Closed-loop control method and closed-loop control device with multi-channel feedback

A method of closed-loop controlling, comprising the steps:

• determining a first feedback variable by sampling a control variable at a sampling rate, the actual value of the control variable being registered, respectively, at a point in time which is determined by the sampling rate, the actual value being provided as a first feedback variable,
• determining a first control deviation by comparing the first feedback variable with a command variable,
• generating a first individual controller output variable from the first control deviation by means of a first controller,
• determining a second feedback variable by averaging the control variable, the actual value of the control variable being registered over a period of time, whereby an average value is generated from the actual value, and whereby the averaged actual value is provided as a second feedback variable,
• determining a second control deviation by comparing the second feedback variable with the command variable,
• generating a second individual controller output variable from the second control deviation by means of a second controller,
• generating a controller output variable from the two individual controller output variables, and
• using the controller output variable for setting the control variable so that the control variable follows the command variable.

A closed-loop controller, comprising:

• a measuring device, wherein the measuring device is configured to determine a first feedback variable by sampling the control variable, the actual value of the control variable being registered each time at a point in time which is determined by the sampling frequency and the actual value of the control variable then being provided as a first feedback variable,
• wherein the measuring device is further configured to determine a second feedback variable by averaging the control variable, the actual value of the control variable being determined and averaged over a period of time and the averaged actual value being provided as a second feedback variable,
• a comparing device having a first and a second comparing element,
• wherein the first comparing element is configured to generate a first control deviation by means of a comparison of the first feedback variable with a command variable, and
• wherein the second comparing element is configured to generate a second control deviation by means of a comparison of the second feedback variable with the command variable,
• a closed-loop controller having a first and a second controller,
• wherein the first controller is configured to generate a first individual controller output variable from the first control deviation, and
• wherein the second controller is configured to generate a second individual controller output variable from the second control deviation,
• a summation device,
• wherein the summation device is configured to generate a controller output variable from the two individual controller output variables, and
• an actuator unit for setting the control variable by means of the controller output variable in such a way that the control variable follows the command variable.