| 摘要 |
PURPOSE:To respond quickly to a change of a target value and to suppress a disturbance by using a PID control constant and a sample period to design a filter constant and using this filter constant to perform correction with a target value filter. CONSTITUTION:A sample value control constant arithmetic part 11 uses denominator parameters g0-g3 of the transfer function, which are calculated in a transfer function arithmetic part 10, and a sample tau period to calculate a sample value PID control constant. A filter constant arithmetic part 13 calculates target value filter constants h1-h3 in accordance with PID control contants Ti and Td and the period tau. When a sample value PID controller is started initially, constants h10-h30 which are calculated on the basis of initially set PID control constants Ti0 and Td0 and the period tau are set to a target value filter 12 through a switch 18. After identification is terminated, constants h1-h3 are set to the filter through the switch 18. The filter 12 uses filter constants, which are designed in this manner, to perform arithmetic and correction at intervals of the period tau. |
