JPH046968B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a control device configured to maintain a controlled object at a desired spatial reference angle using, for example, a rate integrating gyroscope as part of a feedback control loop. It is something. Note that the control device here includes a controlled object.

[Prior art]

FIG. 1 is a diagram showing an example of a conventional control device. In the figure, 1 is a controlled object, and 2 is a rate integration gyro (hereinafter referred to as RIG) that integrates the angular velocity V of the controlled object 1 and outputs the deviation from the spatial reference angle. ),
3 is a first adjustment section that amplifies the output of the RIG 2; 4 is an operation section that drives the controlled object 1 according to the output of the first adjustment section 3; 5 is a control section inside the operation section 4 that has a predetermined dead width; A dead band section 6 that receives the output of the saturation element is a second adjustment section that amplifies the deviation between the command signal R and the output of the dead band section 5.

Next, the operation will be explained. In the control device configured as shown in FIG. 1, when the command signal R is input, it is amplified by the second adjustment section 6 and inputted to the RIG 2 as an angular velocity command. In RIG2, the spatial reference angle is rotated in proportion to the integral value of this angular velocity command, and an output proportional to the deviation from the integral value of the angular velocity V of the controlled object 1 appears. The output of this RIG2 is amplified by the first adjustment section 3, and
drives the controlled object 1 according to this amplified signal. In this way, the integral value of the angular velocity V and the spatial reference angle match, and the output of RIG2 becomes zero,
This control device reaches an equilibrium state.

The command signal R is set to zero input when the spatial reference angle reaches a desired angle, and the spatial reference angle is fixed in space. After this, the disturbance D applied to the controlled object 1
When the integral value of the angular velocity V has a deviation from the spatial reference angle due to etc., a signal proportional to this deviation appears as the output of the RIG 2, is amplified by the first adjustment section 3, and then output to the operation section 4. Controlled object 1 by
to drive. This operation is performed so that the deviation is always maintained at zero.

This control device has a dead band section 5, and when the command signal R is excessive and the element of the operation section 4 is saturated, the output of this element is transmitted through the dead band section 5 having a dead width slightly smaller than the saturation level. It is possible to cancel the excessive command signal R by negative feedback to the second adjustment section 6. This allows the control device to operate without saturation and to respond to the step-like command signal R without overshooting.

In this way, this control device drives the controlled object 1 to match the spatial reference angle even if the disturbance D is applied to the controlled object when the command signal R is zero, as long as the spatial reference angle is maintained. When it is desired to change the angle of the controlled object 1, the command signal R is used to cause the controlled object 1 to follow the shifted spatial reference angle.

However, when the command signal R is zero, the disturbance D applied to the controlled object 1 is excessive, and the internal elements in the operating section 4 that drives the controlled object 1 to maintain the spatial reference angle against the disturbance D become saturated. When the level is reached, there is a drawback that the spatial reference angle is shifted through the second adjustment section 6 due to the negative feedback signal through the dead zone section 5.

[Summary of the invention]

This invention has been made with the aim of improving this drawback, and includes a switching section 7 that detects the command signal R and switches on/off the feedback of the output of the dead band section 5 depending on the level of the command signal R.
By providing a feedback loop via the dead band section 5 when the command signal R is smaller than a certain level, it is possible to prevent the spatial reference angle from being shifted even when the disturbance D is excessive and the elements of the operating section 4 reach the saturation level. The present invention provides a control device that makes it possible to prevent such problems.

[Embodiments of the invention]

FIG. 2 is a diagram showing an embodiment of this invention,
1 to 6 are completely the same as the conventional control device described above. Reference numeral 7 denotes a switching section that detects the command signal R and switches on/off the feedback of the output of the dead band section 5 depending on its level.

In the control device configured in this manner, the switching section 7 switches the dead band section 5 only when the absolute value of the command signal R is below a predetermined level for a predetermined period of time or more.
It operates to turn off the feedback of the output of the dead band section 5, and to apply the feedback of the output of the dead band section 5 at other times. As a result,
When the command signal R is excessive and the elements of the operation section 4 are saturated, the output of the dead band section 5 is negatively fed back to the second adjustment section 6 to cancel the excessive command signal R, and the command signal When an excessive disturbance D is applied to the controlled object 1 and the elements of the operation section 4 are saturated while R is zero for a predetermined time or longer, that is, the spatial reference angle is held constant, the output of the dead band section 5 becomes negative. By turning off the feedback, it is possible to prevent the spatial reference angle from being shifted.

〔Effect of the invention〕

As explained above, this invention provides a switching section that detects the command signal R and turns on and off the negative feedback of the output of the dead zone section depending on the level of the command signal R, thereby maintaining the controlled object at the spatial reference angle. Even if an excessive disturbance D is applied, there is an effect that the controlled object is maintained at a desired angle without shifting the spatial reference angle.

[Brief explanation of drawings]

Figure 1 shows an example of a conventional control device, Figure 2 shows an example of a conventional control device.
The figure shows an embodiment of the present invention. In the figure, 1 is the controlled object, 2 is the rate integration gyroscope, 3 is the first adjustment section, 4 is the operation section, 5 is the dead zone section, 6 is the second adjustment section, 7 is the switching section, D is the disturbance, and R is the The command signal, V, is the angular velocity of the controlled object 1. In the drawings, the same or corresponding parts are designated by the same reference numerals.

Claims (1)

[Claims] 1. In order to stabilize the space of the controlled object, the spatial reference angle can be arbitrarily set by integrating the external command signal, and the deviation angle from the spatial reference angle can be detected by integrating the angular velocity of the controlled object. In a control device having an angle detector, the output of at least one control element located between the angle detector and the controlled object is transmitted to the command signal of the angle detector through a dead zone having a dead width smaller than the saturation level of the control element. A control device comprising: a control loop that provides negative feedback to an input point; and a switching section that detects a command signal and switches on/off the control loop that returns feedback via the dead zone according to the level of the command signal.