| 摘要 |
PURPOSE: A nonlinear PID controller is provided to automatically control the deadzone by varying PID error including deadzone with deadzone gain. CONSTITUTION: A nonlinear PID controller includes a cerebellar model articulation controller(CMAC)(20), a plurality of amplifiers(4,12,16), an error generation unit and an adaptive controller(6). The CMAC simulates the nonlinear function for the input signal. The amplifiers amplify the input signal by using a constant gain value. The error generation unit is connected to the CMAC and the amplifiers in common to generate the PID error including the deadzone. And, the adaptive controller is connected to the error generation unit to change the PID error including the deadzone into the deadzone gain value having an arbitrary value.
|
