US 10,409,229 B2Granted

Method of control device and control device

AssigneeFuji Electric Co., Ltd.

InventorFukiko Kawai

Life of this patent

Estimating the term…

Abstract

A method of designing a control device that controls a controlled variable of a plant to a set point, the control device including a feedback control system for outputting a manipulated variable of the plant based on an output of a feedback controller and a disturbance estimation value, including a step of selecting one of a first order transfer function, a second order transfer function, a third order transfer function, a first order and time delay transfer function, a second order and time delay transfer function, and a third order and time delay transfer function as a transfer function of the nominal plant in accordance with characteristics of the plant; and a step of determining a transfer function of the feedback controller based on a gain and time constant of the nominal plant.

Claims11

Dependent claims

A method of designing a control device that controls a controlled variable of a plant to a set point, the control device comprising a feedback control system, which includes:

a feedback controller into which a difference between the set point and the controlled variable is input, and
a disturbance feedback that outputs a disturbance estimation value wherein a difference between an output of a nominal plant into which an output of the feedback controller is input, and the controlled variable, is multiplied by a feedback gain, and
which outputs a manipulated variable of the plant based on the output of the feedback controller and the disturbance estimation value,
the method of designing a control device comprising:
selecting one of a first order transfer function, a second order transfer function, a third order transfer function, a first order and time delay transfer function, a second order and time delay transfer function, and a third order and time delay transfer function as a transfer function of the nominal plant in accordance with characteristics of the plant;
and
determining a transfer function of the feedback controller based on a gain and time constant of the nominal plant, wherein
when the first order transfer function in Equation (1) is selected as a transfer function Pn of the nominal plant, a transfer function K of the feedback controller is determined in Equation (2) based on a gain Kn and time constant Tn of the nominal plant,
when the second order transfer function in Equation (3) is selected as the transfer function Pn of the nominal plant, the transfer function K of the feedback controller is determined as in Equation (4) based on the gain Kn and time constants T1n and σn of the nominal plant, and
when the third order transfer function in Equation (5) is selected as the transfer function Pn of the nominal plant, the transfer function K of the feedback controller is determined in Equation (6) based on the gain Kn and time constants T1n, T2n, and σn of the nominal plant,
P
n
=
K
n
1
+
T
n
⁢
s
(
1
)
K
=
1
2
⁢
⁢
K
n
⁢
T
n
⁢
s
(
2
)
P
n
=
K
n
(
1
+
T
1
⁢
⁢
n
⁢
s
)
⁢
(
1
+
σ
n
⁢
s
)
,
σ
n
<
T
1
⁢
⁢
n
(
3
)
K
=
T
1
⁢
⁢
n
2
⁢
⁢
K
n
⁢
σ
n
·
1
+
T
1
⁢
⁢
n
⁢
s
T
1
⁢
⁢
n
⁢
s
(
4
)
P
n
=
K
n
(
1
+
T
1
⁢
⁢
n
⁢
s
)
⁢
(
1
+
T
2
⁢
⁢
n
⁢
s
)
⁢
(
1
+
σ
n
⁢
s
)
,
σ
n
<
T
2
⁢
⁢
n
<
T
1
⁢
⁢
n
(
5
)
K
=
T
1
⁢
⁢
n
2
⁢
⁢
K
n
⁢
σ
n
·
(
1
+
T
1
⁢
⁢
n
⁢
s
)
⁢
(
1
+
T
2
⁢
⁢
n
⁢
s
)
T
1
⁢
⁢
n
⁢
s
.
(
6
)

214 more elements

A method of designing a control device configured as a set point filter type two degrees of freedom PID control system, the control device comprising:

a filter into which a set point of a controlled variable of a plant is input, and
a first feedback controller into which a difference between an output of the filter and the controlled variable is input, and which outputs a manipulated variable of the plant,
the control device controlling the controlled variable to the set point,
the design method of the control device comprising:
equivalently converting a feedback control system to the set point filter type two degree of freedom PID control system, the feedback control system including a second feedback controller into which a difference between the set point and the controlled variable is input, and a disturbance feedback that outputs a difference between an output of a nominal plant into which an output of the second feedback controller is input, and the controlled variable, with multiplying by a feedback gain;
and
in the equivalently converting the feedback control system, determining a transfer function F of the filter and a transfer function K′ of the first feedback controller based on the feedback gain L, a transfer function K of the second feedback controller, and a transfer function Pn of the nominal plant, according to following equations 7 and 8:
K
′
=
L
+
K
+
LP
n
⁢
K
(
7
)
F
=
K
+
LP
n
⁢
K
L
+
K
+
LP
n
⁢
K
.
(
8
)

38 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/679,588Filed 6 Apr 2015 · continuation
Priority: JP 2012-26308030 Nov 2012
Published: US 2015/0212498 A130 Jul 2015
Granted: 10 Sep 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

G05B 11/42
With provision for obtaining particular characteristics, e.g. proportional, integral, differential: for obtaining a characteristic which is both…
G05B 19/19
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
G05B 2219/41368
Servomotor, servo controller till figures: disturbance observer, inject disturbance, adapt controller to resulting effect
G05B 2219/42033
Servomotor, servo controller kind till VSS: kind of servo controller

Family

PCT/JP2013/081278Parent of this continuation · filed 20 Nov 2013
US 2015/0212498 A1Pre-grant publication · published 30 Jul 2015
US 10,409,229 B2This patent

From the US filing history. Foreign family members aren’t listed.

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Abstract

A method of designing a control device that controls a controlled variable of a plant to a set point, the control device comprising a feedback control system, which includes:

a feedback controller into which a difference between the set point and the controlled variable is input, and
a disturbance feedback that outputs a disturbance estimation value wherein a difference between an output of a nominal plant into which an output of the feedback controller is input, and the controlled variable, is multiplied by a feedback gain, and
which outputs a manipulated variable of the plant based on the output of the feedback controller and the disturbance estimation value,
the method of designing a control device comprising:
selecting one of a first order transfer function, a second order transfer function, a third order transfer function, a first order and time delay transfer function, a second order and time delay transfer function, and a third order and time delay transfer function as a transfer function of the nominal plant in accordance with characteristics of the plant;
and
determining a transfer function of the feedback controller based on a gain and time constant of the nominal plant, wherein
when the first order transfer function in Equation (1) is selected as a transfer function Pn of the nominal plant, a transfer function K of the feedback controller is determined in Equation (2) based on a gain Kn and time constant Tn of the nominal plant,
when the second order transfer function in Equation (3) is selected as the transfer function Pn of the nominal plant, the transfer function K of the feedback controller is determined as in Equation (4) based on the gain Kn and time constants T1n and σn of the nominal plant, and
when the third order transfer function in Equation (5) is selected as the transfer function Pn of the nominal plant, the transfer function K of the feedback controller is determined in Equation (6) based on the gain Kn and time constants T1n, T2n, and σn of the nominal plant,
P
n
=
K
n
1
+
T
n
⁢
s
(
1
)
K
=
1
2
⁢
⁢
K
n
⁢
T
n
⁢
s
(
2
)
P
n
=
K
n
(
1
+
T
1
⁢
⁢
n
⁢
s
)
⁢
(
1
+
σ
n
⁢
s
)
,
σ
n
<
T
1
⁢
⁢
n
(
3
)
K
=
T
1
⁢
⁢
n
2
⁢
⁢
K
n
⁢
σ
n
·
1
+
T
1
⁢
⁢
n
⁢
s
T
1
⁢
⁢
n
⁢
s
(
4
)
P
n
=
K
n
(
1
+
T
1
⁢
⁢
n
⁢
s
)
⁢
(
1
+
T
2
⁢
⁢
n
⁢
s
)
⁢
(
1
+
σ
n
⁢
s
)
,
σ
n
<
T
2
⁢
⁢
n
<
T
1
⁢
⁢
n
(
5
)
K
=
T
1
⁢
⁢
n
2
⁢
⁢
K
n
⁢
σ
n
·
(
1
+
T
1
⁢
⁢
n
⁢
s
)
⁢
(
1
+
T
2
⁢
⁢
n
⁢
s
)
T
1
⁢
⁢
n
⁢
s
.
(
6
)

214 more elements

Facts

Application

14/679,588Filed 6 Apr 2015 · continuation

Priority

JP 2012-26308030 Nov 2012

Published

US 2015/0212498 A130 Jul 2015

Granted

10 Sep 2019

Term ends

Not estimatedThe source records don’t support an estimate.

Classification7 codes

G05B 11/42
With provision for obtaining particular characteristics, e.g. proportional, integral, differential: for obtaining a characteristic which is both…
G05B 19/19
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
G05B 2219/41368
Servomotor, servo controller till figures: disturbance observer, inject disturbance, adapt controller to resulting effect
G05B 2219/42033
Servomotor, servo controller kind till VSS: kind of servo controller