| 摘要 |
PURPOSE: To ensure control stability and safety of a plant even in the case of digital differentiation arithmetic operation adopting the twin linear conversion system. CONSTITUTION: The digital PID controller where a deviation is obtained from a control variable of a controlled system and an object value, velocity PI control arithmetic operation is executed for the deviation and velocity type D control arithmetic operation is executed for the deviation or the control variable and after velocity control arithmetic outputs are synthesized, the result is converted into a position operation signal and applied to the controlled system, is provided with a velocity type differentiation processing means 4 having a condition discrimination means 12 deciding an equation of K=2.▵t/(▵t+2.η.TD)<=1 or K>1, where▵t is a control arithmetic period, TD is a differentiation time, and I/ηis a differentiation gain, and a velocity differentiation control means 11 revising a differentiation arithmetic equation depending whether K<=1 or K>1 and avoiding oscillation by a change in the control arithmetic period.
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