| 摘要 |
PURPOSE:To effect simple control without necessitating the dynamic regulation of a parameter by a method wherein the control device is provided with a difference detecting unit, detecting the remaining difference of each set value, a difference mem ory, storing the remaining difference, an operating amount memory, storing the data of operating amount, and a control unit to output the operating amount of next cycle and reduce the generated remaining difference. CONSTITUTION:When the operating amount output of the control unit 1 is MVkj at the (k) step of (j)th cycle operation, this data is stored in the operating amount memory 4. Next, when the final remaining difference of the (k) step is epsilonkj, the data is stored in the difference memory 13. In case epsilonkj<=Vs is decided in the step S2, the amount of operating amount output MVk(j+1) from the control unit 1 in (j+1)the cycle operation is determined by following formula. MVk(j+1)=MVkj+G.alphaepsilonkj and here 1/G is the gain of control object and alpha is remaining difference correcting coefficient. In this case, when the characteristic of control object is supposed that it is not changed, the remaining difference of next cycle may be obtained by the following formula; epsilonk(j+1)=epsilonkj-1/G{MVk(j+1)-MVkj}=epsilonkj(1-alpha) and the remaining difference may be de creased. |
