JPH05127701A - Controller - Google Patents

Abstract

PURPOSE:To obtain a controller which suppresses an overshoot quantity without spoiling quick adaptiveness nor normal deviation characteristics. CONSTITUTION:This controller is provided with an adder 31 which inputs a desired variable and the output of a switch 32, a subtracter 30 which additively inputs the output of the adder, a controller 2, a controlled object 1 which inputs the output of the controller, outputs a controlled variable 14 and a controlled variable variation rate 12, and subtractively inputs the controlled variable to the subtracter, an estimation device 4 which estimates a controlled variable, a desired variable, and an overshoot quantity, a correction quantity calculation device 5 which inputs the controlled variable, controlled variable variation rate, the desired variable, and the output of the estimation device and calculates a correction quantity for the desired variable for setting a temporary desired variable so that the peak at the time of overshooting from the estimated overshoot quantity and desired variable variation becomes equal to a current desired variable, and a correction quantity timing generation device 3 which inputs the controlled variable rate, sends an OFF signal to the control signal terminal of the switch 32, and sends a signal for resetting an integrator to the controller.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for aircraft or the like.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG.
In order to suppress the overshoot of the control amount of the feedback control system including the controller 2 and the controlled object 1, the rate limiter 18 is provided before the subtractor 20. 1 in the figure
3 is a target amount, 8 is an operation amount, and 14 is a control amount.

Alternatively, the gain of the controller 2 is reduced to suppress the overshoot of the control amount.

[0004]

In the above control method,
Limiting the change in the target amount by the rate limiter 18 or reducing the gain of the controller limits the amount of the operation amount, so that the quick response of the control system is impaired. Further, in the method of reducing the gain of the controller, the steady deviation characteristic is also deteriorated. Furthermore, when designing the control method, it is necessary to make a trade-off between suppression of overshoot, quick response, and steady-state deviation characteristics, which complicates parameter setting of the controller.

[0005]

The present invention takes the following means in order to solve the above problems. That is, as the control device, an adder for inputting the target amount and the output of the switch means, a subtractor for adding and inputting the output of the adder, and an integrator for inputting the output of the subtractor and outputting the manipulated variable are provided. A controller having a controller, a control target that inputs an output of the controller, outputs a control amount and a control amount change rate, and subtracts and inputs the control amount to the subtractor, the control amount, the target amount, and the control target Estimating means for inputting information and estimating the overshoot amount, and inputting the control amount, the control amount change rate, the target amount and the output of the estimating means, the estimated overshoot amount and the target amount change amount A target amount correction amount for setting a temporary target amount such that the peak when shooting is equal to the current target amount is calculated, and the output is sent to the input end of the switch means. The correction amount calculation means and the rate of change of the control amount are inputted, and it is judged that the control amount reaches a peak and becomes equal to the target amount, and a signal for turning off the switch is sent to the control signal terminal of the switch means. A target amount correction amount timing generating means for sending a signal for resetting the integrator to the controller is provided.

[0006]

In the feedback control system including the subtracter, the controller, and the controlled object, the estimating means inputs the current control amount, the target amount, and information about the controlled object to estimate the overshoot amount of the controlled amount. .. In addition, the correction amount calculation means includes a control amount, a control amount change rate, a target amount,
Input the output of the estimation means and the estimated overshoot amount and the target amount correction amount to set a temporary target amount that makes the peak when overshooting from the target amount change amount equal to the current target amount. The calculated value is sent to the adder via the switch, and the adder adds the target amount and the target amount correction amount and sends the virtual target to the feedback control system.

The correction amount timing generating means for the target amount inputs the rate of change of the control amount, judges that the control amount reaches a peak and becomes equal to the target amount, and outputs a signal for turning off the switch to a control signal terminal of the switch. To the controller and to reset the integrator of the controller.

As described above, the overshoot of the feedback control system is suppressed without impairing the quick response and steady deviation characteristics.

[0009]

【Example】

(1) An embodiment of the present invention will be described with reference to FIGS. It should be noted that the parts described in the conventional example are denoted by the same reference numerals and the description thereof is omitted, and the parts relating to the present invention will be mainly described.

In FIG. 1, an adder 1 for inputting a target amount 13
The output of 3 is added and input to the subtractor 30. Subtractor 30,
The controller 2 including the integrator and the controlled object 1 are feedback control systems.

The control amount 14, the target amount 13, and the information 15 regarding the controlled object of the controlled object 1 are input to the overshoot estimation device 4. Also, control amount 14 and control amount change rate 1
2, the target amount 13, and the output of the estimation device 4 are input to the target amount correction amount generation device 5, and the output thereof is input to the adder 31 via the switch 32. Furthermore, the controlled variable change rate 12
Is input to the target amount correction timing generator 3, and its output is sent to the control signal terminal of the switch 32 and the controller 2.

The operation of the above structure will be described below. In order to help understanding, we first consider the feedback system by modifying the target amount.

When a step-like target amount of size 1 is input, the response of the controller feedback system (closed loop system) becomes as shown in FIG. 2 (a). The overshoot amount of the control amount is α and becomes maximum at time t _P. Here, when the target amount 13 is increased to 1 + α at the time t _P , the response of the closed loop characteristic becomes as shown in FIG.
No overshoot occurs in 4 and settles to 1 + α. However, in this case, the control amount 14 becomes “1 + α” with respect to the original target “1”. Therefore, conversely to the above case, when β is subtracted from the target amount from time t _O to t _P , the response becomes as shown in FIG. 7C, and the control amount 14 does not overshoot the original target “1”. Settle. Where α
The relation between and β is given by the following equation.

Β = 1−1 / (1 + α) The above method enables control without overshoot,
A general controller 2 has an integrator for the purpose of improving the steady-state deviation characteristic and so on. Therefore, if the integrator has a value at time t _P , the response of the closed loop system will be the same as that shown in FIG. As shown in (d). If the integrator inside the controller 2 is simultaneously reset at the time tp for the purpose of improving this, the response of the closed loop system becomes as shown in FIG.

FIG. 1 configured to perform the above operations.
Each part of the inside operates as follows. In the overshoot amount estimation device 4, the overshoot amount 11 is calculated from the target amount, the control amount, and various control target information (including sensor information).
To estimate. The correction amount generator 5 for the target amount first obtains the target amount change amount from the target amount 13, the control amount 14, and the control amount change rate 12. At this time, the reason why the control amount change rate 12 is used is to detect when the target amount changes again after the control amount has settled once, and the change in the target amount is detected at this time. Target amount 13 and control amount 14
It is calculated by the difference of. Then, a correction amount 17 of the target amount is obtained from the change amount of the target amount and the estimated overshoot amount 11.
The correction amount 17 of this target amount is sent to the adder 31 via the switch 32, added to the target amount 13, and input to the feedback control system as the virtual target 17.

The control of the switch 32 is performed by the target amount correction timing generator 3. The target amount correction timing generation device 3 uses the characteristic that the control amount change rate 12 becomes 0 when the control amount 14 reaches the current target amount 13, and when the control amount change rate is greater than a certain value, the target amount 13 Then, the ON signal 10 of the target amount correction timing signal is generated and the switch 32 is turned on so as to add the target amount correction amount. At the same time, the target amount correction is stopped, and when the control amount 14 reaches the current target amount 13, the integrator in the controller 2 is reset. Generate an integrator reset signal 9 to reset the integrator.

As described above, overshoot can be suppressed without impairing the quick response and steady deviation characteristics, and the desired quick response and steady deviation can be achieved without making a trade-off with overshoot suppression when designing the control system. The characteristics can be obtained. (2) As a second embodiment of the present invention, an apparatus for performing altitude control of a helicopter will be described with reference to FIGS. The parts described in the first embodiment (the parts that are functionally the same) are assigned the same numbers and their explanations are omitted.

The overshoot amount estimation device 4 inputs the weight of the airframe as the information 15 of the controlled object (helicopter airframe) and estimates and outputs the overshoot amount.

The target amount correction generator 5 is constructed as follows. Control amount (H _R: height) 14 addition input target quantity: subtracter 3 subtracts enter (H altitude target) 13
4 are provided. The output of the subtractor 34 is the hold device 2
0, and is output through the multiplier 35. Hold device 20
The switching control signal terminals of the control amount change rate of the control target 1: output of the decision unit 21 for inputting (dH _R / dt increase rate) 12 is input. Furthermore, the converter 33 receives the output of the estimation device 4 and sends the output to the multiplier 35.

The correction timing generator 3 inputs the control rate change rate 12 and sends the output to the switching control signal terminal of the switch 32, and the determiner 21 inputs the control rate change rate 12 and the same determination. It has a fall detector 22 which receives the output of the device 21 and outputs it to the controller 22.

In the above configuration, the target amount 13 is shown in FIG.
As shown, consider the case where it changes into steps. Well
First, the estimation device 4 estimates the overshoot amount by the control pair.
Enter the aircraft weight w as elephant information 15 and
Estimate the overshoot amount 11 from the obtained approximation function
It Next, the correction amount 17 of the target amount is obtained as follows. Target
Immediately after the quantity 13 changes, the control quantity 14 begins to change
The amount change rate 21 is the threshold value ε ₂When it becomes above (in Figure 4
Is time t₁), The difference between the control amount 14 and the target amount 13
Hold by the instrument 20 and obtain the target amount change 16
It Using this and the previous overshoot amount 11,
Determine the correction amount 17 of the standard.

In the target amount correction timing generator 3,
Control rate change rate 12 is threshold value ε₁When the above is reached (Fig.
At time t 4₂), Issuing target amount correction timing signal 10
The living target amount 13 is corrected to be a virtual target amount 6. This
And the closed-loop system responds with a virtual target quantity 6,
And heading for the peak at time tp, but just before that at time t ₃
, The control rate change rate 12 is the threshold value ε₁Smaller
When it becomes, the target correction amount 17 is removed and the original target
It becomes responsive to the quantity 13. After that, the controlled variable changes
The rate 12 is the threshold ε_oIf smaller, fall detection
The integrator reset signal 9 is generated by the controller 22,
Reset the integrator inside the error controller 2.

Since the above ε ₀ , ε ₁ , and ε ₂ are very small values, the times t ₁ and t ₂ are extremely close to t ₀ , and the times t ₃ and t ₄ are very close to t _P. It does not have an adverse effect on.

As described above, the altitude control in which the overshoot is suppressed can be performed. Further, in this embodiment, even if there is an error in the estimation of the overshoot amount, it has the property of settling to the target amount with a slight overshoot. An operation time chart in this case is shown in FIG. At the time t _P , when there is a slight overshoot due to the error of the overshoot amount 11, it is assumed that a step-like target amount corresponding to the overshoot H _{2 is} newly added, and the operation described above is repeated. Finally, when the control amount change rate 12 does not exceed the threshold value ε ₁ , the target amount correction is not performed, and thereafter, the control amount 14 is settled to the target amount 13 by the characteristic of the closed loop. The mechanism for enabling this operation is that the target amount change amount 16 is obtained from the difference between the current control amount 14 and the target amount 13 in the target amount correction amount generation device 5 by the control amount change rate 12.

[0025]

As described above, according to the present invention, the overshoot of the control amount can be suppressed without impairing the quick response and steady-state deviation characteristics of the control system. Further, since the target value is corrected to suppress the overshoot, the desired quick response and steady-state deviation characteristics can be obtained without making a trade-off with the overshoot suppression.

[Brief description of drawings]

FIG. 1 is a block diagram of a first embodiment of the present invention.

FIG. 2 is an operation explanatory view of the same embodiment.

FIG. 3 is a block diagram of a second embodiment of the present invention.

FIG. 4 is a time chart of each part of the embodiment.

FIG. 5 is a time chart diagram for explaining the operation of the embodiment.

FIG. 6 is a block diagram of a conventional example.

[Explanation of symbols]

 1 Control object 2 Controller 3 Target amount correction timing generator 4 Overshoot amount estimation device 5 Target amount correction amount generator 6 Virtual target 7 Control deviation with respect to virtual target 8 Manipulation amount 9 Integrator reset signal 10 Target amount correction Timing signal 11 Overshoot amount 12 Control amount change rate 13 Target amount 14 Control amount 15 Control target information 16 Target amount change amount 17 Target amount correction amount 18 Rate limiter 19 Control deviation 20 Hold device 21 Judgment device 22 Fall detector

Claims (1)

[Claims] 1. An adder for inputting a target amount and an output of a switch means, a subtractor for adding and inputting an output of the adder, and an integrator for inputting an output of the subtractor and outputting a manipulated variable. Information about the controller, the control target that inputs the output of the controller, outputs the control amount and the control amount change rate, and subtracts and inputs the control amount to the subtractor, and the controller, the target amount, and the control target Inputting the control amount, the control amount change rate, the target amount and the output of the estimating unit, and inputting the output of the control amount, the control amount change amount, the target amount, and the estimated amount of change in the overshoot amount. A target amount correction amount for setting a provisional target amount such that the peak at the time of setting is equal to the current target amount is calculated, and a correction amount calculator for sending the output to the input end of the switch means is calculated. And the rate of change of the controlled variable are inputted, it is judged that the controlled variable reaches a peak and becomes equal to the target variable, and a signal for turning off the switch means is sent to the control signal terminal of the switch and the integrator is connected. And a correction amount timing generating means for a target amount for sending a signal for resetting the control amount to the controller.