calculating means for using a combined output of these two component elements as the correction target value; Parameter multiplying means for multiplying the output of the element by an adjustment parameter for varying the strength of the differential term, and synthesizing means for synthesizing the output of the PI adjusting means and the output of the parameter multiplying means to have a differentiating function are provided. This is a two-degree-of-freedom adjusting device.

[0023]

Accordingly, the invention corresponding to claims 1 to 4 is:
By taking the above measures, the lead / lag elements to be inserted into the target value are separated into a static characteristic component element and a dynamic characteristic component element. Is multiplied by an adjustment parameter that varies
Since the output is combined with the output of the adjusting means, the strength of the differential component can be adjusted only by adding one more parameter to the adjustment parameter of the conventional device, and the three components of the proportional term, the integral term and the differential component are optimized. Can be adjusted.

[0024]

Embodiments of the present invention will be described below with reference to the drawings. The basic idea of the present invention is to focus on the fact that the dynamic characteristic component is a differential component, and to separate the lead / lag element into a static characteristic component and a dynamic characteristic component in order to extract the dynamic characteristic component from the lead / lag element. Then, the dynamic characteristic component, that is, one parameter acting on the differential component is added, and the differential component is adjusted and calculated optimally.

FIG. 1 is a diagram showing a basic configuration of the invention according to claim 1. In the figure, reference numeral 1 denotes a correction target value calculating means inserted at the output end of the target value SVn for achieving two degrees of freedom, which is a lead / lag element 11 for advancing or delaying the target value SVn for a predetermined time and this advance. A dynamic characteristic component element having subtraction means 12 for subtracting the target value SVn from the output of the delay element 11, a static characteristic component element for outputting the target value SVn as it is, and an addition means for adding the outputs of these two component elements. 13.

Accordingly, when the correction target value is SVn ', the correction target value calculating means 1 satisfies the following equation: SVn' = {1+ [H (s) -1]}. SVn (6) Static characteristic component and b = [H (s) -1]
-It can be separated from the dynamic characteristic component of SVn.

A deviation calculating means 14 is connected to the output side of the adding means 13, and calculates a deviation between the correction target value SVn 'and the control amount PVn from the control target 16 ₁ detected by the control amount detecting means 15. The control signal PVn is subtracted from the correction target value SVn 'to obtain a deviation signal E = (SVn'-PVn). Then, the deviation signal E obtained by the deviation calculating means 14 is used as the PI adjusting means 17.
Where the PI adjustment operation is performed under the PI parameter, and the output signal is guided to the subtraction means 18.

On the other hand, the output of the dynamic characteristic component element is introduced to coefficient multiplying means 19, where the output of the dynamic characteristic component element is multiplied by a coefficient δ for adjusting the strength of the differential component, and the subtraction means 1
Introduce to 8. The subtraction means 18 subtracts a signal obtained by multiplying the dynamic characteristic component output by the coefficient δ from the PI adjustment calculation output, and introduces the obtained subtraction output to the proportional gain means 20. Then, the subtraction output is multiplied by the proportional gain Kp, and the obtained multiplication signal is applied to the process 16 as the operation signal MVn, and the deviation E = 0, that is, the correction target value signal SV
In this configuration, control is performed so that n '= control amount PVn.

Therefore, according to the above-described configuration, the correction target value calculating means 1 separates the static characteristic component element and the dynamic characteristic component element from each other, and calculates the coefficient δ serving as an adjustment parameter for the output of the dynamic characteristic component element. After the multiplication, the output of the PI
The output of the coefficient multiplying means 19, which is obtained by multiplying the force by the coefficient δ, is subtracted and synthesized to have a differentiating function. As a result, when the response equation of the control amount PVn shown in FIG. 1 is obtained, the following result is obtained.

[0030]

(Equation 3)

Therefore, what is clear from this response equation is:
The strength of the differential component can be adjusted by the numerator parameter δ, and the control characteristics can be further improved. In particular, the present apparatus adopts a simple configuration in which the adjustment parameter δ is increased by one, adjusts three parameters α, β, and δ, and adjusts three parameters of a proportional term, an integral term, and a differential component. The operation can be performed optimally.

Next, one embodiment of the invention according to claim 2 will be described with reference to FIG. The device of this embodiment is
This is an improvement of the correction target value calculating means 1. Specifically, the correction target value calculating means 1 calculates the target value from the lead / lag element 21 having the transfer function H (s) shown in the above-mentioned equation (4) and the output of the lead / lag element 21. A dynamic characteristic component element having subtraction means 22 for subtracting the value SVn; a static characteristic component element for outputting the target value SVn as it is; and an adding means 23 for adding the outputs of these two component elements. In this configuration, the value SVn 'is obtained.

Therefore, when the correction target value is SVn ', the correction target value calculating means 1 SVn' = {(1 + αβT _I · s) / (1 + βT _I · s)} · SVn = ｛1 + [(1 + αβT _I .S) / (1 + βT _I · s)] − 1} SVn (8), and the static characteristic component of a = SVn and b = {[(1 + αβ)
T _I · s) / (1 + βT _I · s)] − 1｝ · SVn.

A deviation calculating means 14 is connected to the output side of the adding means 23. The deviation calculating means 14 calculates the deviation between the correction target value SVn 'and the control amount PVn from the control target 16 ₁ detected by the control amount detecting means 15. The control signal PVn is subtracted from the correction target value SVn 'to obtain a deviation signal E = (SVn'-PVn). Then, the deviation signal E obtained by the deviation calculating means 14 is used as the PI adjusting means 17.
Where the PI adjustment operation is performed under the PI parameter, and the output signal is introduced to the subtraction means 18.

On the other hand, the output of the dynamic characteristic component is multiplied by a coefficient δ by a coefficient multiplying means 19 and is introduced to a subtracting means 18. The subtraction means 18 subtracts a signal obtained by multiplying the dynamic characteristic component output by the coefficient δ from the PI adjustment calculation output, and introduces the obtained subtraction output to the proportional gain means 20. Then, here, the subtraction output is multiplied by the proportional gain Kp, and the obtained multiplication signal is applied to the process 16 as the operation signal MVn,
Deviation E = 0, that is, correction target value signal SVn '= control amount P
Vn.

Therefore, according to the above configuration, the correction target value calculating means 1 is separated into a static characteristic component and a dynamic characteristic component, and the dynamic characteristic component output is multiplied by a coefficient δ serving as an adjustment parameter. , This multiplied output to the PI adjusting means 17
Is subtracted and combined with each other to provide a differentiation function. Then, when the regulatory function part of the molecule of the above equation (7) is specifically obtained, the equation (9) is obtained.

[0037]

(Equation 4)

Therefore, it is clear from equation (9) that the strength of the differential component can be independently varied by adjusting the parameter δ of the molecule, and the control characteristics can be further improved. In particular, in the present apparatus, the adjustment parameter δ is set to 1
By adopting a simple configuration of increasing the number of components, it is possible to adjust three parameters of α, β, and δ, and it is possible to perform optimal adjustment calculation of three of a proportional term, an integral term, and a differential component.

Next, FIG. 3 is a diagram showing an embodiment of the invention according to claim 3. The correction target value calculation means 1 of this embodiment differentiates the target value SVn by ｛(α-1) βT _I ·
Incomplete differentiating means 31 having a transfer function of s｝ / (1 + βT _I · s), a static characteristic component element that outputs the target value SVn as it is, and the output of these incomplete differentiating means 31 and the static characteristic component element are added. And an adding means 32 for performing the operation. As a result, the correction target value calculation means 1, 'When, SVn' a correction target value _{SVn = {(1 + αβT I} · s) / (1 + βT I · s)} · SVn = {1 + [(α-1) β T _I · s] / (1 + βT _I · s)｝ · SVn (10) where a = the static characteristic component of SVn and b = ｛[(α−1 )
the structure is separated into a _{β T I · s] / (} 1 + βT I · s)} · dynamic characteristic components SVn.

A deviation calculating means 14 is connected to the output side of the adding means 23. The deviation calculating means 14 calculates the deviation between the correction target value SVn 'and the control amount PVn from the control target 16 ₁ detected by the control amount detecting means 15. The control signal PVn is subtracted from the correction target value SVn 'to obtain a deviation signal E = (SVn'-PVn). Then, the deviation signal E obtained by the deviation calculating means 14 is used as the PI adjusting means 17.
Where the PI adjustment operation is performed under the PI parameter, and the output signal is introduced to the subtraction means 18.

The output of the dynamic characteristic component is multiplied by a coefficient δ by a coefficient multiplying means 19 and is introduced to a subtracting means 18. The subtraction means 18 subtracts a signal obtained by multiplying the dynamic characteristic component by the coefficient δ from the PI adjustment calculation output, and introduces the obtained subtraction output to the proportional gain means 20. Then, here, the subtraction output is multiplied by the proportional gain Kp, and the obtained multiplication signal is applied to the process 15 as the operation signal MVn, and the deviation E =
0, that is, control is performed such that the correction target value signal SVn '= the control amount PVn.

Therefore, according to the above configuration, the correction target value calculating means 1 is divided into a static characteristic component and a dynamic characteristic component, and the dynamic characteristic component output is multiplied by a coefficient δ serving as an adjustment parameter. , This multiplied output to the PI adjusting means 17
Is subtracted and combined with each other to provide a differentiation function.

As a result, the dynamic characteristic component b in the above equation (10)
The subsequent configuration is the same as the configuration in FIG. Also, PVn
The regulation function of the molecule in the response formula of (5) is the same as that of the above formula (9), and the strength of the differential term can be independently varied by adjusting the parameter δ.

FIG. 4 is a block diagram showing an embodiment according to the fourth aspect of the present invention. The correction target value calculating means 1 of this embodiment gives the target value SVn a first-order lag of {1/1 /
(1 + βT _I · s)｝, a subtraction means 42 for subtracting the output of the primary delay means 41 from the target value SVn, a coefficient multiplication means 43 for multiplying a coefficient α of the subtraction output, A dynamic characteristic component element having a subtraction means 44 for subtracting the subtraction output of the subtraction means 42 from an output of the coefficient multiplication means 43; a static characteristic component element for outputting the target value SVn as it is; And an adding means 45 for adding the characteristic component element.

As a result, assuming that the correction target value is SVn ', the correction target value calculating means 1 SVn' = {(1 + αβTI · s) / (1 + βTI · s)} · SVn = ｛(1 + βTI · s + αβTI · s− βTI · s) / (1 + βTI · s)｝ · SVn = ｛ [1 + [(α−1) βTI · s / (1 + βTI · s)]] · SVn = ｛1+ (α-1) [1- (1 / (1 + βTI · s))]｝ · SVn = SVn + (α−1) [1- (1 / (1 + βTI · s))] · SVn , where a = the static characteristic component of SVn and b = ｛(α−1)
[1− (1 / (1 + βTI · s))] It is configured to be separated into the dynamic characteristic component of ｝ · SVn.

Further, a deviation calculating means 14 is connected to the output side of the adding means 45. Here, the deviation calculating means 14 calculates a deviation between the correction target value SVn 'and the control amount PVn from the control target 16 ₁ detected by the control amount detecting means 15. The control signal PVn is subtracted from the correction target value SVn 'to obtain a deviation signal E = (SVn'-PVn). Then, the deviation signal E obtained by the deviation calculating means 14 is introduced to the PI adjusting means 17, where the PI adjusting operation is executed under the PI parameter, and the output signal is introduced to the subtracting means 18.

The output of the dynamic characteristic component is multiplied by a coefficient δ by a coefficient multiplying means 19 and is introduced to a subtracting means 18. The subtraction means 18 subtracts a signal obtained by multiplying the dynamic characteristic component by the coefficient δ from the PI adjustment calculation output, and introduces the obtained subtraction output to the proportional gain means 20. Then, here, the subtraction output is multiplied by the proportional gain Kp, and the obtained multiplication signal is applied to the process 15 as the operation signal MVn, and the deviation E =
0, that is, control is performed such that the correction target value signal SVn '= the control amount PVn.

Therefore, according to the above configuration, the correction target value calculation means 1 is separated into a static characteristic component and a dynamic characteristic component, and the dynamic characteristic component output is multiplied by a coefficient δ serving as an adjustment parameter. , This multiplied output to the PI adjusting means 17
Is subtracted and combined with each other to provide a differentiation function.

As a result, the dynamic characteristic component b in the equation (11)
The subsequent configuration is the same as the configuration in FIG. Also, PVn
The regulation function of the molecule in the response formula of (5) is the same as that of the above formula (9), and the strength of the differential term can be independently varied by adjusting the parameter δ. In addition, the present invention can be implemented with various modifications without departing from the scope of the invention.

[0050]

As described above, according to the present invention, the lead / lag element of the correction target value calculating means inserted into the target value for two degrees of freedom is separated into a static characteristic component and a dynamic characteristic component. By multiplying the dynamic characteristic component by a parameter contributing to the differential component and synthesizing the output of the PI adjusting means, a differential component not present in the adjusting means is generated, and the intensity of the differential component is independently varied. As a result, a two-degree-of-freedom PID adjustment device can be realized with a very simple configuration that can eliminate the conventional defects and improve controllability. As a result, the application to the plant control system in the future will be expanded, and the controllability of the whole plant can be convinced, which will greatly contribute to the industry.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one embodiment of the invention according to claim 1;

FIG. 2 is a configuration diagram showing one embodiment of the invention according to claim 2;

FIG. 3 is a configuration diagram showing one embodiment of the invention according to claim 3;

FIG. 4 is a configuration diagram showing one embodiment of the invention according to claim 4;

FIG. 5 is a configuration diagram of a conventional two-degree-of-freedom PI adjustment device.

[Explanation of symbols]

1: correction target value calculation means, 11: lead / lag element, 1
2, 22 ... subtraction means, 13, 23 ... addition means, 14 ... deviation calculation means, 15 ... control amount detection means, 16 ... process,
16 ₁ : controlled object, 17: PI adjusting means, 19: coefficient multiplying means, 20: proportional gain means, 21 ... advance / delay means, 31 ... imperfect differentiation means, 41 ... primary delay means.

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-4-312101 (JP, A) JP-A-4-117501 (JP, A) JP-A 4-601 (JP, A) Nobuhide Suda, Edited by the Society of System Control Information Engineers, “System Control Information Library 6 PID Control”, first edition, Asakura Shoten Co., Ltd., July 20, 1992, 88-104, “4.4 Application of Two-Degree-of-Freedom PID Control” (58) Fields investigated (Int. Cl. ⁷ , DB name) G05B 11/36-13/04 JICST file (JOIS)

Claims (4)

(57) [Claims] An adjusting means executes a PI (P: proportional, I: integral) adjustment operation so that the deviation between a correction target value obtained from a target value and a control amount from a control object becomes zero. The control device controls the control target using the PI adjustment calculation signal. The target value SVn is multiplied by [1+ {H (s) -1}] to obtain a static characteristic component SVn and a dynamic characteristic component {H ( s) -1｝
SVn, and a correction target value calculating means that sets a combined output of these two component elements as the correction target value;
Parameter multiplying means for multiplying the output of the dynamic characteristic component element by an adjustment parameter for varying the strength of the differential term,
A two-degree-of-freedom adjusting apparatus, comprising: synthesizing means for synthesizing an output of the PI adjusting means and an output of the parameter multiplying means to have a differentiation function. However, in the above equation, H
(s) is a lead / lag element. 2. A PI adjustment calculation is executed by an adjustment means so that a deviation between a correction target value obtained from a target value and a control amount from a control target becomes zero, and control is performed using the obtained PI adjustment calculation signal. In the adjusting device for controlling an object, the target value SVn is set to {1 + [(1 + αβT _I · s) /
(1 + βT _I · s)] − 1} and the static characteristic component element SVn and the dynamic characteristic component element {[(1 + αβT _I · s) /
(1 + βT _I · s)] − 1｝ · SVn, and a correction target value calculation unit that uses the combined output of these two component elements as the correction target value. A parameter multiplying means for multiplying an adjustment parameter for varying the strength; and a synthesizing means for synthesizing an output of the PI adjusting means and an output of the parameter multiplying means to have a differentiating function. Degree adjustment device. Where α and β are adjustment parameters, T _I
Is an integration time, and s is a Laplace operator. 3. A PI adjustment operation is executed by an adjusting means so that a deviation between a correction target value obtained from a target value and a control amount from a control object becomes zero, and control is performed using the obtained PI adjustment operation signal. In the adjusting device for controlling an object, the target value SVn is set to {1 + [(α-1 ) β T _I · s] /
(1 + βT _I · s)} and multiply the static characteristic component element SVn
And the dynamic characteristic component element ｛[(α-1 ) β T _I · s] / (1+
βT _I · s)｝ · SVn, and a correction target value calculation means for setting the combined output of these two component elements as the correction target value; and varying the strength of the differential term to the output of the dynamic characteristic component element. A parameter multiplying means for multiplying an adjustment parameter for performing the operation, and a synthesizing means for synthesizing an output of the PI adjusting means and an output of the parameter multiplying means to have a differentiating function. Where α and β are adjustment parameters, T _I is integration time,
s is a Laplace operator. 4. A PI adjustment calculation is executed by an adjustment means so that a deviation between a correction target value obtained from a target value and a control amount from a control object becomes zero, and control is performed using the obtained PI adjustment calculation signal. In the control device for controlling an object, the target value SVn may be set to {1+ (α-1) [1- (1 / (1
+ ΒT _I · s))]｝ {Multiply by multiplying the static characteristic component SVn and the dynamic characteristic component} ｛(α-1) [1- (1 / (1 + βT _I
.S))]｝ · SVn, and a correction target value calculating means that uses the combined output of these two component elements as the correction target value; A two-degree-of-freedom adjusting device, comprising: a parameter multiplying unit for multiplying an adjustment parameter for performing the operation; Where α and β are adjustment parameters, T _I is integration time, s
Is the Laplace operator.