| 摘要 |
<p>PROBLEM TO BE SOLVED: To reduce overshoot of control variables in a pneumatic apparatus having a dead time. SOLUTION: When reference signals Sr change step by step, since a switch 208 is open, a pneumatic apparatus 15 having a dead time is started to drive by PD control. After a lapse of the dead time, controlled variables change to make a location detecting element 20 issue output signals, resulting in changing from zero a value of a velocity signal Sv, which is a differential value of a feedback signal Sf. If a velocity detecting element 214 detects that the value of the velocity signal Sv is a predetermined value Svr or more, the switch 208 is shifted from open to close. After the shift, the pneumatic apparatus 15 is driven by PID control. Therefore, overshoot of the controlled variables, resulting from integrating the dead time by means of I control, is reduced.</p> |
