| 摘要 |
PURPOSE:To switch control constants smoothly by varying the integral arithmetic element output result of a follow-up PID arithmetic processing means forcibly with a correcting signal and making it coincident. CONSTITUTION:Integral output correcting parts 37 and 38 are added in PID arithmetic parts 35 and 36 of a digital controller, and addition parts 15-1 and 15-2 between differential arithmetic parts 12 and 22, and proportional arithmetic parts 13 and 23 are added. Further, addition parts 15-3 and 15-4 for calculating correcting signals 33 and 34 are added corresponding to said addition parts. When contacts of a switching part 17 are made, said correcting parts 37 and 38 performs forcible variation by digital overlay processing in order to substitute the output signals of integral arithmetic parts 11 and 21 with the correcting circuits 33 and 34. For example, the correcting part 38 operates when the contacts of the switching part 17 are as shown in a figure to equalize the value of the correcting signal 34 to the output signal of the integral arithmetic part 21, and the correcting part 37 is not in operation, so that both output signals 28 and 27 follow up to the same value. |
