JPS59135503A - Switching method of control system and at least one output of control input thereof - Google Patents

Abstract

PURPOSE:To prevent vibrations due to switching of the control system and to give no effect to the load by controlling the input of the control system so as to obtain an equal output value before and after the switching of the control system. CONSTITUTION:An adverse operation is given to the input value B of the 2nd control system 4 so as to obtain an output 6 which is equal to the final output value A of the 1st control system 3 when the system 3 is switched to the system 4 at a time point t1. Then the value C1 of the real input 11 of the system 4 is set to satisfy C+DELTABC when the deviation DELTABC between the value B and the actual control input 1 is set as B-C. Then the deviation DELTABC is gradually reduced down to zero, and therefore the control amount 8 is fixed with no vibration.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for switching from a first control system having a custom transmission to a second control system having a different transmission characteristic, from a control input to a single control system. The present invention relates to a method of switching to a different control input, and a method of switching to perform both at the same time.

Conventionally, such switching of the control system was as shown in Figure 1; in the figure, l is the control input, λ is the changeover switch, and 3
5. A first control system having a transfer characteristic of , and a second control system having a different transfer characteristic. ! , respectively, are the outputs of the first III control system 3 and the third control system Hiroshi, 7 is the output switch synchronized with the switching switch lever, and za is the output selected by the output switch lever.

Now time 1. When switching from the first control system 3 to the Mλ control system using the switching switch, the same control human power /
Even so, since the transfer characteristics are different, the output, that is, the control amount S changes greatly, as shown in the graph in FIG. Such a control system may have a large effect on a load (not shown) connected to the controlled variable.

Furthermore, the same applies when the control input is switched in a control system having the same transfer characteristic, that is, in a single control system, for example, the first control system, and as shown in FIG. Different control input from control input l consisting of ? When switching to the first control system 3, the output S of the first control system 3, and thus the control amount, tends to vibrate, which affects the load.

This invention allows the control amount to settle without oscillation even when the control system is switched, the control input is switched, or both are switched at the same time, and there is no effect on the load. The purpose is to avoid giving

FIG. 3 shows an embodiment of the present invention. In the figure, 1 to g are the same as in FIG. When switching from the first control system 3 to the second control system at time t7, the input of the second control system is changed so that an output 6 having a value equal to the Saisha output value A of the first control system 3 is obtained. When the value B is inversely calculated and the deviation ΔBe between this input value and the value C of the actual control input l is expressed as ΔB (3=B)-0, the value of the actual power 1/ of the control system 1 is 0/ Operate as follows.

0/=O-1-ΔBc! By gradually decreasing this ΔBe to zero, the control amount g can be stabilized without oscillating.

At this time, the additional input 10 representing ΔBC is input to the first control system 3.
It is natural to take into account the gain time constant of the transfer function to prevent oscillation.

FIG. 7 shows another embodiment of the invention.

This is the control human power l in a control system with the same transfer characteristic 3.
This is a case where the control is switched to the control manual 9 at time t7. At this time, the value C of the control human power l and the value of the control input, 5
If the deviation ΔCD is ΔCD=0−D, the first flil
Manipulate the value D/ of the actual force 13 of J11 series 3 as follows.

D/=])+ΔCD Then, by gradually reducing this ΔOD to zero as shown in Figure 3, the control amount S is stabilized without oscillating, and the control input is switched without any shock. be able to. Note that the additional inputs 1 are similar to the additional inputs 10 in FIG.

The same applies to the case where the above switching is combined.

As described above, according to the present invention, when switching at least one of a control system having mutually different transfer characteristics and a mutually different control input, it is possible to avoid oscillating the control amount and thereby affecting the load. Switching can be done without any hassle.

[Brief explanation of the drawing]

FIG. 7 is a block diagram and graph diagram showing a conventional method for switching control systems; FIG. 2 is a block diagram and graph diagram showing a conventional method for switching control inputs;
FIG. 3 is a block diagram and a graph diagram showing one embodiment of the invention, and FIG. 3 is a block diagram and a graph diagram showing another embodiment of the invention. l is the control input, ko is the changeover switch, 3 is the first control system, da is the ko control system, S is the output of the first control system, 6 is the output of the second control system, za is the control amount, 9 is a different control input, i
o is an additional input representing the steering ΔBe, // is an actual input of the second control system, 12 is an additional input representing the deviation Δ○D, and 13 is an actual input of the first control system. In each figure, the same reference numerals indicate the same or corresponding parts. Agent Makoto Kuzuno - tl Ginma

Claims (1)

[Claims] tl) In a method of switching from a first control system having a transfer characteristic to a first control system having a different transfer characteristic, an output having a value equal to the final output value A of the first control system is obtained. The input value B of the first control system is inversely calculated so that the input value B of the first control system is is added to the value C as the actual input of the M control system, and the multi control system is switched by gradually reducing the deviation ΔBO to zero. (2) In a method of switching from a control input to a different control input for a control system having the same transfer characteristic, the deviation between the value C at the time of switching of the control input and the value of the different control input. A method characterized in that the value obtained by adding Δ0D=C−D to the value is set as the actual input of the control system, and the multiple control inputs are switched by gradually reducing the deviation ΔCD to zero. . (3) Switching from the first control system having a custom-made transmission to a first control system having a different transmission characteristic, and at the same time switching the control input applied to the control system from the control input consisting of the configuration to a different control input. In the method, the final output value A of the first control system
The input value B of the first control system is inversely calculated so as to obtain an output with a value equal to , and the deviation between this inversely calculated input value B and the value at the time of switching the different control inputs is △BD=B −D added to the value is set as the actual input of the second control system,
A method characterized in that a multi-control system and a control input are switched by gradually reducing the deviation ΔBD to zero.