Method and oscillation controller for compensating for oscillations of an oscillatable technical system
AssigneeB&R Industrial Automation GmbH
InventorsAndreas Stöger, Thomas J. Frauscher, Ralf Skotschek
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Abstract
In order to eliminate control problems caused by a manipulated variable limitation in the oscillation control of an oscillatable technical system, a restriction ( d n u dt n m i n , d n u dt n m ax ) of at least one time derivative of the manipulated variable (u) in a control law for calculating the manipulated variable (u) is taken into account.
Claims21
A method for compensating oscillations of at least one oscillation variable (y) of an oscillatable technical system to be controlled with an oscillation controller having a control law, the method comprising;
- calculating from at least one of:
- a target value (Yset) and an actual value (Yact) of the oscillation variable (y) to be controlled or
- a time derivative of a target value (Yset) and of an actual value (Yact) of the oscillation variable (y) to be controlled,
- a manipulated variable (u) for an actuator of the oscillatable technical system,
- wherein in the control law for calculating the manipulated variable (u) takes account of a restriction
- (
- d
- n
-
- u
- dt
- n
-
- m
-
-
- i
-
-
- n
- ,
- d
- n
-
- u
- dt
- n
-
- m
-
-
- ax
- )
- of at least one time derivative of the manipulated variable (u);
- transmitting the manipulated variable to the actuator;
- and
- operating the actuator to modify at least one parameter of the oscillatable technical system according to the received manipulated variable to compensate for oscillations of the at least one oscillation variable in the oscillatable technical system.
An oscillation controller for compensating oscillations of at least one oscillation variable (y) of an oscillatable technical system to be controlled, the oscillation controller comprising:
- a processor;
- and
- a memory including instructions for a control law that, when executed by the processor, cause the processor to perform operations including:
- calculating, from at least one of:
- a target value (yset) and an actual value (yact) of the controlled oscillation variable (y) or
- a time derivative of a target value (yset) and of an actual value (yact),
- a manipulated variable (u) for an actuator of the oscillatable technical system,
- wherein the control law for calculation of the manipulated variable (u) takes account of a restriction
- (
- d
- n
-
- u
- dt
- n
-
- m
-
-
- i
-
-
- n
- ,
- d
- n
-
- u
- dt
- n
-
- m
-
-
- ax
- )
- of at least one time derivative of the manipulated variable (u) and the oscillation controller is structured to transmit the calculated manipulated variable (u) to the actuator,
- whereby the actuator is operated to modify at least one parameter of the oscillatable technical system according to the received calculated manipulated variable (u) to compensate for oscillations of the at least one oscillation variable (y) in the oscillatable technical system.
Dependencies are inferred from the claim text.