Control apparatus for mechanical devices which regulates control system operation speed to prevent hunting and overshooting and thereby optimizes the control signal

A control apparatus for a mechanical device, comprising:

• reference input means for receiving a reference input signal;
• control means connected to said reference input means and the mechanical device for controlling the mechanical device;
• main feedback means for detecting a control signal output from said mechanical device and supplying said control signal to said control means as a main feedback signal;
• and
• auxiliary feedback means for detecting an output signal from said control means and outputting said control signal to said control means as an auxiliary feedback signal, wherein said control means uses a following formula to obtain the operating signal when the mechanical device has a proportional characteristic between the operating signal and the control signal:
• ##EQU14## where y.sub.n :
• the operating signal to be supplied to the mechanical device
• y.sub.n-1 :
• the auxiliary feedback signal
• x.sub.s :
• the reference input signal
• x.sub.n-1 :
• the main feedback signal
• .alpha.:
• a regulation speed regulation parametric constant (1.gtoreq..alpha.>0)
• .lambda.:
• a monotone convergence regulation parametric constant.

A control apparatus for a mechanical device, comprising:

• reference input means for receiving a reference input signal;
• control means connected to said reference input means and the mechanical device for controlling the mechanical device;
• main feedback means for detecting a control signal output from said mechanical device and supplying said control signal to said control means as a main feedback signal;
• and
• auxiliary feedback means for detecting an output signal from said control means and outputting said control signal to said control means as an auxiliary feedback signal, wherein said control means uses a following formula to obtain the operating signal when the mechanical device has an inverse proportional characteristic between the operating signal and the control signal:
• y.sub.n ={.alpha.(x.sub.n-1 -x.sub.s)/(x.sub.s +.lambda.)+1}.multidot.y.sub.n-1
• where
• y.sub.n :
• the operating signal to be supplied to the mechanical device
• y.sub.n-1 :
• the auxiliary feedback signal
• x.sub.s :
• the reference input signal
• x.sub.n-1 :
• the main feedback signal
• .alpha.:
• a regulation speed regulation parametric constant (1.gtoreq..alpha.>0)
• .lambda.:
• a monotone convergence regulation parametric constant.

A control apparatus for a mechanical device, comprising:

• reference input means for receiving a reference input signal;
• control means connected to said reference input means and the mechanical device for controlling the mechanical device;
• main feedback means for detecting a control signal output from said mechanical device and supplying said control signal to said control means as a main feedback signal;
• and
• auxiliary feedback means for detecting an output signal from said control means and outputting said control signal to said control means as an auxiliary feedback signal, wherein said control means uses a following formula to obtain the operating signal when the mechanical device has an inverse proportional characteristic between the operating signal and the control signal:
• ##EQU15## where y.sub.n :
• the operating signal to be supplied to the mechanical device
• y.sub.n-1 :
• the auxiliary feedback signal
• x.sub.s :
• the reference input signal
• x.sub.n-1 :
• the main feedback signal
• .alpha.:
• a regulation speed regulation parametric constant (1.gtoreq..alpha.>0)
• .lambda.:
• a monotone convergence regulation parametric constant.