JPS63101901A - Feedback controller - Google Patents

Abstract

PURPOSE:To permit the titled controller deice to be simultaneously satisfied with rapid responsiveness, damping characteristics and steady characteristics by providing the device with a proportional controller, an integral controller, a derivative controller, and a means for switching respective controllers and the combination of respective controllers in accordance with the state of a controlled system. CONSTITUTION:The controller 4 consists of a proportional feedback gain (KP) 9, an integrator 7, an integral feedback gain (KI) 8, a derivative feedback gain (KD) 9, switches 10, 11, and a control switching command part 12. As to the setting of a control switching area on a phase face, proportional integral control, proportional derivative control, proportional integral/derivative control, and proportional control are respectively independently set up in respective areas 13-15 and other areas in the shown drawing. Consequently, vibration can be controlled without deteriorating rapid responsiveness even in case of fixing a target value and displaying rapid responsiveness only at the time of vibration as shown in an ordinary case in figure 3. A controlled object 1 having a remaining steady error is included in the proportional plus integral (PI) control area 14 to remove the steady error by the integral control and overshoot based on the integrator 7 is included in the proportional plus integral plus derivative (PID) control area to remove it.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an improvement of a feedback control device having a straight-back mechanism such as a logget, a machine tool, etc.

[Conventional technology]

Conventionally, this type of feedback control device independently controls a proportional controller (hereinafter referred to as P), an integral controller (hereinafter referred to as I), and a differential controller (hereinafter referred to as RI) depending on the temperature and the state of the controlled object. was.

[Problem that the invention seeks to solve]

In the PID mentioned above, proportional control increases the coupling but deteriorates the damping property, and differential control increases the damping property but worsens the coupling, and integral control improves the steady-state characteristics, but the opacity Therefore, by adjusting the three controllers of the H controller, a controller with characteristics that compromised the conflicting conditions was created.

Therefore, an object of the present invention is to provide a feedback control device that simultaneously satisfies the conditions of coordination, damping performance, and steady-state characteristics.

[Means for solving problems]

In order to achieve the above object, the present invention is constructed as follows. In other words, there is a state detector that detects the state of the controlled object, a mechanism that feeds back the detected value of this state detector to a target value, and this sensor? Proportional controller P and integral controller installed between the target value of the mechanism and the controlled object! , a differential controller, and means for switching and selecting one of the above-mentioned controllers and combinations of the controllers according to the state of the controlled object.

[Effect]

By configuring as described above, each of the °C controllers is switched and selected depending on the state of the controlled object, so that coordination, damping performance, and steady-state characteristics can be satisfied at the same time.

〔Example〕

Hereinafter, one embodiment of the present invention will be described with reference to one drawing. First, the configuration will be explained using a first block diagram.

1 is a controlled object, for example, a machine tool; 2 is a detector; 3 is a target value calculation section; and 4 is a control device. This control device 4 consists of a proportional feed/input (Kp) 6, an integrator 7, an integral feed/input (Kx) 8, a differential feedback inn (KD 19, a switch 10, 11, and a control switching command unit 12). ℃. 5 is an amplifier ~.

In such a configuration, the position X and velocity of the controlled object 1 are detected by the detector 2 from the controlled object 1. The position X, the speed i, and the position target value becomes.

Then, the position X, velocity amount, and position target value X are input to the control device 4, but when the switch 10.11 is open, that is, when the position error X, 1-X is large,
With only proportional control, the position error xd-x passes through the proportional feedback dynes QC, 26 and becomes the output of the control device 4, improving coordination. Furthermore, when the switch 10 is closed, that is, the position error X6-)C remains, and when a so-called steady error remains, in which the speed error becomes small, the position error 16X is integrated by the integrator 1 and the integral feedback gain ( K!28 is added to the output of the control device 4, improving the steady-state characteristics.Similarly, when the switch 11 is closed, that is, when the position error differential) is the differential feedback dyne (
KD) 9 is added to the output of the control device 4, improving damping performance.

The opening/closing of the switches 10 and 11 is determined by the control switching coupling section 12 based on the errors X and i in the state of the controlled object 1. The switch 10 opens when lit≧11, and “
Closes when 1ku・l. Moreover, the switch 11 is I14-
x I≧・Wealth 1! Open 11! Close when d-XI<IS.

In addition, Figure 1 O? (yA,,,eKP,ni!,KD,a
Tte! The value of is set depending on the controlled object 1 and the desired response characteristics.

From the above, as shown in the diagram in Figure 2, which shows the setting of control switching regions on the phase plane, in region 13, proportional differential control, in region 14, proportional integral control, and in region 15, proportional integral differential control. Otherwise, only proportional control is performed. As a result, even in a case where the target value is constant and correspondence cannot be achieved conventionally without vibration, as shown in 16 in FIG. 3, according to the embodiment of the present invention, the proportional differential control region 13 is entered, as shown in As in No. 11, vibration can be suppressed without compromising connectivity.

Moreover, the controlled object 1 with a steady error remains is 14 P! Entering the control region, steady-state errors are eliminated by integral control, and the overage and -t caused by the integrator 7 are resolved by entering the proportional ff differential region.

〔Effect of the invention〕

According to the present invention described above, there is a state detector that detects the state of a controlled object, a sage mechanism that performs feedback control of the detected value of this state detector to a target value, and a sage mechanism that controls the target value of the mechanism and the controlled object. The proportional controller P, the integral controller, and the differential controller installed in between allow the temperature to change depending on the state of the control object mentioned above.
Since the feedback control device is comprised of the above-mentioned controllers and means for switching and selecting one of the combinations of controllers, it is possible to provide a feedback control device that simultaneously satisfies the conditions of coordination, damping performance, and steady-state characteristics.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the feedback control device according to the present invention, FIG. 2 is a diagram showing the setting of the control switching region on the phase plane of FIG. 1, and FIG. 3 shows the conventional device and the present invention. FIG. 3 is a comparison diagram of inventive device slug responses. DESCRIPTION OF SYMBOLS 1... Controlled object, 2... Detector, 3... Target value calculation part, 4... Control device, 5... Amplifier Am2.6.
...proportional foot hack r in, 7...integrator,
8...Integral feedback gain 1.9...Differential feedback gain KD, 10.11...Switch, 12...Control switching command section, 13...Proportional differential control area, 14...Proportional Integral control region, 15...Proportional-integral-derivative control region, 16...Example of slug response when the present invention is not used, 17...Example of slug response when the present invention is used.

Claims (1)

[Claims] A state detector that detects the state of the controlled object, a servo mechanism that feedback-controls the detected value of this state detector to a target value, and a proportional controller (P ), an integral controller (I), a differential controller (D), and means for switching and selecting one of the controllers and combinations of the controllers according to the state of the controlled object.