| 摘要 |
PURPOSE:To allow a controller to control a system to be controlled at an optional set value through on-off operation, by observing the limit cycle of the controlled variable of the system to be controlled, and deciding on the best value of a PID constant for the system to be controlled on the basis of the observation result. CONSTITUTION:The output of a controller is inputted as a manipulated variable Y(t) to a system 1 to be controlled and a controlled variable theta(t) outputted from the system 1 to be controlled is detected by a detector 3 and fed back to the input of a controller 1 through a deviation detector 4. The deviation detector 4 detects the deviation Z(t) between a set value (target value) thetaS and the controlled variable theta(t) and then inputs it to the controller 2. On the other hand, the limit cycle of the controlled variable theta(t) when the system 1 to be controlled is controlled by the controller 2 through on-off operation is observed through a limit cycle observing instrument 5 indirectly on the basis of the deviation Z(t) to detect necessary parameters, which are inputted to an operating device 6 to calculate the best value of a necessary PID constant. |
