CONTROL APPARATUS

摘要

A control apparatus controlling a controlled variable of a controlled object having a response lag characteristic using a combination of feedforward control method, response-specifying control method, and disturbance compensation method. An ECU of the apparatus calculates driver demand boost pressure for feedforward-controlling actual boost pressure as controlled variable, and calculates FB target pressure as value on which response lag characteristic of the actual value to the driver demand value is reflected. The ECU calculates error as difference between the actual and target values, and feedback correction term as sum of equivalent control input including disturbance estimated value and the error as variables and reaching law input, using equation defining relationship between the error, feedback correction term value, and disturbance estimated value, and response-specifying control algorithm, and then adds the correction term value to the driver demand value to thereby calculate demanded boost pressure as control input.

主权项

1. A control apparatus for controlling a controlled variable of a controlled object having a response lag characteristic, by a control input, comprising:
controlled variable detecting means for detecting the controlled variable; first input value calculation means for calculating a first input value for controlling the controlled variable in a feedforward manner, using a predetermined feedforward control algorithm; error calculation means for calculating an error using the first input value and the controlled variable; second input value calculation means for calculating an equivalent control input, which includes a disturbance estimated value and the error as variables, and a reaching law input, using a discrete-time system model defining a relationship between the error, a second input value, and the disturbance estimated value, and a predetermined response-specifying control algorithm, and calculating the second input value using a sum of the equivalent control input and the reaching law input; and control input calculation means for calculating the control input using a sum of the first input value and the second input value.