| 摘要 |
PURPOSE:To improve transient response characteristics of a control system by providing the system with saturation characteristics, calculating a manipulated variable UN based on a specific equation, and specifying UN and IN when UN>Umax<+> or when UN<-Umax<->. CONSTITUTION:An I-PD control system has saturation characteristics -Umax<-=UN<=Umax<+> (where Umax<+> and Umax<-> are maximum manipulated variables in a positive and a negative direction) and the manipulated variable UN is calculated based on the equation. When UN>Umax<+>, UN=Umax<+> and IN=Umax<+>-Kv r2N<+>K1.XN<+>K2.XN and when UN<-Umax<->, UN=-Umax<-> and IN=-Umax<->-Kv r2N<+>K1.XN<+>K2.XN. Assuming rIN to be inputted at time t0, UN>=Umax after t1, the manipulated variable UN is clamped at the maximum manipulated variable Umax, and an integral term IN also enters a linear area at time t2 without increasing excessively. Thus, the manipulated variable is prevented from overshooting after saturation and transient response characteristics of the control system are improved.
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