Design method of control device and control device
AssigneeFuji Electric Co., Ltd.
InventorFukiko KAWAI
Life of this patent
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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 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.
Claims12
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.
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,
- and which controls 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 an equivalent conversion, determining both a transfer function of the filter and a transfer function of the first feedback controller based on the feedback gain, a transfer function of the second feedback controller, and a transfer function of the nominal plant.
A control device that controls a controlled variable of a plant to a set point, comprising:
- a set point filter type two degrees of freedom PID control system including
- a filter into which the set point 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,
- wherein a 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, is equivalently converted to the set point filter type two degrees of freedom PID control system,
- a transfer function of the filter and a transfer function of the first feedback controller are both determined based on the feedback gain, a transfer function of the second feedback controller, and a transfer function of the nominal plant.
Dependencies are inferred from the claim text.