| 摘要 |
PURPOSE:To obtain a constant control gain and to stabilize the control characteristics regardless of the level of load by varying the weight of control deviation or the proportion gain of a control part in accordance with the level of the load to be controlled or the process gain. CONSTITUTION:A comparator 1 of a controller compares the set value SV with the controlled valuable X, and a multiplier 2 of an additional part 20 multiplies the load signal (l)% by the control deviation. This multiplied value is supplied to a primary control part 3 and then to an adder 4 with P (proportion), I (integration) and D (differentiation) control operations. The adder 4 adds the static compensation signal given from a position-speed form signal converting part 13 to use it as the set value of a secondary control loop via a speed-position form signal converting part 5 and an adder 6. This set value is compared with the controlled valuable by a comparator 7, and this deviation is applied to a secondary control part 8 to perform a PI control operation. Then an operation signal is applied to a controlled system 9, and the quantity X is controlled to the prescribed value. Thus the control gain is set at a constant level to stabilize the control characteristics regardless of the level of the load. |
