| 摘要 |
PROBLEM TO BE SOLVED: To provide an anti-windup controller for dispensing with a special design for anti-windup compensation when designing a controller, with reduced calculation load and stable arithmetic quantity when executing a control arithmetic operation. SOLUTION: When the generation of the saturation of manipulated variables is predicted by monitoring manipulated variables from a controller, a time axial function value is calculated from virtual time manipulated variables, and time axial conversion is operated so that the real time manipulated variables can be made equal to the limit value of manipulated variables (one or both of upper limit or lower limit). Thus, the saturation of the manipulated variables can be prevented from being generated primarily. When the saturation of the manipulated variables is not generated according as whether or not the virtual time manipulated variables satisfy the limit value of the manipulated variables, the time axial function value is defined as 1, and when the saturation of the manipulated variables is determined to be generated, the value of the time axial function is calculated from the virtual time manipulated variables so that at least one of the elements of the real time manipulated variables can be made equal to the corresponding element of the limit value of the manipulated variables, and the virtual time manipulated variables are converted into the real time manipulated variables which do not generate the saturation of the manipulated variables based on the function value. COPYRIGHT: (C)2007,JPO&INPIT
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