| 摘要 |
PURPOSE:To attain auto-tuning reduced at the variation of a control variable by forming a gain control means for increasing the gain of an auxiliary control means up to set amplitude. CONSTITUTION:The gain control means 11 controls the increase of the gain Ku' of the auxiliary control means 3 from the input of a tuning start command ST. When the maximum vibration amplitude value of a measured value PV outputted from a vibration amplitude measuring means 16 within a prescribed period exceeds a set point Sa set up by an amplitude setting means 13, the means 11 stops the rise control. The gain Ku' at the timing and the average value Pu of stored values corresponding to the passed number of cycles of the vibration period stored in a vibration period detecting means 14 are inputted to a tuning means 15 and the P, I, and D parameters in a main control means 2 are changed to execute auto-tuning. then, the gain of the auxiliary control means 3 is reset to zero, and after a proper suspending period, the tuning start command ST is outputted to the means 11 and similar sequence is repeated.
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