| 摘要 |
PURPOSE:To perform the automatic tuning in a short time by detecting a change of a control system by means of the integration of control deviation in a closed loop state including a controller and then setting clearly a PID parameter based on the result of said detection. CONSTITUTION:A controller 2 performs the feedback control to keep the output (c) of an object system 1 at the set value (r). The test signal (d) sent from an automatic tuner 4 is added to the operation quantity (u) by an adder 6. The controller 2 receives a transmission function Gc(s) from a PID controller as shown in an equation 3. The control parameters KP, TI and TD are set by the tuner 4. A change of the system 1 is detected by means of the integration of the control deviation in a closed loop state including the controller 2. Then a small number of step type signals to an operation terminal, and the input and output signals to be applied to the system 1 are integrated. These integrated signals are changed into step type signals. Under such conditions, a parameter is set. |
