JPS5920010A - Controlling method of oscillatory system easy to vary - Google Patents

Abstract

PURPOSE:To attain a controlling method which responds stably even in case of a variance of a wide range, by selecting two proper states and inserting compensating elements, which use a dead time element, in series. CONSTITUTION:A step input is given to the input, and compensating elements to a state 1 are inserted in series as shown in a figure (a) and compensating elements to a state 2 are inserted in series as shown in a figure (b) to constitute a system. Thus, the control which responds well throughout a wide range of the system is possible.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling a fluctuating, oscillatory system.

One of the methods of controlling an oscillatory system is a finite settling method using dead time elements.The disadvantage is that it is weak against system fluctuations, and overshoot occurs due to sudden input changes. . The idea of adaptive control has recently attracted attention as a technology for dealing with system fluctuations, but its realization requires a very complex mechanism.

An object of the present invention is to provide a method for controlling an oscillatory system that is easily fluctuated, which can be implemented with a simple configuration, and which responds stably even in a fairly wide range of fluctuations. The purpose of this was to select one state in the system as shown in Figure 1 and insert a compensation element using a dead time element, as shown in Figure 2. Two states (for example, a place where vibration is difficult to subside)'f! : This is achieved by selecting and inserting each compensation element in series, which uses all the dead time elements.

An example of a second-order system will be described below.

The impulse response of the system is g(t) = e x sxn (bxVBxt
) t t3, where VA and VB indicate the fluctuations of the system, and the standard state is VA=VB=1. In the following simulation, ASBR was selected as shown in the graph of Figure 3. Consider the case where VB is constant and VA varies. ,
VA=O5VB=1 is called state 1, VA −VB=1
is called state 2.

As an example, in the conventional method according to FIG. 1, what is shown in FIG. 4 is given as input, and in the method according to the invention (FIG. The case where the compensation element corresponding to state IK is used as the compensation element for state 2 will be compared by simulation.

In both cases, the settling time for state 2 is 2T, as seen in FIG.

The results are shown in FIGS. 6 to 10. In each figure, A is the input signal after compensation by the conventional method, B is the input signal after compensation by the method of the present invention, C is the impulse response of the system, and D
E shows the output signal according to the conventional method, E shows the output signal according to the method of the present invention, the horizontal axis is time (1 scale - T), and the vertical axis is amplitude. Focusing on 2T and beyond, the method according to the invention shows good response over a wide range of system fluctuations.

Next, state 1 is VA=0. VB=1 and state 2 is VA=
An example will be given in which VB=1, both inputs are step inputs, and settling time T. 11 and 12 are comparisons of the responses of the conventional method as a compensation element (corresponding to state 2), the method of the present invention as a compensation element for state 1, and as a compensation element for state 2.

Further, FIGS. 13 to 15 are comparisons between the conventional method and the method of the present invention, in which the same compensation as in FIGS. 11 and 12 is used as the compensation element (corresponding to state 1).

Focusing on Yahari and T., the method according to the present invention shows good response over a wide range of system fluctuations.

Furthermore, a compensation element can be constructed in the same manner as above for changes in VB. Furthermore, from these results, it is possible to connect compensation elements corresponding to three or more states in series.
Ae In addition, as mentioned above, the control system has been constructed using the dead time element, or as seen in recent robot control, the temporal change of the input signal is stored in the ROM memory, and it is read out and input. The present invention can be easily realized by using the method of using as . That is, as an input, a corresponding curve may be given after passing through the compensation element from the beginning.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the conventional method, Fig. 2 is an explanatory diagram of the method according to the present invention, Fig. 3 is a graph diagram showing an example of a quadratic system, and Figs. 4 and 5 are graph diagrams of input examples. , FIGS. 6 to 15 show that A is the input signal after compensation by the conventional method, B is the input signal after compensation by the method of the present invention, C is the impulse response of the system, and D is the input signal after compensation by the method of the present invention.
1 is a comparative example diagram in which E is an output signal according to the conventional method and E is an output signal according to the method of the present invention. Figure 1 Figure 3 Figure 4 Figure 5 Figure 7 VA=0. J, VB=j76-1 Fig. 9 VA-+, S Fig. 13 Fig. 14 Fig. 15

Claims (1)

[Claims] In a fluctuating system where the transfer function is approximately known,
Control of a highly variable oscillatory system, characterized in that two appropriate states are selected before waiting for the input, and each compensation element corresponding to each state is inserted in series using a dead time element. Method.