| 摘要 |
PURPOSE:To detect the characteristic change of a system using feedforward control and feedback control in combination, by detecting the change of a characteristic function, consisting of a set value, the integral value of the error of a detected value, a feedforward output signal, etc., when the change exceeds a prescribed value. CONSTITUTION:The deviation between a set value Yr and a detected value Y is sent to a feedback controller 9. Further, another signal (v) is sent to a feedforward controller 8 and the addition signal of the outputs of both the controllers 8 and 9 are outputted as a manipulated variable (u). Blocks 6 and 7 show transfer characteristic of controlled systems. A characteristic change detector performs arithmetic as shown by equations [I] and [II] to find a characteristic function and when its value varies by more than a prescribed value, a characteristic change detection signal DW is outputted. |
