JPS62235601A - Repetition controller - Google Patents

Abstract

PURPOSE:To decrease the degree of a dynamic compensator by providing the 1st adder which adds a control deviation to the output of a storage element, the 2nd adder which adds the output of a series compensator to the output of the dynamic compensator, etc. CONSTITUTION:A repetition controller adds the final stage output XL of a shift register 17 to the output of a subtracter 2 by an adder 11 and outputs the sum to a sampler 12B and an I controller (series compensator) 9. Further, the difference between the final stage output XL and the output of a sensor 1 is calculated by a subtracter 13 and outputted to a PD controller (feedback compensator) 15. Further, the output of the dynamic compensator 14, the output of the series compensator 9, and the output of the PD controller are summed up by an adder 16, whose sum output is used as a manipulated variable to a controlled system 10. Consequently, the degree of characteristics of the dynamic compensator 14 decreases and characteristics of the series compensator 9 and PD controller 15 need not be accurate, so their variations do not affect the approximation accuracy of characteristics of the dynamic compensator 14.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a repeating controller used in a feedback control system in which the same target value of torque is repeatedly given at a certain period.

[Prior Art] When the control system is a one-person output system, a conventional repeating controller is also one-person output. FIG. 5 is a block diagram showing an example of the configuration of a conventional repetitive control system, and the part surrounded by a dotted line is a repetitive controller.

A repetitive control system is a system that is effective for control systems in which the target value has a constant pattern with a cycle L (seconds) as shown in Figure 6, and is given repeatedly as shown in Figure 7. , the deviation between the target value and the controlled variable is improved.

This will be explained in detail below. In FIG. 5, a subtractor 2 calculates the difference between the control amount detected by the sensor 1 and the target value.

The sampler 3 converts the output of the subtracter 2 into a sampling period T
The adder 4Fi adds the output of the sander 3 and the output of the storage element 5. The output of the adder 4 passes through the Lotzmas filter and is input to the storage element 5 having dead time L (seconds). This memory element 5 (l-j
It functions to store data captured during a certain target value cycle until the next target value cycle, and to output the stored value at a cycle T in synchronization with the sampler 3. The output of the storage element 5 passes through a dynamic compensator 7 and is added to the output of the subtracter 2 by an adder 8.

The series compensator 9 serves to keep the system stable in the absence of a repeating controller. The output of the adder 8 passes through this series compensator 9 and becomes an input to the controlled object 10.

With the above configuration, the iterative control system performs control so that the deviation between the target value and the controlled amount decreases.

Next, the design guideline for the dynamic compensator 7 will be described.

The transfer characteristic of the dynamic compensator 7 is expressed as Gdc (81, series compensator 9
The transfer characteristic of Gs c (gl, the transfer characteristic of the controlled object is G, (sl, the characteristic of the low-pass filter t F(s)
, the characteristics of sensor 1 are (ii).

Figure 5 is expressed as Gdc (g), Gsc (g), 'p(
s), F(s), and H(s), we get the 8th
It will look like the figure. , if we pay attention to the characteristics from the PJ value r to the deviation 2 between the target value and the controlled variable (how the subtractor 2 comes out) in Fig. 8, the stability conditions are the equivalent block diagram in Fig. 8 and the loop in Fig. 9. It is noticed that is stable, and that the original system without the repeating controller is stable (the characteristics at r→68 in FIG. 9 are equivalent to the characteristics of the original system).

A sufficient condition for the loop to be stable is that the loop gain is 1 or less over all frequencies, which can be expressed as the following equation.

IF(j*)(1-G(s))e-"J<1:
O';, ω(, o:r (1) Here, F(jω) is the characteristic of a low-pass filter, so IF(jω)l<1
'0<, ω<c.

Since the target value is a periodic repeating signal, each discrete angular frequency ω has a constant frequency component at =2rk/L (k=0.1.21·). For all ωk, e−jωL=1.

Therefore, if Gdc (a) is determined to satisfy the following formula, (
Equation 1) is fully satisfied.

[Problems to be solved by the invention] The characteristics of the dynamic compensator 7 greatly influence the performance of the conventional iterative controller, both in terms of system stability and the learning effect due to repetition. There are practical difficulties in providing characteristics that satisfy the requirements.

In actual machines, the parameters of the series compensator 9 are often adjusted. According to equation (2), since the characteristics of the series compensator 9 are necessary for designing the dynamic compensator 7, it is necessary to redesign the dynamic compensator 7 every time the parameters of the series compensator 9 are adjusted. It's very troublesome.

Therefore, an object of the present invention is to provide a repetitive controller that is easy to put into practical use and in which the characteristics of the feedback compensator and the characteristics of the series controller do not affect the approximation accuracy of the characteristics of the dynamic compensator. shall be.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides the following features in a feedback control system in which the same pattern of target values is repeatedly given at a certain period: 1) controller input and storage element a first adder that adds the outputs;

ii) the above storage element that stores the output of this first adder for one cycle of the set value and outputs the stored content in the next cycle, and 1ii) a dynamic controller that uses the output of this storage element as input a compensator; 1) a series compensator that receives the output of the first adder as input; and 2) a second adder that adds the output of the series compensator and the dynamic compensator. The difference between the set value of the control system and the detected value of the controlled variable is used as the controller input, and the output of the storage element and the output of the second adder are used as the controller output.

[Since the order of the active co-dynamic compensator is small, it is easy to put it into practical use. Furthermore, since the characteristics of the series controller and the characteristics of the feedback compensator are not required at the time of design, the approximation accuracy of the characteristics of the dynamic compensator is not affected.

[Embodiment] An embodiment of the present invention will be described below with reference to the block diagram of FIG. 1 and the equivalent block diagram of FIG. 2.

In the figure, reference numeral 11 denotes a first adder, which adds the output of the subtracter 2, the output of the low gas filter, the storage element, and the storage element in the sampler 12 to obtain a set value. The storage element stores one cycle of the set value obtained by the adder 1) and outputs the stored contents in the first cycle. No. 3 is the output of the above memory element and the speed sensor 1
14 is a dynamic compensator that receives the output of the storage element as input; 15 is a feedback control unit that receives the output of the subtractor 14; This is a second adder that adds the output, the output of the dynamic compensator 14, and the output of the series compensator 9.

In order to explain not only the series compensator 9 as shown in the figure but also the feedback compensator I5, the characteristic G
A series compensator 9 of sc(s) and a feedback compensator 15 of characteristic Gfc(s) are also included.

In order to investigate the stability conditions of FIG. 1, FIG. 1 is transformed as shown in FIG. 2. The sufficient condition for the stability of FIG. 2 is as follows.

<1/F(g)...(3) Therefore, the characteristic Gdc(') of the dynamic compensator 14 is I1-G
dc('')Gp(')H('')l <11 +(Gsc
(')+Gfc('))Gp(')H('')shi乍(s)
- It can be determined as shown in (4).

Even if we do not know the exact characteristics of Gs c (g), G(, (s+)), it is possible to realize equation (4), and Gd
The design of c (s) is Gsc (8) * Gfe (
8) is possible even if the exact characteristics are unknown.

Figure @3 shows an example applied to a repetitive control system with an I-PD controller. Further, FIG. 4 shows an example in which the present invention is applied to a repetitive control system having a PID controller. The part surrounded by the dotted line in the figure is the main part of the above-described repeat controller of the present invention. In the figure, 121 is a low-pass filter, and 12B is a sampler.

In FIG. 3, the final stage output hole of the shift register 17, the output of the adder 11 that adds the target value and the output of the speed sensor 1 are input to the sampler 12B, and the summer controller (series compensator) 9
as input to Further, the final stage output XL and the output of the speed sensor 1 are added together by an adder 13, and the result is input to a PD controller (feedback compensator) 18. The output of the dynamic compensator 14 designed by equation (4) and the controller (series compensator)
9 and the output of the PD controller (feedback compensator) 18 are added by an adder 3E 16. The output of this adder 16 becomes the manipulated variable for the controlled object.

In the device with the PID controller shown in FIG.
It is input to the D controller (series compensator) 9. The output of the dynamic compensator 14 designed according to equation (4) and the output of the PID controller (series compensator) 9 are added by an adder 16, and the result becomes the manipulated variable for the controlled object 10.

The characteristic 'dc(g) of the dynamic compensator 14 is expressed as Gda('')・Gp(m)・H(′) in 1
- If it is determined to satisfy (4), Gdc(s) is given by the following formula.

lGp(g)・H(g)I is Gp(s) and H(+1)
No product Gp(')・H(8) (7) 'y' A: /, 1Gp("I・H(II) ke G, (II)・H(8)
shows the phase of

From equation (5), Gdc('') is 'p(s)・H(s)
In order to play the role of canceling out the phase lag of , it must have phase lead characteristics. In order to easily realize an element with phase lead characteristics, the system is assumed to be a sampling control system. The sampling period is set to T seconds, and the dead time can be realized by a shift register 17 having the number of stages of N=L/'r.

The output x(t) of the dynamic compensator 14 needs to have a phase lead characteristic, so the output x(t) is based on the input XL(t) and its future value XL(t+kT
). Therefore, x (t) is expressed as follows: % The number of terms p in the equation (6) is limited by the precision of the characteristics required of the dynamic compensator 14, the memory capacity, and the calculation time of the controller.

From equation (6), Gdc(s) is given by the following equation.

From equations (5) and (7), ωk(k-0,1,...
, p) are designed as shown in the following equation.

At that time, ωk (k=0.1...-p) may be determined so that the following equation is minimized.

According to the embodiment of the present invention described above, when the design formula (2) of the dynamic compensator 14 in the conventional repetitive control method is compared with the design formula (4) in the control method of the present invention, (
The design based on equation (4) has the following advantages over the design based on equation 2).

1) Since the order of the characteristic Gdc(s) of the dynamic fn compensator 14 becomes small, practical application becomes easy.

ra) In the design using equation (4), the characteristic G of the series controller 9
, c(ii), characteristic Gec of the feedback compensator 15
(s) is not required, so the above characteristic G,. (8) =
Grc(') is the characteristic Gcie('') of the dynamic compensator 14
It does not affect the approximation accuracy of , and the characteristic 'sc("L
A repeating controller can be realized even if Gf,(s) is not accurately known.

[Effects of the Invention] The present invention described above is constructed as follows. That is, in a feedback control system in which the same pattern of target values is repeatedly given every certain period, i) a first adder that adds the controller input and the output of the storage element;

ii) the above storage element that stores the output of this first adder for one cycle of the set value and outputs the stored content in the next cycle; 1ii) a dynamic compensator that receives the output of this storage element as input; , 1v) a series compensator that receives the output of the first adder as input, and (2) a second adder that adds the output of this series compensator and the output of the dynamic compensator, and the control system The difference between the set value of and the detected value of the controlled variable is the controller input, and the output of the storage element and the output of the second adder are the controller outputs.

With this configuration, it is easy to put it into practical use, and provides a repeating controller in which the feed para/compensator characteristics and the series controller characteristics do not affect the approximation accuracy of the dynamic compensator characteristics. can.

[Brief explanation of drawings]

Fig. fJ1 is a block diagram showing one embodiment of the repeating controller of the present invention, and Fig. 2 is an equivalent block diagram of Fig. 1. Fig. 4 is a diagram showing an example of applying the iterative controller of the present invention to a control system having a PID controller, and Fig. 5 is a diagram showing an example of applying the iterative controller of the present invention to a control system having a PID controller. A block diagram showing one configuration example, Fig. 6 is a memory for one period of the target value pattern given to the repetitive control system, @7 is a diagram showing how the target value is given, Fig. 8 is the same as Fig. 5 An equivalent block diagram of FIG. 9 is a characteristic explanatory diagram of FIG. 1...Speed sensor, 2...Subtractor, 3.12B...
・Sampler, 4.8...Adder, 5...Storage element,
6゜121L...Loaf 4 filter, 7...Dynamic a 4N! , 9... Series compensator, 10... Controlled object, 11.16... Adder, 12... Loaf 4 filter, storage element and sampler, 13... Subtractor,
14... Dynamic compensator, 15... Feedback controller. Michibu Uga, Commissioner of the Patent Office1. Indication of the case Japanese Patent Application No. 17704 No. 1981-17704 2, Name of the invention repeat controller 3, Person making the amendment Relationship with the case Patent applicant (620) Mitsubishi Heavy Industries, Ltd. 4, Fukui, Director ('1” 14
) 7. Number of inventions increased by amendment 1 8. Contents of amendment (1) The entire specification is corrected as shown in the attached sheet. (2) Figures 1 to 4 of the drawings are corrected as shown in the attached sheet. Description 1, Name of the invention Repetitive controller 2, Claims (1) In a feedback control system in which the same pattern of target values is repeatedly given at a certain period, 1) Target value and control of the control system a first adder that adds the difference in the detected value of the quantity, that is, the control deviation, and the output of the storage element; ii) the output of this first adder is stored for one cycle, and the stored contents are stored in the next cycle; 1i1) a dynamic compensator that receives the output of this storage element as an input; +V) a series compensator that receives the output of the first adder as an input; A repeat controller comprising an output and a second adder for adding the output of the dynamic compensator. (2) In a feedback control system in which the same pattern of target values is repeatedly given at a certain period, 1) Add the difference between the control system target value and the detected value of the controlled variable, that is, the control deviation, and the output of the storage element. 1i) the above-mentioned storage element that stores the output of this adder for one cycle and outputs the stored contents in the next cycle; 1ii)
a first subtractor that subtracts the detected value of the control amount and the output of the storage element; +V) a feedback compensator that receives the output of the first subtractor as input; and ■) inputs the contents of the storage element. and a second subtractor that subtracts the output of the dynamic compensator and the output of the feedback compensator. 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a repeating controller used in a feedback control system in which the same target value for arm turn is repeatedly given at a certain period. [Prior Art] When the control system is a one-person output system, a conventional repeating controller also has one input and output. FIG. 5 is a block diagram showing an example of the configuration of a conventional repetitive control system, and the part surrounded by a dotted line is a repetitive controller. A repetitive control system is a system that is effective for control systems in which the target value has a constant pattern of periodic seconds (seconds) as shown in Figure 6, and is applied repeatedly as shown in Figure 7.Each time the target value is repeated, The deviation between the target value and the controlled variable is improved. This will be explained in detail below. In FIG. 5, a subtractor 2 calculates the difference between the control amount detected by the sensor 1 and the target value. The sunglasser 3 converts the output of the subtracter 2 into a sampling period T
The adder 4 adds the output of the sampler 3 and the output of the storage element 5. Add the above! The output of a4 is passed through a low-pass filter 6 and input to the storage element 5 having dead time L (seconds). This storage element 5 functions to store nine data taken during a certain target value cycle until the next target value cycle, and to output the stored value at a cycle T in synchronization with the sunglasser 3. The output of the storage element 5 is passed through a dynamic compensator 7 and added to the output of the subtracter 2 by an adder 8. The series compensator 9 serves to keep the system stable in the absence of a repeating controller. The output of the adder 8 passes through this series compensator 9 and becomes an input to the controlled object 10. With the above configuration, the repetitive control system performs control so that the deviation between the target value and the controlled amount decreases. Next, the design guideline for the dynamic compensator 7 will be described. Transfer characteristic Gdc(8) of dynamic compensator 7, series compensator 9
'5c(8) is the transfer characteristic of , and G is the transfer characteristic of the controlled object.
, (lI), the characteristic of the low-pass filter is F(lI), and the characteristic of the sensor 1 is H(8). Figure 5 is expressed as Gdc(s) * Gsc(g) * Gp(
s) −F(s) * If rewritten using H(s), it becomes as shown in Figure 8. If we pay attention to the characteristics from the target value r to the deviation 6 between the target value and the controlled variable (output of the subtractor 2) in FIG.
The stability conditions are that the equivalent block diagram in Figure 8 is stable, the loop in Figure 9 is stable, and the original system without a repeating controller is stable (the characteristics of r-+g8 in Figure 9 are the same as the original). (equivalent to the properties of the system). A sufficient condition for the loop to be stable is that R in is less than or equal to 1 over all frequencies, which is expressed in the following equation. -jm IF(j,)(1-G(g))e l <1
; O≦ω≦−(1) Here, F(jGJ) is the characteristic of a low-noise filter, so 1F(jm) l≦1’O≦ω≦− Since the target value is a periodic repeating signal, Each of the discrete angular frequencies ω=2π/L (k=0.1, 2, . . . ) has constant frequency components. All that ωk
For e-iωL. Therefore, if Gda(II) is determined to satisfy the following formula, (
Equation 1) is fully satisfied. [Problems to be solved by the invention] The characteristics of the dynamic compensator 7 have a large influence on the performance of the conventional iterative controller, both in terms of system stability and the learning effect due to repetition. There are practical difficulties in providing characteristics that satisfy the requirements. In actual machines, the parameters of the series compensator 9 are often adjusted. According to equation (2), since the characteristics of the series compensator 9 are required to design the dynamic compensator 7,
The dynamic compensator 1 must be redesigned every time the parameter is adjusted, which is very troublesome. SUMMARY OF THE INVENTION An object of the present invention is to provide a repeating controller that is easy to put into practical use and in which on-site adjustment of a feedback compensator and a series compensator does not affect the approximation accuracy of the characteristics of a dynamic compensator. [Means for Solving the Problems] In order to achieve the above object, the present invention is configured as the following first and second means. That is, the first means is that in a feedback control system in which the same target value of Qtan is repeatedly given at a certain period, 1) the difference between the target value of the control system and the detected value of the controlled variable, that is, the control deviation; ii) the storage element that stores the output of this first adder for one period and outputs the stored contents in the next period; 1ii) this a dynamic compensator whose input is the output of the storage element; 1) a series compensator whose input is the output of the first adder; 1) adds the output of this series compensator and the output of the dynamic compensator; It is composed of a second adder and a second adder. The second means is that in a feedback control system in which the same pattern of target values is repeatedly given at a certain period, 1) the difference between the target value of the control system and the detected value of the controlled variable, that is, the control deviation and the storage element. an adder that adds the output; ii) the storage element that stores the output of the adder for one cycle and outputs the stored content in the next cycle; 1ii) the detected value of the control amount and the storage element. a first subtractor that subtracts the output; +V) a feedback compensator that receives the output of this first subtractor as input; It consists of a second subtracter that subtracts the output of the compensator and the output of the feedback compensator. [Since the order of the active co-dynamic compensator is small, it is easy to put it into practical use. Further, since accurate characteristics of the series controller and accurate characteristics of the feedback compensator are not required at the time of design, their influence on the characteristics of the dynamic compensator is small. [Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the block diagram of FIG. 1 and the equivalent block diagram of FIG. 2. FIGS. 1 and 2 are examples in which the present invention is applied to a feedback control system including both a series compensator and a feedback compensator. In the figure, 11 is a first adder that adds the output of the subtracter 2 and the output of the storage element 12. The above memory element 1
2 stores one cycle through the output filter F(8) of the adder 11, and outputs the stored contents in the next cycle. 9 is a series compensator whose input is the output of the first adder 11; 13 is a subtracter which subtracts the δ output from the memory element and the output of the sensor 1; 14IIi is a dynamic element whose input is the output of the memory element i; A compensator 15 is a feedback compensator that receives the output of the subtracter 13 as an input, and 16 is a second compensator that adds the output of the feedback compensator 15, the dynamic compensator 14, and the series compensator 9. It is an adder. In order to investigate the stability conditions of FIG. 1, FIG. 1 is transformed as shown in FIG. 2. The sufficient condition for the stability of FIG. 2 is as follows. < 1 /F'(II) (3) Therefore, the characteristic Gd, (II) of the dynamic compensator 14 is + 1-
Gdc (8) G, (8) H (August 11 + (Ga
c (') + Gfc (') ) Gp ('') H (8
) I/F(') (4). G B c(B) + Gf6 Even if the exact characteristics of (1) are not known, it is possible to realize equation (4), and G
The design of d c(8) is c@(B(s) * cfc(
This is possible even if the exact characteristics of s) are unknown. FIG. 3 shows nine embodiments applied to a repetitive control system having an I-PD controller. Further, FIG. 4 shows an example in which the present invention is applied to a repetitive control system having a PID controller. The part surrounded by the dotted line in the figure is the main part of the above-described repeat controller of the present invention. In the figure, 121 is a low-pass filter, and 12B is a sampler. . In FIG. 3, the output of adder 1 which adds the final stage output xL of shift register 17 and the output of subtracter 2 is input to sampler 12B and 1 controller (series compensator) 9. In addition, the final stage output XL and the output of sensor 1 are subtracted by subtractor 1.
Subtract by 3, PD controller (feedback compensator) 15
as input to The output of the dynamic compensator 14 designed by equation (4) and I
An adder 16 adds the output of the controller (series compensator) 9 and the output of the PD controller (feedback compensator) 15 . The output of this adder 16 becomes the manipulated variable for the controlled object. In the PID controller shown in FIG. 4, the output of the adder 11 that adds the final stage output XL of the shift register 17 and the output of the subtracter 2 is input to the sampler 12B and
It is input to the controller (series compensator) 9. The output of the dynamic compensator 14 designed by equation (4) and the output of the PID controller (series compensator) 9 are added by an adder 16, and the result is the manipulated variable to the controlled object 1o. The characteristic Gdc(ii) of the dynamic compensator 14 is defined as Gd, (II
)・G, (8)・H(II) 1st year...(4)
When determined to satisfy the following equation, Gdc(it) is given by the following equation. 1 G, (8) -H (August flGp (8) and H (II
) (7) Product G, (II) -H(II) Of in 1,4Gp(ii) -H(II) is G, (s) -H
(a) (D phase fit Indication f. According to equation (5), Gdc(!l) is G, (8)・H(8
), it must have phase lead characteristics. In order to easily realize an element with phase lead characteristics, the system is assumed to be a sampling control system. The sampling period is T seconds, and the dead time is N=L/T.
This can be realized by a shift register 17 having the number of stages. The output x (t) of the dynamic compensator 14 needs to have a phase lead characteristic, so the output x (t) is calculated by input XL (t) and its future value XL (t+k
T). Therefore, x (t) is expressed as follows: % The number of terms p in the equation (6) is limited by the precision of the characteristics required of the dynamic compensator 14, the memory capacity, and the calculation time of the controller. According to equation (6), D Gd, (II) is given by the following equation. (5) * According to equation (7), ωk (k=0.1 t...
・Sp) is designed as shown in the following formula. At that time, ωk (k=o, 1, . . . +p) may be determined to be the minimum value using the following equation. According to the embodiment of the present invention described above, when the design formula (2) of the dynamic compensator 14 in the conventional repetitive control method is compared with the design formula (4) in the control method of the present invention, (
The design using equation (4) has the following advantages over the design using equation 2). :) Since the order of the characteristic Gd c (ii) of the dynamic compensator 14 becomes small, practical application becomes easy. ++) In the design using equation (4), the characteristic e of the series compensator 9 is
sc(s), characteristic Gf of the feedback compensator 15
, (8) is not required exactly, so G8゜(s)
, Gf, (II) is the characteristic G of the dynamic compensator 14.
It does not affect the approximation accuracy of da(s), and the characteristic G
11 (, (8) I c4. Even if (g) is not accurately known, it is possible to realize a repeating controller. [Effects of the Invention] The present invention described above has the following features as the first means and the second means. That is, the first means is, in a feedback control system in which the same pattern of target values is repeatedly given every certain period, 1) the difference between the target value of the control system and the detected value of the controlled variable; , that is, a first adder that adds the control deviation and the output of the storage element, and ii) the storage element that stores the output of the first adder for one cycle and outputs the stored content in the next cycle. , 1ii) a dynamic compensator whose input is the output of this storage element; 1■) a series compensator whose input is the output of the first adder; and a second adder that adds the outputs of the adders. In addition, the second means is to store the difference between the target value of the control system and the detected value of the controlled variable, that is, the control deviation, in a feedback control system in which the same pattern of target values is repeatedly given at a certain period. an adder that adds the outputs of the elements; ii) the storage element that stores the output of the adder for one cycle and outputs the stored content in the next cycle; 1ii) the detected value of the control system and the memory a first subtractor that subtracts the output of the element; 1) a feedback compensator that receives the output of this first subtractor as input; It consists of a second subtracter that subtracts the output of the dynamic compensator and the output of the feedback compensator. With this configuration, it is possible to provide a repeating controller that is easy to put into practical use and in which the characteristics of the feedback compensator and the characteristics of the series compensator do not affect the approximation accuracy of the characteristics of the dynamic compensator. 4. Brief description of the drawings Fig. 1 is a block diagram showing one embodiment of the repeat controller of the present invention, Fig. 2 is an equivalent block diagram of Fig. 1, and Fig. 3 is an I-PD controller. Figure 4 is a diagram showing an example in which the iterative controller of the present invention is applied to a control system having a PID controller.
The figure is a block diagram showing an example of the construction of a conventional repetitive control system. Figure 6 is a memory for one cycle of the target value given to the repetitive control system. Figure 7 shows how the target value is given. diagram showing,
8 is an equivalent block diagram of FIG. 5, and FIG. 9 is a characteristic diagram of FIG. 5. 1... Speed sensor, 2... Subtractor, 3, 12 B
... Sampler, 4.8... Adder, 5... Memory element, 6°J, ? A...Low pass filter, 7...Dynamic compensator, 9...Series compensator, 10...Controlled object,
11.16...Adder, 12...Loaf 4 filter, storage element and sunglasser, J3...Subtractor, 14.
...Dynamic compensator, 15...Feedback compensator.

Claims (1)

[Claims] In a feedback control system in which the same pattern of target values is repeatedly given at a certain period, i) a first adder that adds the controller input and the output of the storage element, and ii) this adder. the above storage element that stores the output of the first adder for one cycle of the set value and outputs the stored content in the next cycle; iii) a dynamic compensator that receives the output of this storage element as input; iv ) a series compensator that receives the output of the first adder as input, and v) a second adder that adds the output of this series compensator and the output of the dynamic compensator, and the set value of the control system. and a detected value of the control amount as a controller input, and an output of the storage element and an output of the second adder as controller outputs.