| 摘要 |
PURPOSE:To obtain target value follow-up characteristics free from vibration while keeping disturbance suppressing characteristics at an optimum state by setting up the objective value follow-up characteristics independently of the disturbance suppressing characteristics. CONSTITUTION:A target value change detecting means 12 is constituted of a model 16 with gain '1' approximating to the response characteristics of a controlled system 2, a subtraction operating element 17, a level deciding part 18 for outputting a switching signal when a deviation outputted from the element 17 exceeds a prescribed value, etc. A change in a target value signal inputted to an target value feedforward control means 11 is detected by a target value change detecting means 12, and when the change in the target value signal is large, i.e. when a transient state that target value feedforward control is acting is formed, a feedback controlled variable is restricted and target value feedforward control is mainly executed. At the time of small change in the target value signal, the feedback control is normally driven. Consequently, the target value follow-up characteristics free from vibration can be rapidly obtained in accordance with a change in the target value signal.
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