KR20190087490A - Method of designing filter of delay compensator, feedback control method using it, motor control device - Google Patents

Abstract

In the feedback control system composed of the delay compensator and the feedback controller, even when the control object has a pole at the origin, the step disturbance applied to the input end of the control object can be set as a normal deviation zero, And to provide a method of designing a filter of a delay compensator, a feedback control method having the filter, and a motor control apparatus having the control method.
In order to achieve the above object, there is provided a method of designing a filter in a feedback control system composed of a delay compensator and a feedback controller, which is composed of a model to be controlled and a filter, and the filter includes a feedback controller for the control object, , A transfer function of a closed loop system composed of a feedback controller for a controlled object and a controlled object model, and a closed loop transfer function of a closed loop system.

Description

Method of designing filter of delay compensator, feedback control method using it, motor control device

The present invention relates to a method of designing a filter in a feedback control system composed of a delay compensator and a feedback controller composed of a model and a filter to be controlled, a feedback control method using the filter, and a motor control apparatus having the control method.

In recent years, in the field of FA, higher speed and higher accuracy control of motors is required to improve productivity.

When feedback control of the motor is performed, the control gain can be increased to suppress the disturbance and follow the control amount to the target value at high speed and high accuracy. However, when there is an operation delay of a delay element in the feedback loop, for example, a low-pass filter or a digital control device, the upper limit of the control gain of the feedback control system is limited due to this, Is generally known.

In the servo control of a general motor, a cascade feedback structure relating to current, speed, and position is employed. As shown in FIG. 2, the major loop control system 21 has a structure in which the minor loop control system 22 is contained in the feedback loop. 2, reference numeral 23 denotes an object to be controlled by a major loop control system, and numeral 24 denotes a feedback controller of a major loop control system. For example, when the position control and the speed control of the motor are performed based on the cascade feedback structure, the major loop control system 21 becomes a position control system and the minor loop control system 22 includes a speed control system. One handles a control object having a pole at the origin. For this reason, there is a problem that a normal deviation of the step disturbance applied to the input end of the control target remains in the Smith method or the like, which is a representative delay compensation method in the related art.

Therefore, even when the controlled object has a pole at the origin, the delay element existing in the closed loop of the feedback control system can be compensated, and the step disturbance applied to the input end of the controlled object can be suppressed without any deviation Non-Patent Document 1 and Non-Patent Document 2 have been proposed as a delay compensation method.

In the non-patent document 1, as shown in Fig. 1, a delay compensator 2 obtained by adding a filter 1 to the Smith method of the related art is proposed, and a Smith compensator 2 (filter 1 shown in Fig. 1) The influence of the disturbance remains for a long time when the controlled object has a pole close to the origin, or the problem of suppressing the step disturbance applied to the input of the controlled object when the controlled object has a pole at the origin A method of designing the filter 1 capable of solving the problem of leaving a normal deviation is shown.

In the non-patent document 2, as shown in Fig. 3, a control block similar to the non-patent document 1 in which the filter 41 is added to the Smith method in the related art is proposed, and the disturbance suppression performance is improved, There is shown a design method of the filter 41 that can suppress the step disturbance applied to the input end of the control object without a normal deviation.

 Watta et al., Improvement of Control Characteristics for Disturbance of Smith Method, Proceedings of the Korean Society of Precision Engineering, Vol. 19, No. 3, pp. 187-192, 1983  H.P. Huang et al., A Modified Smith Predictor with Approximate Inverse of Dead Time, AiChE Journal, Vol. 36, pp. 1025-1031, 1990

In the non-patent document 1, the filter 1 comprises n + 1 linear summations of the denominator order of a nominal plant model of an arbitrary first-order delay transmission element, as shown in the following equation (1).

[Equation 1]

Even when the control object has a pole at the origin and the Smith method leaves a normal deviation with respect to the step disturbance applied to the input end of the control object, the normal deviation can be made zero by appropriately configuring the filter 1. In order to make a filter satisfying such a demand, the parameter bk included in the equation (1) is determined uniquely to satisfy a predetermined design constraint condition, but it is arbitrarily designed as a positive value for n + 1 parameters ak There is a problem that the setting instructions and the physical meaning are unclear and the parameter design suitable for the specification of the control system is not easy.

In the non-patent document 2, as shown in the following equation (2), the filter 41 is formed.

[Equation 2]

However, τh is all the nominal delay time of the delay element contained in the controller or the control object. Even when the controlled object has a pole at the origin and the Smith method leaves a normal deviation with respect to the step disturbance applied to the input end of the controlled object, the normal deviation can be made zero by appropriately configuring the filter 41. [ B (s) can select any low-pass filter that meets certain design constraints imposed on the filter 41, but it has a high degree of freedom regarding the design of the filter and the filter parameters, There has been a problem in that it is not easy to design an appropriate filter.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a method and apparatus for correcting a steady-state deviation of a controlled object, A feedback control method having a delay compensator using the filter and providing a method of designing a filter of the delay compensator shown in Fig. 1 that can easily understand the physical meaning of the parameter and is easy to design; and a motor control And an object of the present invention is to provide a device.

SUMMARY OF THE INVENTION In view of the above background and problems, the present invention is a method of designing a filter in a feedback control system comprising a delay compensator and a feedback controller, which are constituted by models and filters to be controlled, The delay compensator includes a nominal plant model and a nominal delay model embedded in the feedback control system. The delay compensator uses the manipulated variable output from the feedback controller and the output signal of the controlled object as input signals, and the output signal of the controlled object and the feedback controller A signal obtained by applying a filter to an error signal obtained by subtracting the output signal of the model to be controlled with respect to the output manipulated variable by an adder and subtracter and an output signal of the nominal plant model with respect to the manipulated variable output from the feedback controller, And outputs the signal obtained by the combination as an output signal, And the filter is provided with an arbitrary feedback controller for the controlled object, a model to be controlled, and a control target to be controlled based on the deviation, A closed loop system transfer function consisting of an arbitrary feedback controller for the control system and a model of the controlled object and a closed loop transfer function of the closed loop system are arbitrarily used as a function constituted by the form of the add /

According to the present invention, the physical meaning of the parameters of the filter can be easily understood, the design guidelines for the parameters become clear, and the filter design can be facilitated.

1 is a configuration diagram of a feedback control system including a delay compensator in the first embodiment;
2 is a configuration diagram of a cascade feedback control system for motor control.
3 is a configuration diagram of a control system of Non-Patent Document 2. Fig.
4 is a configuration diagram of a control system other than the non-patent document 2. Fig.
5 is a configuration diagram of a control system other than the non-patent document 2. Fig.
6 is a configuration diagram of a speed control system of an AC servo motor according to the second embodiment;
7 is a configuration diagram of a speed control system including a delay compensator in the second embodiment;
8 is a configuration diagram of a speed control system including a delay compensator other than the non-patent document 2. Fig.

Hereinafter, embodiments to which the present invention is applied will be described with reference to the drawings.

In the drawings, the same reference numerals are assigned to constituent elements having a common function, and a description thereof will be omitted. Further, hereinafter " feedback " is abbreviated as " FB ". Hereinafter, when describing the " model of the controlled object ", the " model of the controlled object " may refer to the nominal plant model of the controlled object and may include a delay existing in the controlled object, the controller, It may refer to a nominal delay model of some or all of the elements, or to a nominal model that includes both the nominal plant model and the nominal delay model of the controlled object.

[Example 1]

1 is a configuration diagram of a feedback control system including a delay compensator in the present embodiment. 1, the filter 1 is a feedback control method which is designed by a design method to be described later and has a delay compensator provided with the filter, a motor control method including the feedback control method, The control device will be described.

1, FB control is performed by the FB controller 36 and the delay compensator 2 for the control object 32 including the delay.

The delay compensator 2 has a model to be controlled therein. In this embodiment, the model to be controlled is composed of a nominal plant model 34 and a nominal delay model 35. When elements generating a delay such as a low-pass filter or a minor loop control system are included in the closed-loop system, a nominal model of the delay elements may be included in the nominal delay model 35.

An error signal is calculated from the output signal y of the control object with respect to the manipulated variable and the output signal of the model to be controlled, and the resultant signal obtained by applying the filter 1 to the error signal, By adding the output signal of the plant model 34 to the adder-subtracter 310, the output signal of the delay compensator is calculated. The output signal of the delay compensator is the predicted value signal of the output signal of the control object in consideration of the delay element contained in the controlled object. The deviation between this and the target value signal r is calculated by the adder-subtracter 37, The FB controller 36 compensates the controlled object.

Assuming an ideal state in which there is no modeling error and no disturbance intervenes, the error signal calculated by the adder-subtractor 39 is zero, and the FB controller 36 sets the nominal delay model 35 in the closed loop It can be considered that FB control is performed on the nominal plant model Pm without including it, and as a result, it is easy to understand that the control gain of the FB controller 36 can be increased.

As a method of designing the filter 1 of the FB control system shown in Fig. 1, the filter 1 includes an arbitrary FB controller for the control object, a model to be controlled, an arbitrary FB controller for the control object, (1) is a function constituted by a transfer function of a closed loop system composed of a model of a closed loop system and a linear transfer function of the closed loop system arbitrarily, and the filter (1) , Even if the normal deviation is left with respect to the step disturbance applied to the input end of the controlled object, it belongs to the set of filters that can set the normal deviation to zero.

Then, arbitrary FB controller for the control object is denoted by Ca. The FB controller Ca may have the same structure as the FB controller 36. [ When the FB controller Ca and the FB controller 36 have the same structure, the respective control design parameters may be set independently or may be dependent on each other.

Hereinafter, a design example of the filter 1 according to the above design method will be described.

The "control object model" in the design method of the filter 1 is assumed to be represented by the following formulas (3) to (5) in the present embodiment, with reference to FIG. (3) is the nominal plant model of the control object (P) in Fig. 1, (4) is the nominal delay model of the delay element containing all the control objects, This shows the nominal model of the entire control target.

[Equation 3]

[Equation 4]

[Equation 5]

The transfer function of the closed loop system constituted by the arbitrary FB controller and the control object model for the control object in the present embodiment is, for example, the following expressions (6) and (7).

[Equation 6]

[Equation 7]

The above-mentioned " linear transfer function of the closed loop system " in the present embodiment means, for example, the following equations (8) and (9).

[Equation 8]

[Equation 9]

Therefore, according to the method of designing the filter 1 described above, for example, the set of the filters 1 can be determined from the equations (3) to (9) .

[Equation 10]

When the FB controller Ca and the FB controller 36 have the same structure, the FB controller Ca can be set as shown in the following equation (11).

[Equation 11]

In the present embodiment, according to the above-described method of designing the filter 1, specifically, the filter 1 can be represented by the following equation (12), for example. In other words, the reciprocal of the nominal plant model (equation (3)), the reciprocal of the nominal model of the controlled object including the delay (equation (5)), the nominal model of the controlled object including the delay, The transfer function of the closed loop system (equation (6)) composed of the controller and the reciprocal of the transfer function of the closed loop system (equation (7)) composed of the nominal plant model and the feedback controller are respectively multiplied.

[Equation 12]

In addition to this, the filter 1 may be represented by the following equation (13), for example, using two different FB controllers.

[Equation 13]

In addition to this, the filter 1 can be represented by, for example, equation (14) as a representation using two different FB controllers.

[Equation 14]

Next, the condition that the filter 1 shown in the formulas (12) to (14) is an element of the filter set in the above-described method of designing the filter 1 The normal deviation can be set to zero " will be described.

The final value theorem relating to the unit step disturbance applied to the input end of the control object shown in the following Expression (15) is used.

[Equation 15]

Here, y is the controlled object output, d is the disturbance applied to the input terminal of the controlled object output, and Hdy (s) is the transfer characteristic from d to y, and is expressed by the following equations (16) to (19).

[Equation 16]

[Equation 17]

[Equation 18]

[Expression 19]

When N = 1, the FB control system of FIG. 1 corresponds to the Smith method of the related art, but when the control object has a pole at only one origin and is expressed as the following equation (20)

[Equation 20]

For example, without the modeling error, the following equation (21)

[Equation 21]

Even if the FB controller 36 has the integrator and satisfies the following equation (22)

[Equation 22]

The normal deviation with respect to the unit step disturbance applied to the input end of the controlled object can be expressed by the following formula (23) according to the final value theorem of equation (15)

[Equation 23]

Since the second term of the right side becomes nonzero, it can be seen that the standard Smith method can not remove the unit step disturbance applied to the input end of the control target.

In order to remove the unit step disturbance applied to the input end of the control object when the filter 1 is designed based on the design method of the filter 1 described above, (1) satisfying all of the following expressions (24) and (25) from the following expression (16).

[Equation 24]

[Equation 25]

From the following equation (26)

[Equation 26]

Under the assumption of Expressions (20) and (22), the condition of Expression (25) can be written as Expression (27) below.

[Equation 27]

Compared with the second term on the right side of the expression (23), the contribution of the filter (1) satisfying the expression (27) makes the unit step disturbance applied to the input end of the control object, which can not be removed by the standard Smith method, It can be seen that it can be removed without any deviation.

In order to satisfy the expression (24) and the expression (27), which are the design conditions of the filter 1, the FB controller Ca satisfies the following expression (28) when the filter (1) And,

[Equation 28]

For example, a P controller (proportional element) or a primary linkage satisfies this. When the filter (1) is taken as the equation (14), the following equation (29)

[Equation 29]

That is, the FB controller Ca may have an integrator.

In view of the above, the filter 1 shown in the formulas (12) to (13) and the FB controller Ca that satisfies the equation (29), which are constructed using the FB controller Ca satisfying the equation (28) The filter 1 shown in the equation (14) using the filter 1 is designed based on the design method of the filter 1 described above, and it can be said that it satisfies the elements of the filter set described above.

The filter 1 designed according to the present embodiment can be obtained by the following equations (10) and (12) to (14) Only the control design parameters included in the FB controller Ca and the FB controller 36 are the design values of the filter. When designing the FB control system, the control design parameters of the FB controller (Ca) and the FB controller (36) for the control target are many, the physical meaning can be grasped, or the design guideline is clear. Particularly, in the case of using the FB controller Ca as the equation (11), the physical meaning and design guideline of the control design parameter of the FB controller Ca can be made the same as that of the FB controller 36, Can be made more clear.

In this respect, according to the present embodiment, the parameters of the filter 1 are easy to understand the physical meaning, the design guidelines of the parameters are clear, and the filter design can be facilitated.

Thereafter, the discussion proceeds on the basis of the difference between the filters (1) of the equations (12) to (14) designed in this embodiment.

The filter 1 of the equation (12) has the same delay compensation characteristics as the case of the low-pass filter B (s) of the following formula (30) in the non-patent document 2. [

[Equation 30]

On the other hand, since the filter 1 of the equations (13) and (14) is different from the equation (12), it can be seen that the characteristic of the delay compensation is different from that of the non-patent document 2 employing the equation (30).

The FB control system shown in Fig. 1 having the filter 1 of the equation (13) has a structure in which the FB controller Ca satisfying the equation (28) filters the prediction error of the control amount y by the model to be controlled 4 with the delay compensator 52, and with equation (31) given below,

[Equation 31]

The FB control system of FIG. 1 including the filter 1 of FIG. 4 and equation (13) exhibits equivalent control performance.

The FB control system of FIG. 1 having the filter 1 of the equation (14) can be rewritten to FIG. 5 with the delay compensator 62 of the configuration containing the disturbance observer configuration, ),

[Equation 32]

The FB control system of FIG. 1 having the filter 1 of FIG. 5 and equation (14) exhibits equivalent control performance.

According to the method of designing the filter 1 in this embodiment, the degree of freedom is recognized in the configuration of the filter 1 after limiting the design parameters of the filter 1 to only the control design parameters, It is possible to design the filter 1 including the filter that realizes the disturbance suppression performance equal to that of the non-patent document 2 and the disturbance suppression performance other than the non-patent document 2 such as the equations (13) and (14) Therefore, it is possible to clarify that a method (other block configuration of the delay compensator) capable of suppressing the step disturbance applied to the input terminal of the control object other than the existing delay compensation method can exist as shown in Figs. 4 and 5.

As described above, the present embodiment is a method of designing a filter in a feedback control system comprising a delay compensator and a feedback controller composed of a model and a filter to be controlled, wherein the model to be controlled is a nondelivery plant model, And the delay compensator uses the manipulated variable output from the feedback controller and the output signal of the controlled object as input signals and outputs a control target model for the manipulated variable output from the feedback target and the output signal of the controlled object. A signal obtained by applying a filter to an error signal obtained by subtracting the output signal of the feedback control unit with an adder and an output signal of a nominal plant model obtained by combining the output signal of the nominal plant model with the manipulated variable output from the feedback controller, , And the feedback controller outputs the deviation of the output signal of the delay compensator from the target value signal Wherein the filter includes an arbitrary feedback controller for an object to be controlled, a model to be controlled, an arbitrary feedback controller for the object to be controlled, and a control object to be controlled, The transfer function of the closed loop system constituted by the model of the open loop system and the linear transfer function of the closed loop system are arbitrarily used as a function constituted by the form of the acceleration / deceleration agent.

Further, the filter includes a feedback controller of the same structure as the feedback controller for the controlled object, a model of the controlled object, a closed loop system transfer function composed of the other feedback controller and the controlled object model, The transfer function of the first order is arbitrarily used as a function constituted by the form of the additive and the surrogate agent.

It is also assumed that the filter belongs to a set of filters capable of making the normal deviation to zero with respect to the step disturbance applied to the input end of the controlled object even when the controlled object has a pole at the origin.

Accordingly, since only the control design parameters included in the feedback controller for the control object are the design parameters of the filter 1, and the control design parameters are many, the filter 1 can grasp the physical meaning or the design guideline is clear , The physical meaning of the parameters of the filter 1 is easy to understand, the design guidelines for the parameters become clear, and the filter design can be facilitated. Further, after limiting the design parameters of the filter 1 to only the control design parameters, there is a degree of freedom in the structure of the filter 1, and a filter for realizing the disturbance suppression performance equivalent to that of the non- And the filter 1 exhibiting disturbance suppression performance other than the non-patent document 2 can be designed. Therefore, in addition to the conventional delay compensation method, a method capable of suppressing the step disturbance applied to the input end of the control object Lt; / RTI > may be present). Therefore, it is possible to provide a control method shown in Fig. 1 including a filter designed according to the above-described superior filter and a filter designed based on the design method, and a control apparatus including the control method.

[Example 2]

6 is a configuration diagram of the speed control system of the AC servo motor in this embodiment. In this embodiment, the speed control system 71 in the cascade FB control system of the AC servo motor shown in Fig. 6 is assumed, and in Fig. 6, the speed controller 72 and the control object And the speed controller 72 is provided with an FB controller including the delay compensator shown in Fig. 1. In Fig. 1, the filter 1 is designed by a design method described later. Further, a feedback control method of a speed control system having a delay compensator having the filter, a motor control method including the feedback control method, and a motor control apparatus will be described.

In this embodiment, the model Gsm to be controlled is specifically shown in the following formulas (33) to (35).

[Equation 33]

[Equation 34]

[Equation 35]

In the equation (34), Psm is the nominal plant model in the speed control system, and Mi in the equation (35) is the idealization of the current control system as the minor loop control system in the speed control system, and τsm is the current control system and the speed control system It is the sum of all the delays implied in the closed loop. J, Ka, and Pp denote inertia, motor constant, and maximum number, respectively, and? I is a response frequency of the current control system.

The speed controller 72 of the speed control system is a PI controller, and the following expressions (36) to (38) are used.

[Equation 36]

[Equation 37]

[Expression 38]

Where L and oss are the bending point ratio and the response frequency of the speed control system, respectively. In general, in order to consider the current control system to be approximately 1,? I is set to several to ten times? S.

If the value of? S is raised for high response of the speed control system, the current control system can not approximate to 1 unless? I is raised simultaneously, and it is necessary to regard this as a delay element. In this case, the current control system is a primary delay element as shown in equation (35), and it is necessary to regard it as a delay element.

In the present embodiment, the current control system is regarded as a delay element, and the control block configuration of the speed control system is shown in Fig. 7 based on Fig.

In the FB control system shown in Fig. 7, in the present embodiment, as a method of designing the filter 81, the filter 81 includes an arbitrary FB controller for the controlled object, a model to be controlled, The transfer function of the closed loop system constituted by the controller and the model of the control object and the linear transfer function of the closed loop system are arbitrarily used to form a function of the acceleration and deceleration agent. Pole and the normal deviation is left with respect to the step disturbance applied to the input end of the controlled object in the Smith method, the normal deviation is made to belong to the set of filters that can set the normal deviation to zero.

Here, the above-mentioned " arbitrary FB controller for the control object " is represented by Csa, and the " control object model " in the method of designing the filter 1 of this embodiment is, To (41).

[Equation 39]

[Equation 40]

[Equation 41]

According to the above-described method of designing the filter, the filter 81 of FIG. 7 is designed as shown in the following equation (42), for example, in the same manner as the equation (12). In other words, the reciprocal of the nominal plant model (equation (39)), the reciprocal of the nominal model of the controlled object including the delay (equation (41)), the nominal model of the controlled object including the delay, The transfer function of the closed loop system composed of the controller and the reciprocal of the transfer function of the closed loop system composed of the nominal plant model and the feedback controller are respectively multiplied.

[Equation 42]

The delay compensator 82 provided with the filter 81 of the equation (42) uses the low-pass filter B (s) as the following equation (43) in the non-patent document 2, And the characteristics of delay compensation become equal.

[Equation 43]

In the present embodiment, the FB controller Csa is further provided with the following equation (44)

[Equation 44]

It is assumed that the FB control unit 36 has the same structure as the FB control unit 36 and its control design parameters are set independently of the FB control unit 86. [ The filter 81 designed in this way satisfies the equation (28) with respect to Csa, so that the unit step disturbance applied to the input end of the control object can be removed without any deviation.

As a result, the design parameter of the filter 81 included in the equation (42) is only? S2 and the physical meaning of the parameter is the response frequency of the speed control system shown in the equation (36) 81) is clear, and the filter design can be facilitated.

The filter 81 may be designed similarly to the equation (13) according to the above-described design method of the filter. Furthermore, according to the above-described method for designing the filter, the filter 81 may be designed as shown in the following equation (45) as in the equation (14).

[Equation 45]

Assuming equation (44) with respect to the FB controller (Csa), since Csa satisfies the condition of the equation (29), the filter 81 designed as the equation (45) according to the above- It is possible to remove the unit step disturbance applied to the input of the object without any deviation.

As a result, the design parameters of the filter 81 included in the equation (45) become? S1 and? S2, and since the physical meaning of this parameter is the response frequency of the speed control system shown in the equation (36) , And the filter design can be facilitated.

Further, the FB control system shown in Fig. 7 including the filter 81 of the equation (45) can be rewritten to Fig. 8 having the delay compensator 92 having the configuration of the disturbance observer. In this case, With equation (46)

[Equation 46]

The FB control system of Fig. 7 including the filter 81 of Fig. 8 and (45) shows equivalent control performance.

According to the method of designing the filter 81 in this embodiment, the degree of freedom is recognized in the configuration of the filter 81 after limiting the design parameters of the filter 81 to only the control design parameters, It can be clarified that a method capable of suppressing the step disturbance applied to the input end of the control object (another block configuration of the delay compensator) other than the delay compensation method can exist as shown in Fig.

1: Filter
2: delay compensator
21: Major loop control system
22: Minor loop control system
23: Control target of major loop control system
24: feedback control of major loop control system
25, 37 to 39, 310, 64, 712:
32: Control target with delay
34: Nominal Plant Model
35: Nominal delay model
36: Feedback controller
41: Filter of Non-Patent Document 2
51: filter of delay compensator other than non-patent document 2
52: a delay compensator other than the non-patent document 2
61: filter of delay compensator other than non-patent document 2
62: A delay compensator other than the non-patent document 2
71: Motor speed control system
77: AC servo motor
78: current detector
81: Filter of delay compensator of speed control system
82: Delay compensator of speed control system
83: Control target of speed control system
85: Delay element of speed control system
91: filter of delay compensator other than non-patent document 2
92: a delay compensator other than the non-patent document 2

Claims (13)

A method of designing a filter in a feedback control system comprising a delay compensator composed of a model to be controlled and a filter and a feedback controller,
Wherein the controlled object model comprises a nominal plant model and a nominal delay model embedded in the feedback control system,
Wherein the delay compensator adjusts the output signal of the model to be controlled with respect to the output signal of the control object and the manipulated variable output from the feedback controller, A signal obtained by applying the filter to an error signal obtained by subtracting an error signal from an output signal of the feedback signal and an output signal of the nominal plant model with respect to an operation amount output from the feedback controller, Signal as an output signal,
Wherein the feedback controller calculates a deviation between the output signal of the delay compensator and the target value signal by an adder and subtracter and compensates the control target based on the deviation,
Wherein the filter includes an arbitrary feedback controller for the controlled object, a transfer function of a closed loop system constituted by a model of the controlled object, an arbitrary feedback controller for the controlled object, and a model of the controlled object, , And a closed loop transfer function of the closed loop system is arbitrarily used as a function of the acceleration / deceleration agent. The method according to claim 1,
Wherein the filter includes another feedback controller having the same structure as the feedback controller for the controlled object, a transfer function of a closed loop system composed of the model of the controlled object, the other feedback controller and the controlled object model, And a linear transfer function of the loop system is arbitrarily used to form a function of the acceleration / deceleration agent. The method according to claim 1,
The filter belongs to a set of filters capable of making the normal deviation to zero with respect to the step disturbance applied to the input end of the control object even when the controlled object has a pole at the origin Of the filter. 3. The method of claim 2,
Wherein the filter belongs to a set of filters capable of making a normal deviation to zero with respect to a step disturbance applied to an input end of the control object even when the controlled object has a pole at the origin . The method according to claim 1,
Wherein the filter comprises: a nominal plant model; a reciprocal of a nominal model of the controlled object including a delay; a nominal model of the controlled object including the delay; and a feedback controller Wherein the transfer function of the loop system and the reciprocal of the transfer function of the closed loop system constituted by the nominal plant model and the feedback controller are respectively multiplied. 6. The method of claim 5,
Wherein the filter belongs to a set of filters capable of making a normal deviation to zero with respect to a step disturbance applied to an input end of the control object even when the controlled object has a pole at the origin . The method according to claim 6,
Wherein the filter is a filter having a structure similar to that of the nominal model of the controlled object including the delay and the inverse of the nominal model of the controlled object including the delay and the feedback controller for the controlled object, Wherein a transfer function of a closed loop system constituted by another feedback controller and a reciprocal of a transfer function of a closed loop system constituted by the nominal plant model and the other feedback controller are multiplied respectively. A feedback control method using a feedback control system consisting of a delay compensator composed of a model and a filter to be controlled and a feedback controller,
Wherein the controlled object model comprises a nominal plant model and a nominal delay model embedded in the feedback control system,
Wherein the delay compensator adjusts the output signal of the model to be controlled with respect to the output signal of the control object and the manipulated variable output from the feedback controller, A signal resulting from applying the filter to an error signal obtained by subtracting an error signal from an error signal and a signal obtained by adding an output signal of the nominal plant model to the manipulated variable output from the feedback controller with an adder / subtracter,
Wherein the filter includes an arbitrary feedback controller for the controlled object, a closed loop system transfer function comprising a model of the controlled object, an arbitrary feedback controller for the controlled object, and a model of the controlled object, Loop transfer function is arbitrarily used to form a function of the additive /
Wherein the feedback controller calculates a deviation between the output signal of the delay compensator and the target value signal by an adder and subtracter and compensates the controlled object based on the deviation. 9. The method of claim 8,
Wherein the filter includes another feedback controller having the same structure as the feedback controller for the controlled object, a transfer function of a closed loop system composed of the model of the controlled object, the other feedback controller and the controlled object model, And a loop-type linear transfer function is arbitrarily used in the form of an acceleration / deceleration agent. 9. The method of claim 8,
Wherein the filter comprises: a nominal plant model; a reciprocal of a nominal model of the controlled object including a delay; a nominal model of the controlled object including the delay; and a feedback controller Loop system transfer function and a reciprocal of a transfer function of a closed loop system constituted by the nominal plant model and the feedback controller, respectively. A motor control apparatus using a feedback control system comprising a delay compensator and a feedback controller,
Wherein the controlled object model comprises a nominal plant model and a nominal delay model embedded in the feedback control system,
Wherein the delay compensator adjusts the output signal of the model to be controlled with respect to the output signal of the control object and the manipulated variable output from the feedback controller, A signal resulting from applying the filter to an error signal obtained by subtracting an error signal from an error signal and a signal obtained by adding an output signal of the nominal plant model to the manipulated variable output from the feedback controller with an adder / subtracter,
Wherein the filter includes an arbitrary feedback controller for the controlled object, a closed loop system transfer function comprising a model of the controlled object, an arbitrary feedback controller for the controlled object, and a model of the controlled object, Loop transfer function is arbitrarily used to form a function of the additive /
Wherein the feedback controller calculates a deviation between the output signal of the delay compensator and the target value signal by an adder and subtracter and compensates the control object based on the deviation. 12. The method of claim 11,
Wherein the filter includes another feedback controller having the same structure as the feedback controller for the controlled object, a transfer function of a closed loop system composed of the model of the controlled object, the other feedback controller and the controlled object model, And a loop transfer function is arbitrarily used in the form of an acceleration / deceleration agent. 12. The method of claim 11,
Wherein the filter comprises: a nominal plant model; a reciprocal of a nominal model of the controlled object including a delay; a nominal model of the controlled object including the delay; and a feedback controller Loop system transfer function and a reciprocal of a transfer function of a closed loop system constituted by the nominal plant model and the feedback controller, respectively.

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