| 摘要 |
PURPOSE:To easily execute the feedforward control, by executing the feedback control together with the feedforward control so that the operation output of said feedback control is made zero. CONSTITUTION:At first, only the feedback control is executed, and the deviation is brought as close as possible to zero. Subsequently, each value Gp, Gd1-Gd3 of the transfer elements 9-11 relating to the operation output of the process and the disturbances D1-D3 is estimated. Then, temporary values of the values F1-F3 of control elements 4-6 of the feedforward control are derived. The values F1-F3 are adjusted so that the operation output YF of the feedforward control approaches the operation output YB of the feedback control as the change-over switch 15 remains off, and at the time when the outputs YB and YF have become almost equal, the switch 15 is turned off. At the same time, the output YB is made zero, and after a suitable time has elapsed, the feedback control is executed once again. In this way, the feedforward control can be substantially executed at the same time and also bumplessly. |
