Classifications

• • H—ELECTRICITY
  • H03—ELECTRONIC CIRCUITRY
  • H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
  • H03L7/00—Automatic control of frequency or phase; Synchronisation
  • H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
  • H03L7/08—Details of the phase-locked loop
  • H03L7/085—Details of the phase-locked loop concerning mainly the frequency- or phase-detection arrangement including the filtering or amplification of its output signal
  • H03L7/093—Details of the phase-locked loop concerning mainly the frequency- or phase-detection arrangement including the filtering or amplification of its output signal using special filtering or amplification characteristics in the loop
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
  • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
  • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
  • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B5/00—Anti-hunting arrangements
  • G05B5/01—Anti-hunting arrangements electric
• • H—ELECTRICITY
  • H03—ELECTRONIC CIRCUITRY
  • H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
  • H03L7/00—Automatic control of frequency or phase; Synchronisation
  • H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
  • H03L7/08—Details of the phase-locked loop
  • H03L7/10—Details of the phase-locked loop for assuring initial synchronisation or for broadening the capture range
  • H03L7/107—Details of the phase-locked loop for assuring initial synchronisation or for broadening the capture range using a variable transfer function for the loop, e.g. low pass filter having a variable bandwidth

Definitions

• the present invention relates to a method and apparatus for changing the characteristics of a variety of devices of different scales, fields, types and so on such as plants, apparatus, microcomponents, circuits, circuit elements and so on.
• a method of changing the characteristics of a device such as an electric circuit, an electronic circuit or the like, typically involves changing circuit constants or parameters such as resistance R, capacitance C and inductance L, changing the locations of circuit elements such as R, C, L within a circuit, or changing the entire configuration ofthe circuit.
• Such changes added to the device causes a change in the transfer function ofthe associated circuit, and consequently a change in an input/output response of the entire device such as time response and frequency response, and other arbitrary characteristics.
• Such a method provides an electric/electronic circuit having a response suitable for a particular target such as different control targets or a constant-desired- value control.
• the term “device” encompasses any devices which include a variety of apparatus of different scales such as plants, equipment, microcomponents, circuits, circuit elements and so on; apparatus for use in different fields such as electric, chemical, mechanical, physical fields, and apparatus of different types. Also, the “device” includes a “plant” or a “controlled object” which is so called in the field of control engineering.
• a change in certain characteristic of a device the time response characteristic of a control system will be described below by way of example with reference to Figs. 31(a) to 31(d).
• the graphs in Figs. 31(a) to 31 (d) are described mathematically, and are not limited to any particular target Possible controlled objects may span in a wide range of fields including, but not limited to, a positional (angular) control for a robot arm, a voltage control for a power supply regulator, a speed control for a bullet train, and so on
• disturbance is called “jitter” in an application to frequency tracking
• disturbance is called “ripple” in a power supply regulator
• different expressions may be used for the same concept of control in different fields
• Fig 31(a) shows that an excessively high sensitivity for a better initial response results in oscillations and high susceptibility to disturbance if a certain desired value is given for control
• Fig 31 (b) shows that a lower sensitivity for suppressing disturbance results in a slower initial response
• the sensitivity and disturbance suppression characteristics are different control targets and contradictory to each other
• Fig 31(c) while an attempt is made to find a control point which satisfies both of the characteristics by appropriately adjusting them, this generally results in employment of an unsatisfactory control point which is a compromise for both ofthe characteristics
• a control system which exhibits a relatively slow initial response and a relatively high susceptibility to disturbance is typically employed
• a conventional adaptive control is intended to achieve the characteristics closest possible to those as illustrated in Fig 31 (d) by adaptively changing the sensitivity in accordance with a particular condition of a controlled object to simultaneously satisfy contradictory characteristics or control targets (the sensitivity and disturbance suppression characteristics in this example) to the u
• a transfer function (representing the frequency characteristic of a system) exhibiting a high gam to a high frequency range may be created for increasing the sensitivity m order to improve the initial re .ponse.
• a transfer function exhibiting a lower gain in a high frequency range may be created for decreasing the sensitivity in order to suppress disturbance.
• a lower sensitivity in the high frequency range is equivalent to a reduction in gain in the high frequency range.
• a specific example of a device required to address contradictory characteristics may be a phase locked loop (PLL) circuit.
• the PLL typically comprises a controller for controlling a voltage controlled oscillator (VCO), so that circuit constants, circuit configuration and so on of the controller are manipulated to design the PLL to have desirable follow-up speed, stability and so on of oscillating frequencies.
• VCO voltage controlled oscillator
• a "time optimal PLL" is known as an example which pursues the response speed rather than jitter suppression.
• contradictory characteristics which require appropriate adjustments, may be resolution and drawing speed, resolution and conversion speed of an A/D converter, and a variety of other paired characteristics, in addition to the aforementioned response speed and disturbance suppression characteristics.
• the present invention employs the concept of time scale in changing the characteristics of a device
• a device characteristic changing method changes a characteristic ofthe device by changing a time scale on which the device operates
• a device characteristic changing apparatus for changing a characteristic of a device comprises time scale generating means for generating a time scale on which a device operates, and time scale changmg means for changing the time scale, wherein a characteristic of the device is changed by changmg the time scale on which the device operates
• the device may have a first charactenstic when it operates on a first time scale, and have a second characteristic when it operate on a second time scale different from the first time scale
• the charactenstic may be a time dependent characteristic.
• the time dependent characteristic may be an input/output response characteristic of the device.
• the input/output response may be an input/output response which depends on the frequency of the device.
• the characteristic may be changed to achieve different control targets, or to achieve a predetermined desired value.
• the characteristic may be changed while maintaining a transfer function of the device substantially constant, or the changing ofthe characteristic is accompanied by changing of a transfer function of said device.
• the changing of the characteristic is accompanied or is not accompanied by changing of an element which affects a characteristic of the device other than the time scale.
• the device may be a device which operates on different time scales to have substantially different characteristics from each other, and is operable on a variable time scale.
• the device may also include a device in an electric, mechanic, chemical or physical field.
• the device may include a plant, equipment, a microcomponent, a circuit, or a circuit element.
• the device may operate in a digital form or in an analog form.
• the device may be a controller for use in a control system for controlling a controlled object. In this case, the control device may perform a feedforward control or perform a feedback control.
• the time scale of the device may be determined in response to a signal external to the device or in response to a signal internal to the device.
• the transfer function of the device may be maintained substantially constant irrespective of a change in the time scale.
• the time scale may include real time as a time scale.
• a change in the time scale may include a change to an arbitrary number of time scales.
• the time scale may be changed in accordance with a predetermined sequence of time scales. In this case, the predetermined sequence may be determined for an adaptive control for achieving different control targets.
• a method of operating a device is also provided, wherein the method includes the device characteristic changing method.
• a device system including the aforementioned device characteristic changing apparatus, and a device is also provided.
• a method of controlling a controlled object in response to an input signal includes the steps of generating a manipulated variable for the controlled object in response to the input signal in accordance with a predetermined transfer function including a time constant, generating a state value representative of a state ofthe controlled object, generating a time scale changing value from the state value using a predetermined time scale changing function, and changing the time constant of the transfer function in response to the time scale changing value.
• control method may further include the step of providing the transfer function by transfer element means included in a controller which is used in a control system for controlling the controlled object.
• the control method may further include the step of generating a time scale on which the transfer element means operates.
• the step of generating a state value may include generating the state value of the controlled object by observing a state within the control system.
• a controller for use in a control system for controlling a controlled object in response to an input signal comprises time scale generating means for generating a predetermined time scale, transfer element means having a predetermined transfer function for operating on the predetermined time scale, observing means for observing a state within the control system to generate a state value indicative of a state ofthe controlled object, time scale changing means having a predetermined time scale changing function, and for generating a time scale changing value derived from the predetermined time scale changing function with the state value from the observing means used as an input, and time scale changing means for changing the predetermined time scale in response to the time scale changing value.
• a change in the transfer function resulting from a change in the time constant may be compensated.
• the generation of a time scale changing value may be performed by generating a first evaluation value from the state value using a first evaluation function, generating a second evaluation value from the state value using a second evaluation function, setting a predetermined first threshold value, setting a predetermined second threshold value, comparing the first evaluation value with the first threshold value to set the time scale changing value to an initial value when the first evaluation value is higher than the first threshold value, and comparing the second evaluation value with the second threshold value to update the time scale changing value when the second evaluation value is lower than the second threshold value.
• the first and second threshold values may be equal, and the first and second evaluation functions may be equal.
• the initial value may be one, and the time scale changing value may be updated increasingly.
• the initial value may be a predetermined value, and the time scale changing value is updated increasingly or decreasingly.
• the time scale changing value is updated by increasing the value in a predetermined sequence.
• the predetermined sequence may be an additive or multiplicative sequence.
• a change in the time constant may include scaling up or scaling down the time scale in response to the time scale changing value.
• the scaling-up/scaling-down ofthe time scale may include using a reference signal generating means for generating a reference signal at a variable frequency.
• the reference signal generating means may generate the reference signal at a variable frequency by dropping an oscillating pulse and inserting the oscillating pulse.
• the input signal may be a signal indicative of a desired value inputted to the control system, a signal indicative of a difference between a desired value inputted to the control system and a feedback value in the control system.
• the transfer element means may include at least one of a derivative element, an integral element, a first- order lag element, a second-order lag element, and a dead time element.
• the controller may comprise a discrete value system.
• the controller may comprise a continuous value system.
• the controller may include sampling means for sampling the input signal to generate a sampled input signal.
• control system may be a PLL circuit, or a time optimal PLL circuit.
• a method of operating a controlled object is provided, wherein the method includes the aforementioned control method.
• a control system including the aforementioned controller, and a controlled object is also provided.
• Fig. 1 is a block diagram illustrating a device system A according to a first embodiment to which the present invention is incorporated;
• Fig. 2 is a graph including curves CI - C4 for showing how the frequency response ofthe device 1 of Fig. 1 varies in response to a change in a time scale;
• Fig. 3 is a block diagram illustrating a device system B according to a second embodiment of the present invention.
• Figs. 4(a) and 4(b) are graphs illustrating frequency responses derived from the device system B of Fig. 3, wherein Fig. 4(a) illustrates the frequency characteristic of a transfer function, identical to the characteristic illustrated in Fig. 32(a), which exhibits substantially a constant gain extending to a high frequency range in order to provide a faster initial input/output response, and Fig. 4(b) illustrates the frequency characteristic of a transfer function which is changed, utilizing a time scale change for the device B in accordance to the present invention, to reduce the gain in a high frequency range for suppressing disturbance;
• Fig. 5 is a block diagram illustrating a control system C according to a third embodiment, wherein the present invention is applied to a control system;
• Fig. 6 is a block diagram for explaining a transfer function changing unit 34C in Fig. 5 in greater detail, in which a controller 1 C comprises an integral element;
• Figs. 7(a) and 7(b) are diagrams for explaining the operation ofthe transfer function changing unit configured as illustrated in Fig. 6;
• Fig. 8 is block diagram illustrating a specific circuit configuration of a time scale changing processor 300C in Fig. 5;
• Figs. 9(a) and 9(b) are block diagrams illustrating a feedforward system and a feedback system which are examples of modifications to the control system C of Fig. 5;
• Fig. 10 is a block diagram illustrating an example of a modification to a controller 1C and a transfer function changing unit 34C, where a transfer element IOC ofthe co ltroller 1C comprises a first-order lag element;
• Fig. 1 1 is a block diagram illustrating an example of a compensator when a transfer element ofthe controller 1C is a general system
• Fig. 12 is a block diagram illustrating a PLL circuit D according to a fourth embodiment in which the present invention is applied to a time optimal
• Fig. 13 is a block diagram illustrating details of a controller ID in Fig. 12;
• Figs. 14(a) to 14(c) are timing diagrams for explaining the operation principles of a conventional known time optimal PLL
• Fig. 15 is a diagram illustrating how the time scale or the sampling period is changed using the relationship among the deviation e, the time scale coefficient n, and the sampling period;
• Fig. 16 is a diagram illustrating a change in the magnitude ofthe error e, corresponding to Fig. 15;
• Fig. 17 is a table showing the effect ofthe PLL circuit D according to the present invention in comparison with a conventional time optimal PLL;
• Fig. 18 is a block diagram illustrating a variable frequency oscillator 20D which is an embodiment of a variable frequency oscillator 2D in Fig. 12;
• Figs. 19(a) to 1 (c) are timing diagrams for explaining the operation of the variable frequency oscillator 20D of Fig. 18;
• Figs. 20(a) and 20(b) are diagram illustrating a mixer 2020D which is another embodiment of the mixer 202D illustrated in Fig. 18;
• Fig. 21 is a block diagram illustrating a drop/insertion timing generator 2040D which is another specific embodiment of a drop/insertion timing generator 204D in Fig. 18;
• Fig. 22 is a diagram for explaining an approach for implementing a controller ID of the time optimal PLL illustrated in Fig. 13 in a digital form;
• Fig. 23 is a block diagram illustrating a controller IF which is an embodiment of the configuration illustrated in Fig. 22 using two up/down
• Fig. 24 is a diagram showing a method of performing a 1/n incremental/decremental counting operation in an integration-type U/D counter 102F in Fig. 23;
• Fig. 25 is a diagram showing a method of performing a k/n multiplication in a loadable U/D counter 100F in Fig. 23;
• Fig. 26 is a block diagram illustrating a controller 1 G which is another embodiment of the controller ID of Fig. 12;
• Fig. 27(a) is a block diagram illustrating a power supply regulator to which a controller according to the present invention is applied;
• Fig. 27(b) is a graph illustrating the voltage versus time characteristic of the power supply regulator of Fig. 27(a);
• Fig. 28 is a block diagram illustrating another configuration of a controller according to the present invention applied to a control of rotation (speed) of a motor;
• Fig. 29 is a diagram illustrating a position (servo) control system to which the present invention is applied;
• Fig. 30 is a diagram illustrating an application of the present invention to a control for a system which involves human's sense
• Figs. 31(a) to 31(d) are graphs illustrating several examples of time response characteristics of control systems; and Figs. 32(a) and 32(b) are graphs illustrating the frequency characteristics from a viewpoint of the frequency response for the time responses illustrated in Figs. 31 (a) to 31(d).
• First Embodiment Fig. 1 illustrates in block diagram a device system A according to a first embodiment which incorporates the present invention.
• the device system A comprises a device 1, the characteristics of which are to be changed, and a characteristic changing apparatus 3 for changing the characteristics of the device 1.
• the device 1 is assumed to encompass apparatus of different scales such as plants, equipment, microcomponents, electric circuits and electric circuit elements, and so on; apparatus of different fields such as electricity, chemistry, mechanics, physics and so on; or apparatus of different kinds.
• the characteristic changing apparatus 3 provides a time scale on which the device 1 operates, and comprises a time scale changing unit 30 and a time scale generator unit 32, as illustrated.
• time scale means the scale of a time axis, and is intended to be a concept including real time (absolute time).
• the time scale changing unit 30 generates at its output a time scale changing signal TSC for changing the time scale on which the device 1 operates in response to an input external to the system or in response to a signal internal to the system.
• the time scale generator unit 32 responsive to the output TSC, generates at its output a time scale output TS specified by the received time scale changing signal TSC.
• the time scale generator unit 32 may comprise, for example, a variable frequency oscillator, variable frequency clock generator, or the like. Examples ofthe time scale output TS may be a variable frequency oscillating output, a clock signal, and so on.
• Fig. 2 illustrates how an input/output response, which is one of the characteristics of the device 1 , particularly, the frequency response varies as the time scale is changed. Assuming herein that the device 1 has a certain transfer function, and a curve CI represents a frequency response of the device
• the frequency response is represented by a curve C2 when the time scale is moved from the value TSl to a higher time scale value TS2. This is because the frequency characteristic is shifted to the lower frequency side due to a compression of the time scale.
• the time scale is changed to a value lower than TSl, the resulting expansion ofthe time scale causes the reverse phenomenon, i.e., the characteristic is changed from the curve CI to a curve
• a change in the time scale on which the device 1 operates can change the frequency response both in the frequency direction and in the gain direction.
• any change is not made to circuit constants, circuit configuration or the like ofthe device 1.
• the characteristic can also be scaled down or scaled up in the frequency direction without significantly changing the shape ofthe characteristic (this scale-down or scale-up of the characteristics is different from a simple translation), as a curve C3.
• the embodiment of Fig. 1 shows the time scale generator unit 32 disposed external to the device 1
• the time scale generator 32 may be omitted if the device 1 itself comprises such a generator unit therein.
• Fig. 3 illustrates in block diagram the device system B which differs from the device system A of Fig. 1 only in that a characteristic change compensator unit 34B is added to the device characteristic changing apparatus 3A, so that the following description will particularly focus on the characteristic change compensator unit 34B.
• the elements in Fig. 3 identical to those in Fig. 1 are designated the same reference numeral followed by a character "B."
• the characteristic change compensator unit 34B comprises an input for receiving a time scale changing signal TSC from a time scale changing unit 30B, and an output for generating a characteristic change compensation output CCO to a device IB.
• the characteristic change compensator unit 34B compensates the device IB for a change in the characteristics in response to the time scale changing signal TSC.
• the term "compensation” means that the characteristics of the device is compensated to maintain the transfer function of the device IB or transform the same into an arbitrary predetermined alternative. It is contemplated, for example, that the characteristic change compensator unit 34B changes the transfer function of the device IB so as to cancel a change in the transfer function ofthe device IB resulting from a change in the time scale, or adds a transfer element having a transfer function for canceling the change. As a method for changing the transfer function, a variety of arbitrary known techniques may be utilized. Also, while the compensator unit 34B is shown as disposed external to the device IB, the compensator unit 34B may be inco ⁇ orated in the device IB itself.
• Fig. 4(a) illustrates the same characteristic as that illustrated in Fig. 32(a), i.e., the frequency characteristic of a transfer function which exhibits substantially a constant gain extending to a high frequency range in order to provide a faster initial input/output response.
• Fig. 4(b) illustrates the frequency characteristic of a transfer function which is changed, utilizing a time scale change for the device B in accordance to the present invention, to reduce the gain in a high frequency range for suppressing disturbance.
• the present invention can readily provide a device with different frequency characteristics, which have not been readily realized in the prior art, only by changing the time scale or by changing the time scale and compensating the device for the change in the characteristic.
• the control system C comprises a controller 1 C (corresponding to the device IB in Fig 3) for controlling an arbitrary controlled object 2C, and a characteristic changing apparatus 3C (corresponding to the device characteristic changing apparatus 3B in Fig 3) for changing the characteristics ofthe controller IC
• the control system C has a configuration substantially similar to that of the device system B in Fig 3, except that the device IB is a controller for a control system
• the controller 1 C has a predefined transfer function which is determined by a conventional design approach using circuit constants, cncuit configuration, or the like, for controlling the controlled object 2C Any controller having arbitrary characteristics, particularly, those previously proposed as having good characteristics, may be used as the controller CI
• An example of the controller IC is the aforementioned time optimal PLL which exhibits supremacy in fast response
• the controller IC receives at its input an input signal IN indicative of a desired value for control or a deviation of the desired value to
• the configuration of Fig 5 also differs from that of Fig 3 in that the time scale changing unit 30C comprises a state observation unit 320C in addition to a time scale changing processor 300C, and the characteristic change compensator unit 34B is replaced with a transfer function changing unit 34C More specifically, the time scale changing unit 30C includes the time scale changing processor 300C, and the state observation unit 320C for knowing the state ofthe controlled object 2C directly from the controlled object 2C or indirectly from a portion other than the controlled object 2C within the control system C (for example, the input or the output ofthe controller, or any appropriate position within the controller) For knowing the state of the controlled object 2C indirectly, the state observation unit 320C may also be referred to as a "state estimatoi " The state observation unit 320C generates at its output a state signal SS indicative of the state of the controlled object observed thereby The time scale changing processor 300C, which receives the state signal SS, has a predetermined time scale changing function Ftsc.
• This function is involved in generating a time scale value TSV from the state signal SS from the state observation unit 320C for specifying a time scale value, which should be used when the current state signal SS presents a particular value.
• the function Ftsc may be implemented by a variety of known methods including a lookup table.
• a time scale generator unit 32C which receives the time scale value TSV, is similar to the time scale generator unit 32B in Fig. 3.
• the time scale generator unit 32C has a predetermined time scale generating function Ftsg for generating the time scale.
• the time scale generator unit 32C determines a time scale generated by the function Ftsg with the time scale value TSV as an input, and generates a time scale output TS having the thus determined time scale.
• the simplest example ofthe function Ftsg is a constant of one ("1 ").
• the time scale output TS is a variable frequency clock signal.
• the scale-up ofthe time scale refers to a reduction in the frequency ofthe clock signal, while the scale-down of the time scale refers to an increase in the frequency.
• the time scale output TS may be implemented not only by a rectangular signal such as a clock signal but also by any other arbitrary signal having a periodic waveform such as a sinusoidal oscillator output. It should be noted that a portion ofthe time scale generator unit 32C for generating a variable frequency clock may be omitted if the controller IC contains such a clock generator.
• the present invention has the ability of changing the time constant associated with the transfer function of a transfer element within the controller 1 C by changing the time scale using the time scale generator unit 32C.
• the present invention provides an approach of adaptively varying the frequency characteristic of a control system by adaptively changing preferably the time scale.
• previously proposed characteristic control systems may be used as they are (without changing characteristic circuit constants or the shape of their transfer functions).
• the transfer function changing unit 34C which receives the time scale value TSV, is a component co ⁇ esponding to the characteristic change compensator unit 34B in Fig. 3, embodies the compensator unit 34B in a more specific manner.
• the transfer function changing unit 34C is intended to handle the transfer function ofthe controller IC as a characteristic to be changed, and has a predetermined transfer function changing function Ftfc for changing the transfer function.
• the transfer function changing unit 34C generates a transfer function changing output TFC for changing the transfer function ofthe controller IC in accordance with the function Ftfc with the time scale value TSV used as an input.
• the TFC output is adapted to the configuration of a circuit (not shown) used to change the transfer function disposed within the controller IC.
• Fig. 6 illustrates an example in which the controller IC is supposed to consist only of an integrator IOC which is an integral element.
• the transfer function GI of the integrator IOC is represented by 1/Ts as shown, where T is a time constant, and s is the Laplace operator.
• the controller IC is provided with a compensator 12C for compensating the transfer function GI for a change resulting from variations in the time constant caused by changing the time scale.
• the compensator 12C comprises a multiplier for compensating the transfer function GI ofthe integrator IOC so that it remains constant.
• the multiplier 12C is a circuit for multiplying the input to the controller IC by a coefficient ⁇ .
• the multiplier 12C multiplies its input by the coefficient ⁇ having a value indicated by the transfer function changing output TFC from the transfer function changing unit 34C, and outputs the resultant product.
• the transfer function GI in the illustrated configuration is expressed by the following equation (1).
• the coefficient ⁇ may be doubled if the time constant is increased by a factor of two. In this way, the transfer function G 1 can be maintained constant.
• the transfer function GI is one half of the transfer function before the time constant T is changed. If such a transfer function is desired, the compensator as in this example may be omitted, or the transfer function changing unit 34C may be configured to change the transfer function GI to another transfer function.
• Figs. 7(a), 7(b) which illustrate output waveforms generated when a constant input signal is applied to the compensator.
• Fig. 7(a) shows the output waveform when a sampling period is f; and Fig. 7(b) when the sampling period is f .
• the horizontal axis represents the time, and small scale marks indicate operating clocks.
• the output waveform is sampled at sampling timings 1, 2, 3.
• the constant input signal may be reduced from a dotted line to a solid line in Fig. 7(b), corresponding to the extended sampling period.
• the adjustment to the constant input signal may be made by the compensator 12C in the aforementioned example. Since a longer sampling period results in a lower sensitivity or response speed ofthe integrator, the integrator will have a higher disturbance suppression capability. Conversely, the characteristic reverse to the above can be realized by reducing the sampling period.
• the time scale changing processor 300C comprises a state quantity determining unit 300-1 which receives a state value of a controlled object from the state observation unit 320C in Fig. 5; and a set value updating ulOt 300-3 connected to the state quantity determining unit 300-1.
• Fig. 8 a state quantity determining unit 300-1 which receives a state value of a controlled object from the state observation unit 320C in Fig. 5; and a set value updating ulOt 300-3 connected to the state quantity determining unit 300-1.
• the state quantity determining unit 300-1 includes two sets of a circuit configuration comprised of a evaluation function circuit 300-10 or 300-13, a threshold value memory 300- 11 or 300-14, and a comparator 300-12 or 300-15
• the evaluation function circuit 300-10 receives an observed state quantity at its input, evaluates the state quantity in accordance with a built-in predetermined evaluation function Fel, and generates an evaluation result El at its output
• the threshold value (TH1) memory 300-1 1 stores a threshold value TH1 which serves as the basis for determining the evaluation result El through the evaluation function Fel , and supplies this threshold value to its output
• the comparator 300-12 receives the evaluation result El and the threshold value TH1, and generates an initial value setting output INIT set at HIGH when the evaluation result El is equal to or higher than the threshold value TH1 Conversely, the comparator 300-12 sets the initial value setting
• the threshold value (TH2) memory 300-14 stores and outputs a threshold value TH2 which may be equal to or less than the threshold value TH1
• the comparator 300-15 receives the evaluation result E2 and the threshold value TH2, and sets an update command signal UC at LOW to stop updating the time scale change when the evaluation result E2 is equal to or higher than the threshold value TH2, and sets the update command signal UC at HIGH to update the time scale change in accordance with a predetermined sequence associated therewith when the evaluation result E2 is lower than the threshold value TH2
• a set value update unit 300-3 receives the initial value setting output INIT and the update command signal UC.
• the set value update unit 300-3 comprises a time scale setting value memory 300-30 having an input for receiving the initial value setting output INIT; an increasing function circuit 300-31 and a decreasing function circuit 300-32 each having an input connected to the output of the memory 300-30; and a selector 300-33 which receives the outputs ofthe function circuits 300-31, 300-32.
• the output of the selector 300-33 is connected to another input ofthe time scale setting value memory 300-30.
• the memory 300-30 generates an initial value ofthe time scale stored therein as a time scale value TSV when the initial value setting output INIT is at HIGH, and generates an input received from the selector 300-33 at its output when the initial value setting output INIT is at LOW.
• the two function circuits 300-31, 300-32, which receive the output ofthe memory 300-30, are circuits for generating a value by which the output ofthe memory 300-30 is increased or decreased.
• the selector 300-33 which receives the increased or decreased value, does not select any ofthe outputs from the function circuits 300-31, 300-32 when the update command signal UC is at LOW, so that the memory 300-30 continues to output the initial value.
• the selector 300-33 selects the output from the increasing function circuit 300-31 and delivers the same to the output when the initial value is a minimum value within a time scale update range. In this event, the output of the increasing function circuit 300-31 is delivered to the output ofthe memory 300-30 in place ofthe initial value. As long as the update command signal UC remains at HIGH, the output ofthe memory 300-30 is fed back to the increasing function circuit 300-31 to generate a further increased signal which is output from the memory 300-30 through the selector 300-33. In this way, the time scale value TSV can be gradually increased.
• the time scale changing processor 300C sets the time scale to the most scaled-down time scale (corresponding to a higher sampling frequency in the above-mentioned example) when an observed state quantity is higher than the threshold value TH1 to increase the sensitivity ofthe controller IC, i.e., the response speed. Subsequently, when the state quantity is reduced below the threshold value TH2, the time scale changing processor 300C increases the time scale from the initial value to scale up the time scale for reducing the sensitivity of the controller IC.
• the time scale changing processor 300C continues to scale up the time scale to further reduce the sensitivity of the controller IC, thereby making it possible to enhance the stability of the controller IC. If the state quantity suddenly increases to exceed the threshold value TH1 while the sensitivity ofthe controller IC is being reduced, the time scale changing processor 300C again scales down the time scale to increase the sensitivity of the controller 1 C, thereby enabling a faster response.
• the selector 300-33 is operable, when the initial value is a maximum value within the time scale changing range, to select the output ofthe decreasing function circuit 300-32 and delivers the same to its output, so that a decreased time scale is generated at the output of the memory 300-30 in place ofthe initial value.
• the update command signal UC remains at HIGH, the output of the memory 300-30 is fed back to the decreasing function circuit 300-31 to generate a further reduced signal.
• one ofthe increasing function and the decreasing function may be omitted.
• the increasing function and the decreasing function may be used in combination, in which case, at least one set of an evaluation function circuit, a threshold value memory and a comparator is added to select one of the increasing function and the decreasing function.
• control system C of Fig. 5 may be implemented in a feedforward system configuration as illustrated in Fig. 9(a).
• an input IV is equal to a desired value r as described above.
• the conirol system C may be implemented in a feedback system configuration as illustrated in Fig. 9(b), in which case, an input IN is equal to a deviation e derived by calculating the difference between a desired value r and a feedback signal y by an adder 4C.
• Fig. 10 shows that a transfer element IOC ofthe controller IC is composed of a first-order lag element. As shown, the transfer function of the first-order lag element is represented by 1/(1+Ts). Likewise, with the first- order lag element, the illustrated compensator 12C may be used to perform a compensation to maintain the transfer function.
• the compensator 12C is connected between the input to the controller I C and the input to the first-order lag element 10C, and is provided with a transfer function, the numerator of which has the same term as the term in the denominator of the transfer function of the first-order lag element 10C in order to cancel the operation resulting from the denominator, and the denominator of which has a term as the term of the denominator ofthe transfer function ofthe first-order lag element which receives a change ofthe time constant.
• the compensator 12C changes the value of the coefficient ⁇ in response to the transfer function update output TFC from the transfer function changing unit 34C.
• the compensation provided by the compensator ofthe type mentioned above can be employed when a multiplier as illustrated in Fig.
• Fig. 11 illustrates an example of a compensator for a general system.
• a transfer element 10C" in a general system has the transfer function represented by a general equation in the block.
• a used compensator 12C which has the transfer function represented by the equation in the block, can maintain the transfer function of a transfer element irrespective of a change in the time scale, by using the transfer function in the block.
• a coefficient ⁇ in the transfer function of the compensator 12C" is specified by the transfer function changing output TFC from the transfer function changing unit 34C in Fig. 5.
• a PLL circuit D according to the present invention comprises a phase comparator 4D which receives a reference signal r, with which the phase should be synchronized, at one of two inputs thereof; a controller ID according to the present invention; and a variable frequency oscillator 2D such as a voltage controlled oscillator (VCO), as is the case with a conventional PLL circuit.
• the output of the oscillator 2D is connected to the other input of the phase comparator 4D.
• a 1/r frequency divider circuit may be interposed between the one input of the phase comparator 4D and the reference signal r, and a 1/f frequency divider circuit may be interposed between the other input of the phase comparator 4D and the output ofthe oscillator 2D, as required (indicated by dotted blocks in Fig. 12).
• Fig. 13 is a block diagram illustrating details of the controller ID of Fig. 12.
• the estimator 14D comprises a Z element and a k-times multiplier which receive the output of
• -1 10D comprises an adder; and a Z element which receives the output ofthe adder, where the adder is connected to add the output ofthe Z element to the output ofthe estimator 14D.
• the Z element is a register for holding data for one sampling time. The sampling time is associated with a periodic signal generated each time a data measurement made by the phase comparator 4D is ended, and is substantially equal to the frequency of the reference signal (or its 1/r).
• the transfer function of the overall controller is represented by the following equation (2):
• equation (2) matches the transfer function of the time optimal PLL
• the operation unit of Z depends on a clock which may be applied at a particular time.
• Figs. 12 and 13 do not particularly illustrate the characteristic changing apparatus according to the present invention for the PLL.
• the characteristic changing apparatus 3C illustrated in Figs. 5, 6 and 8 may be used for the PLL.
• the characteristic changing apparatus 3C if employed, operates to change the sampling period as the time scale for the PLL, and to change the coefficient ofthe multiplier 12D.
• Fig. 14(a) shows a reference signal
• Fig. 14(b) a follow-up signal
• Fig. 14(c) a difference in time between the reference signal and the follow-up signal.
• Fig. 14(a) shows the moment at which the period ofthe reference signal transitions from Tl to T2.
• the response shown in Fig. 14(b) is an optimal solution provided that no time lag or transient, possibly caused by a loop filter or the like, occurs.
• the follow- up side detects that the reference signal did not appear at a time at which it had estimated that the reference signal would be generated at the position ofthe period Tl
• the follow-up side generates the follow-up signal in penod Tl
• the follow-up side starts measunng an e ⁇ or, and completes the detection ofthe error (T2-T1) as indicated in Fig 14(c) after the period T2, as shown in Fig 14(a)
• the time optimal PLL operates to estimate from the detection result that the period ofthe reference signal of Fig 14(a) has changed to T2
• the time optimal PLL controls the manipulated variable at the first step to extend the period to 2T2-T1 (the phase is first matched), and outputs the signal at the point of 2T2-T1
• the time optimal PLL returns the manipulated variable to recover the period to T2 (matching the period), and outputs the signal at the point of period T2
• the time optimal PLL is an extremely quick response follow system which can lock the P
• Fig 15 shows the relationship among the deviation e, time scale coefficient n
• sampling period Fig 16 shows a change in the magnitude of an error corresponding to Fig 15
• Reference T j ⁇ designates a reference penod for an output of a phase comparator
• the time scale coefficient n is set at one (initial value) (see the initial value setting output INIT in Fig 8)
• This can be readily accomplished by multiplication by 1/2 (for example, a shifter is available for this operation). From a viewpoint ofthe operation for control, it can be regarded that the following two stages are alternately performed: Stage 1 : measurement of an error with the reference signal; and Stage 2: Elimination of the error in the shortest possible time.
• the PLL constitutes a feedback system as a whole, so that the error is converged in several sample periods, though not in the shortest time period.
• One of key points of the PLL circuit according to the present invention lies in that the measured error e is weighted by 1/2 such that the measured error e is eliminated just in a period of 2T R .
• the control operation is performed every third sample in a period of 3T R ; very fourth sample in a period of 4T R ; and every nth sample in a period of nT R , wherein e may be weighted using a 1/n multiplier.
• the increasing function circuit 300-31 may be implemented by left-hand shifting, while the 1/n multiplier 12D may be implemented by right-hand shifting, resulting in the advantage of simplifying the apparatus.
• a selection sequence may be previously determined for the time scale coefficient n and stored in a lookup table stored in a memory, such that values in the table are sequentially selected from the lookup table.
• the e ⁇ or measurement in the state observation unit 320C may be performed every T R in order to quickly respond to an abrupt change in the reference signal (for example, a change in the frequency set value).
• the time scale coefficient n may be calculated by a phase comparator.
• the monitoring period m is counted again from one.
• the estimator 14D can produce the largest effect when its coefficient k is set at two, the coefficient k may be set at a value other than two depending on a particular object such as for taking into account a measurement error, or for intentionally failing to eliminate the error in the shortest possible time. Also, for a similar reason, Z " 1 need not be limited to a single element. In other words, a general PLL rather than the time optimal PLL can be used as the PLL. This means that the present invention is applicable to such modified implementations. Next, the effects of the PLL circuit D using the time optimal PLL according to the present invention illustrated in Figs.
• the table shows a distortion ratio (THD+N) when the PLL circuit D is operated in synchronism with a reference clock at 1 KHz to generate a PLL output clock at 16.9344 MHz (44.1 KHz, 384 fs), and an audio D/A converter is operated using the resultant clock to generate a sinusoidal signal at 1 KHz.
• the degree of clock jitter significantly affects the performance of the analog output signal of the audio D/A converter.
• the measurement ofthe error is equivalent to integrating the e ⁇ or for the period nT R and comparing the integration result with a reference value, the follow-up signal is less susceptible to the influence of fluctuations in the frequency ofthe reference signal.
• the measurement accuracy ofthe error e since effective digits can be shifted to the right in the 1/n multiplier, the measurement accuracy is increased as the value n is larger (the accuracy is increased by a factor of n). Specifically, immediately after the follow-up operation is started, the error measurement accuracy is low, however, the manipulated variable is frequently updated so that the response is extremely fast. Subsequently, as the time scale coefficient n is gradually updated, the accuracy is gradually increased, and the manipulated variable is updated at longer intervals in order to provide a high disturbance suppression capability.
• variable frequency oscillator 20D which is an embodiment of the variable frequency oscillator 2D in Fig. 12.
• the illustrated variable frequency oscillator 20D is implemented by a local oscillator 200D; a mixer 202D having one of two inputs connected to the output of the local oscillator
• the analog PLL 206D which constitutes a follow-up system per se, is configured to generate an oscillating signal synchronized with an input reference signal received by the PLL 206D.
• the input ofthe analog PLL 206D is supplied with oscillating pulses from the local oscillator 200D through the mixer 202D.
• the mixer 202D drops or inserts oscillating pulses from the oscillator 200D in response to the output from the drop/insertion timing generator 204D to vary the frequency ofthe local oscillator 200D, thereby synchronizing the follow-up signal generated by the analog PLL 206D at its output with the reference signal.
• Fig. 19(a) illustrates the oscillating pulses at a constant frequency generated by the local oscillator
• Fig. 19(b) illustrates the drop/insertion timing signal output by the drop/insertion timing generator 204D.
• the timing generator 204D receives a signal indicative ofthe oscillating frequency, which is the output ofthe controller IC, and the oscillating pulses from the local oscillator 200D, and generates a timing output for dropping or inserting a pulse in accordance with the signal indicative of the oscillating frequency.
• the timing generator 204D may be implemented in a variety of methods. For example, it may be implemented by a combination of a comparator and an AND gate (both not shown).
• the mixer 202D which receives the timing output and the oscillating pulses, inserts one oscillating pulse when the timing output is a positive pulse, and drops one oscillating pulse when the timing output is a negative pulse, as illustrated in Fig. 19(c).
• a mixer may be implemented in a variety of methods.
• the insertion ofthe oscillating pulse may be implemented by a combination of an oscillator for generating a signal at a frequency double the oscillating frequency of the local oscillator 200D, and a gate circuit (both not shown), while the drop of the oscillating pulse may be implemented by a gate circuit (not shown). Even with such insertion/drop of the oscillating pulse, a follow-up signal with suppressed jitter can be produced since the analog PLL 206D contains a loop filter and accordingly quite immune to the jitter ofthe input signal.
• FIG. 20(a) illustrates a state transition diagram for a mixer having h states. While Fig. 20(a) illustrates six states, the mixer may be designed to have any arbitrary number of states. Assuming herein that the mixer outputs "0" at a state (represented by a circle) denoted “0" and outputs "1 " at a state denoted "1,” the mixer outputs three "0's” and three "l 's" in accordance with the frequency ofthe local oscillator in a normal condition.
• the drop/insertion timing generator 204D also employs the oscillating pulses of the local oscillator as an operating clock.
• the mixer transitions to WAIT to stop the state transition when a signal from the drop/insertion timing generator 204D (for example, the negative pulse in Fig. 19(b)) reaches.
• the frequency ofthe output signal from the mixer 2020D can be delayed in phase by 1/h (1/6 in this embodiment).
• the phase of the output signal can be advanced by the mixer 2020D skipping the state, as indicated by a dotted line in Fig. 20(a), in response to a signal from the timing generator 204D (for example, a positive pulse in Fig. 19(b)).
• the oscillating output can be generated at a variable frequency.
• one ofthe two mechanisms may only be used.
• the illustrated drop/insertion timing generator 2040D employs the oscillating pulses from the local oscillator 200D as an operating clock, calculates a difference between the operating clock and an output u(k) indicative of a target frequency generated by the controller ID, and drops or inserts the number of pulses equal to the difference from or into the oscillating pulses from the local oscillator 200D at the most regular possible intervals.
• the timing generator 2040D is implemented by a modulo integrator which is composed of two adders 2040-1 ,
• the first adder 2040-1 receives the output u(k) ofthe controller ID at one input, and receives the output ofthe detector 2040-4 through the multiplier 2040-5 at the other input.
• the second adder 2040-2 receives the output ofthe adder 2040-1 at one input, and receives the output of the delay element 2040-3 at the other input.
• a loop inside the timing generator 2040D constitutes a simple integrator.
• the overflow detector 2040-4 behind the integrator outputs "-1," "0,” “+1 " depending on the value of a signal input to the overflow detector 2040-4.
• the overflow detector 2040-4 outputs "+1 " when the input signal is equal to or higher than a limit value M previously set therein (co ⁇ esponding to the positive pulse in Fig. 19(b)); "-1 " when the input signal is equal to or lower than a limit value -M previously set therein (corresponding to the negative pulse in Fig. 19(b)); and otherwise "0".
• the circuit operates as a modulo M multiplier which can be used to implement the aforementioned drop/insertion timing generator 204D.
• a down counter and a divider may be employed, as will be readily understood by those skilled in the art.
• the drop/insertion timing generator 2040D using a modulo integrator may be implemented in an analog sample value system or in a digital form.
• a controller IE illustrated in Fig. 22 is a modification to the circuit configuration in Fig. 13.
• the multiplier 12D and the multiplier (k) in the estimator 14D in Fig. 13 are rea ⁇ anged, and the manipulated variable memory 10D positioned at the right end is moved to the left, the circuit configuration as illustrated in Fig. 22 results.
• a delay element Z ' ofthe manipulated variable memory 10D is inserted in the main line from e(k) to u(k) (i.e., the preceding value is used in the manipulated variable memory 10D).
• Fig. 23 illustrates an embodiment which implements the configuration of
• the illustrated controller IF comprises a loadable U/D counter 100F for phase difference adjustment, and an integration-type U/D counter 102F for period estimation. Both counters receive a pulse width signal proportional to e(k) from the phase comparator 4D in Fig. 12 at their respective up/down inputs; receive a phase difference measuring frequency f as an operating clock input; receive a time scale coefficient n as a bit shift input; and a sampling clock (not shown) at their clock inputs.
• the integration type U/D counter 102F has a count output connected to a preset input ofthe loadable U/D counter 100F, and the output of the U/D counter 100F is delivered as u(k).
• Period estimation and phase difference adjustment in these U/D counters are performed by counting up (down) at the phase difference measuring frequency f, which is a sufficiently high frequency, while an up/down signal is output from the phase comparator 4D.
• f phase difference measuring frequency
• each ofthe loadable U/D counter 100F and the integration-type U/D counter 102F also performs the function of an associated adder illustrated in Fig. 22.
• the integration-type U D counter 102F is configured not to reset a counting operation every sampling time, to perform an integration function (corresponding to the integrator in Fig 22) Further, the integration-type U/D counter 102F performs an incremental/decremental counting operation by 1/n for realizing a weight of 1/n in the penod estimator 102E
• Fig 24 The counter 1 OOF loads the operating result of the integrated U/D counter 102F every sampling time (implementing Z ' of one sample time lag)
• "XXXXXXXXXX" indicates a current count value of the counter
• the position of " 1 " in the mcrementer is shifted to the nght by q bits in both counters
• the evaluation ofthe error is performed by an integration-type estimator, which is effective in suppressing npple fluctuations in the manipulated vanable due to a varying e ⁇ or such as fluctuations in the system itself, an error introduced m a measured phase (including a quantization error in a digital implementation), and so on
• an integration-type estimator which is effective in suppressing npple fluctuations in the manipulated vanable due to a varying e ⁇ or such as fluctuations in the system itself, an error introduced m a measured phase (including a quantization error in
• Fig 26 illustrates another embodiment of the controller ID of Fig 12
• a controller 1G according to this embodiment comprises a sample/hold (S/H) circuit 102G between the output ofthe phase comparator 4D in Fig 10 and a controller circuit 100G
• the controller 1G can be used when the present invention is applied to a device of a continuous value system type
• the provision ofthe sample/hold (S/H) circuit enables the continuous value system to be converted to a sample value system, so that the sample/hold circuit may be used to sample an incoming signal at certain time intervals (sampling frequency) to generate temporally discretized data which are used for a control
• the term "discrete time” means that a temporally discontinuous data sequence is handled, and data itself may be digital or analog
• the controller circuit 100G may be the controller ID of Fig 12, and the controllers IE, IF of Figs 22, 23 In this way, the present invention can be applied not only to a discretized value system but also to a continuous value system
• Fig 27(a) illustrates a power supply regulator to which a controller according to the present invention is applied
• the power supply regulator is configured in such a manner that a voltage sensor senses an output voltage, and the controller ofthe present invention controls a voltage or a cu ⁇ ent at a base of a transistor in response to the sensed voltage.
• control is used in the adjustment of the output voltage by the power supply regulator.
• both quick response and stability can be substantially simultaneously realized for the output voltage adjustment in a single circuit.
• the present invention when the present invention is applied to a regulator intended to generate a regulated current or a regulated voltage, the present invention has the advantage of adaptively changing the characteristics associated with an abrupt initial response and fluctuations due to disturbance.
• Fig. 28 illustrates another configuration ofthe present invention applied to a control of rotation (speed) of a motor.
• a controller according to the present invention receives an output from a sensor for sensing the rotation of the motor, and controls the motor in response to the sensor output.
• a controlled object may be a rotation control for HDD or drivers of DVD, CD and MD. While such a driver should control the motor to reach a constant speed as soon as possible, it is desired to control the motor to prevent fluctuations in rotation, once the constant speed is reached, in order to improve the reliability of data.
• fluctuations in rotation at initial time may be ignored, and the initial response characteristic may be ignored during a constant speed rotation.
• the controller of the present invention can be readily applied also to such a system.
• Fig. 29 illustrates a position (servo) control system to which the present invention is applied.
• the controlled object is a head driver for the aforementioned HDD, a positioning apparatus for a robot arm, a stepper for use in manufacturing LSIs, and so on. A moving speed of such a head and so on dictates the system performance of the entire system.
• the characteristics of a CD driver such as a seek time are critical factors directly related to the price, performance and so on ofthe apparatus.
• the head is desirably required to stably follow the control when information is read from the position
• the head traces a trajectory on which a moving speed may linearly vary from a track to another depending on a radial direction or a specified position on a disc It is therefore desired to adaptively control the movement ofthe head (speed ofthe movement, and so on) in accordance with the position of the head over the disc and a moving distance between tracks when a move command is issued
• the present invention can be advantageously applied to such a system as well
• Fig 30 illustrates a control when a system involves human's sense (psychiatric conditions)
• a temperature control conducted by a fan heater, an air conditioner, or the like it is necessary to control the amount of a heat source in accordance with the states of sensors
• a human may manipulate a temperature adjusting knob when he feels cold
• the comfort felt by the human he will not change the adjusting knob in such a case
• a human often expects an abrupt temperature change when he wants to change the temperature, even troubling himself to take an appropriate action therefor
• a system which is required to control the characteristics appropriate to an observed quantity to which a human or the like intervenes It is therefore possible to apply the present invention to a system which may include elements other than machines, apparatus and so on in a control system For observing
• the present invention is not at all limited to any particular device such as PLL or any particular field such as the field of electncity Also, the present invention is not limited to any particular scale such as an electrical circuit On the contrary, the present invention has an extremely wide range of applications
• the charactenstics of a device such as the operation, response, performance and so on ofthe device can be changed using a parameter different from those typically employed in the prior art, l e , a time scale
• the present invention has the capability of changing the operation and so on ofthe device m a manner different from the prior art, and of realizing characteristics different from those previously employed in conventional devices, and characteristics which have not been able to developed in the prior art.
• contradictory characteristics which have been difficult or impossible to simultaneously realize in the prior art, can be realized substantially simultaneously or in a single apparatus.
• a novel design parameter namely, the time scale can be used or added to existing parameters to realize a novel control scheme.

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