| 摘要 |
PURPOSE:To adjust easily and freely an optimum characteristic state to both a disturbance and a target value by correcting virtually a control constant which is adjusted to a disturbance suppressing optimum characteristic, to a follow-up optimum characteristic state against a variation of the target value. CONSTITUTION:A compensation operating part 10 calculates a compensation quantity (a) (s) by executing a compensating operation based on a transfer function H(s) to a target value SV in order to correct equivalently control constants KP, TI and TD which have been adjusted to a disturbance suppressing optimum characteristic, to target value follow-up optimum characteristics KP', TI and TD' with respect to a deviation epsilon which has been generated by a variation of the target value. This compensation quantity is subtracted from an adjusting output (u) from a control operating part 11 by an operating part 12, and its result is supplied as a manipulated variable to a control object 3. By this compensation, the transfer function which has been adjusted to the disturbance suppressing optimum characteristic state is changed virtually to a transfer function C' (s) of the target value follow-up optimum characteristic state with respect to the deviation epsilon. In this way, the constants KP', TI' and TD' can be set by correcting a parameter which can be optimized and adjusted originally against a variation of the target value without changing the constants KP, TI and TD.
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