| 摘要 |
PURPOSE:To attain a PID controller of sample values which are not auto-tuned each time by not erasing tuning process information but holding it and comparing it with a characteristic change. CONSTITUTION:The operation signal subjected to PID operation in a sample value control operating part 5 is applied to an operating process 1 through a sample holding part 2 to control the process 1 so that the deviation signal is reduced for every sample period K. In this case, identification parameters of process which the sample value PID controller identify are stored in a history table 15 successively, and model errors of all stored processes are operated in a characteristic change detecting part 13. When the characteristic of the operating process 1 is changed, the process whose model error is zero is found in the history table if the process of the same characteristic is identified in the past. In this case, its process parameters are used to adjust control constants without identification. |
