| 摘要 |
PURPOSE:To enhance the control performance as possible as it can, and as well to aim at saving fuel consumption, by restraining variations in speed with respect to variations in load of a main engine, and as well by improving the followability upon change of set speed while any lost motion by an actuator is restrained upon steady state operation. CONSTITUTION:Of compensating units 7, a compensator 5 converts a line signal, and thereafter feeds back the same to the output of a PI control section 8 to compensate the output signal of the PI control section 8. Further, the compensator 5 calculates a generated torque from a main engine in accordance with an actuator position instructing signal (b), and multiplies the generated torque by a gain F to obtain a feed-back signal (c). Meanwhile, by passing a speed detection signal through a filter 6, a speed value which is nearly equal to a true value is obtained. That is, the constants of the compensating units 7 are determined in accordance with engine parameters. Accordingly, since PI control operation is carried out in accordance with the deviation between an estimated value (g) nearly equal to the true value and the set speed, it is possible to prevent any lost motion by an actuator upon steady state operation, and to restrain the fuel injection amount from increasing or to increase the same in accordance with the value of the generated torque upon change of set speed. |
