| 摘要 |
PURPOSE:To keep the controllability into an excellent state without need for a forcible input signal by revising a control parameter based on a deviation between an output of a process and a process setting value. CONSTITUTION:A deviation calculation means 1 calculates a deviation e(t) between an output y(t) of a process and a process setting value (r) at a time (t) from a controlled system 2. A manipulated variable arithmetic means 3 applies arithmetic operation to a manipulated variable v(t) by the proportional, integration and differentiation of the deviation e(t) calculated by the means 1. A variation due to external disturbance is added to the output y(t) outputted from the system 2 by the manipulated variable v(t) is added. A parameter change discriminating means 4 discriminates whether or not the change of the parameter of the means 3 is required due to the variation in the deviation e(t) calculated by the means 1 in the PID (proportion/integration/differentiation) control system in this way. A parameter change means 5 uses a discrimination signal of the means 4 to change the proportional gain, integration time and differentiation time being control parameters of the means 3.
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