KR930010657A - Output Value Control Method According to Integral Limit in Position Type PID Controller - Google Patents

Output Value Control Method According to Integral Limit in Position Type PID Controller Download PDF

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Publication number
KR930010657A
KR930010657A KR1019910019852A KR910019852A KR930010657A KR 930010657 A KR930010657 A KR 930010657A KR 1019910019852 A KR1019910019852 A KR 1019910019852A KR 910019852 A KR910019852 A KR 910019852A KR 930010657 A KR930010657 A KR 930010657A
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KR
South Korea
Prior art keywords
output
umin
position type
pid controller
integral limit
Prior art date
Application number
KR1019910019852A
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Korean (ko)
Inventor
이호원
Original Assignee
이헌조
주식회사 금성사
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Application filed by 이헌조, 주식회사 금성사 filed Critical 이헌조
Priority to KR1019910019852A priority Critical patent/KR930010657A/en
Publication of KR930010657A publication Critical patent/KR930010657A/en

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Abstract

본 발명은 위치형(위상계) PID (비례 적분 미분)제어기에서의 적분한계(reset-windup)에 따라 출력값을 제어하는 방법에 관한 것으로 종래의 PID 제어기에서 정상상태에 이르는 시간이 길어지고 과도응답 특성이 저하되는 문제점을 해결하기 위한 것이다.The present invention relates to a method for controlling an output value according to a reset-windup in a position type (phase-based) PID (proportional integral derivative) controller. This is to solve the problem of deterioration of characteristics.

본 발명은 위치형 PID 제어기에서 발생하는 적분한계에 대한 대응으로 출력이 최대 또는 최소값에 이르면 이를 판별한 결과에 따라 전체 제어기의 출력이 최대 또는 최소값이 되게 그 적분항의 출력을 재조정하므로서 적분한계에 따른 제반 문제점들을 극복하고자 하는 것으로 VCR 및 캠코더등의 모터제어계에 적용한다.The present invention corresponds to the integral limit generated by the position type PID controller, and when the output reaches the maximum or minimum value, the output of the integral term is readjusted so that the output of the entire controller becomes the maximum or minimum value according to the result of the determination. To overcome all the problems, it is applied to motor control systems such as VCRs and camcorders.

Description

위치형 PID 제어기에서의 적분한계에 따른 출력값 제어방법Output Value Control Method According to Integral Limit in Position Type PID Controller

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 PID제어기의 블록구성도.1 is a block diagram of a PID controller.

제2도의 (a)는 적분한계에 따른 출력값 사시의 관계를 비교한 그래프.(A) of FIG. 2 is a graph comparing the relationship between the output strabismus according to the integral limit.

(b)는 정상 상태에서 적분한계에 따른 출력값의 그래프.(b) is a graph of the output value according to the integral limit in steady state.

제3도는 본 발명 적분한계에 따른 출력값 제어방법을 나타낸 플로우챠트.3 is a flowchart showing an output value control method according to the integral limit of the present invention.

Claims (1)

적분기 입력값(U1(KT)), 비례기 입력값(UP(KT)), 미분기 입력값(UD(KT))에 대하여 PID 제어기의 출력값(U(KT))=UP(KT)+UI(KT)+UD(KT)과 적분한계 최소값(Umin) 및 적분한계 최대값(Umax)의 대소관계를 비교하는 제1과정과, 비교결과 UminU(KT) 이면 U(KT)=Umin으로 출력하고 UI(KT-T)=UI(KT)-{U(KT)-Umin)로 저장하여 다음 샘플링의 출력계산시 적분기의 입력값으로 하는 제2과정과, 상기 제1과정 비교결과 U(KT)Umax이면 U(KT)=Umax로 출력하고 UI(KT-T)=UI(KT)-{U(KT)-Umin로 저장하여 다음 샘플링의 출력계산시 적분기의 입력값으로 하는 제3과정과 상기 제1과정 비교결과 Umin〈U(KT)〈Umax 이면 U(KT)=U(KT)로 출력하는 제4과정으로 이루어진 위치형 PID제어기에서의 적분한계에 따른 출력값 제어방법.Integrator input value (U 1 (KT)), proportioner input value (U P (KT)), differentiator input value the output value (U (KT)) of a PID controller with respect to the (U D (KT)) = U P (KT ) + U I (KT) + U D (KT) and the first step of comparing the magnitude relationship between the integral limit minimum value (Umin) and the integral limit maximum value (Umax), and the comparison result Umin If U (KT), it outputs U (KT) = Umin and saves U I (KT-T) = U I (KT)-(U (KT) -Umin) as the input value of the integrator when calculating the output of the next sampling. The second process to compare the first process U (KT) The third process outputs U (KT) = Umax if Umax and saves U I (KT-T) = U I (KT)-{U (KT) -Umin as the input value of the integrator when calculating the output of the next sampling. And a fourth process of outputting U (KT) = U (KT) when Umin < U (KT) < Umax as a result of comparing the first process. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019910019852A 1991-11-08 1991-11-08 Output Value Control Method According to Integral Limit in Position Type PID Controller KR930010657A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019910019852A KR930010657A (en) 1991-11-08 1991-11-08 Output Value Control Method According to Integral Limit in Position Type PID Controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019910019852A KR930010657A (en) 1991-11-08 1991-11-08 Output Value Control Method According to Integral Limit in Position Type PID Controller

Publications (1)

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KR930010657A true KR930010657A (en) 1993-06-23

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KR1019910019852A KR930010657A (en) 1991-11-08 1991-11-08 Output Value Control Method According to Integral Limit in Position Type PID Controller

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100872985B1 (en) * 2007-02-23 2008-12-08 엘에스산전 주식회사 Output control method of proportional-integrate-derivative controller

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100872985B1 (en) * 2007-02-23 2008-12-08 엘에스산전 주식회사 Output control method of proportional-integrate-derivative controller

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