Controller for multiple drive-shafts - uses proportional-integral action with shared gain between reference circuit and additional drive-shaft circuits

摘要

A reference control circuit (11) is provided for the first driveshaft and a subsidiary circuit (11.1,11.2...) for each additional driveshaft. The gain of the reference circuit is derived from the multiplier (4) and the constant storage unit (10) and this is directed into each subsidiary circuit by an adder (20) and a multiplier (4.1). Integrators (16) in the subsidiary circuits supply an output to each adder (20). The action is by proportional control below a certain threshold, and integral control above this threshold. USE/ADVANTAGE - PI controller for multiple driveshafts, esp. for gantry cranes; rapid and smooth positioning.