EP0119765A2
Expired / Lapsed
EP
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Sampled-data 1-PD control apparatus
Assignee: Toshiba Corp
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Filing: 1984-02-22
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Granted: —
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Expires: 2004-02-22
Abstract
Abstract A sampled-data I-PD control apparatus controls an interference multi-input/multi-output process in accordance with an I-PD action. The apparatus comprises an identification signal generator (28) for superposing persistently exciting identification signals on control variables (inputs) or the process (10), an identifying circuit (32) for identifying a pulse transfer function of the process (10) in accordance with the control variables of the process (10) and controlled variables (outputs) of the process (10), an S-transfer function calculator (34) for transforming the identified pulse transfer function to an S-transfer function, and a tuning circuit (36) for matching the S-transfer function with that of a process model and for tuning sampled-data I-PD control parameters in accordance with a matching result.
Inventors
- 👤 Yasuchika Mori
- 👤 Takashi Shigemasa
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-01 12:03
CPC Classifications
G; G05; G05B; G05B13/00; G05B13/02; G05B13/0205; G05B13/04; G05B13/042; G05B13/045
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
226 words
A sampled-data I-PD control apparatus for an N-(any natural number) input/N-output process, comprising: control error calculating means (12, 14) for calculating respective differences between N outputs of the process (10) and corresponding N set-point values to generate N control errors; sampled-data I-PD controller means (16, 30) for calculating the N outputs of the process (10) and the N control errors in accordance with sampled-data I-PD control parameters to obtain N control variables, and for supplying the N control variables to N inputs of the process (10), characterized by further comprising: identification signal generating means (28) for respectively supplying N persistently exciting identification signals to the N inputs of the process (10); identifying means (32) for identifying a pulse transfer function of the process (10) in accordance with the N inputs and the N outputs of the process (10) while the N persistently exciting identification signals are supplied to the N inputs; S-transfer function calculating means (34) for transforming an identified transfer function to an S-transfer function; and tuning means (36) for calculating an S-transfer function from the set-point values to the process outputs in accordance with a transformed S-transfer function, matching the calculated S-transfer function with an S-transfer function from the set-point values to the process outputs of a noninterference N-input/N-output process model, and tuning the sampled-data I-PD control parameters in accordance with a matching result.
Claim 2
Dependent Claim
226 words
A sampled-data I-PD control apparatus for an N-(any natural number) input/N-output process, comprising: control error calculating means (12, 14) for calculating respective differences between N outputs of the process (10) and corresponding N set-point values to generate N control errors; sampled-data I-PD controller means (16, 30) for calculating the N outputs of the process (10) and the N control errors in accordance with sampled-data I-PD control parameters to obtain N control variables, and for supplying the N control variables to N inputs of the process (10), characterized by further comprising: identification signal generating means (28) for respectively supplying N persistently exciting identification signals to the N inputs of the process (10); identifying means (32) for identifying a pulse transfer function of the process (10) in accordance with the N inputs and the N outputs of the process (10) while the N persistently exciting identification signals are supplied to the N inputs; S-transfer function calculating means (34) for transforming an identified transfer function to an S-transfer function; and tuning means (36) for calculating an S-transfer function from the set-point values to the process outputs in accordance with a transformed S-transfer function, matching the calculated S-transfer function with an S-transfer function from the set-point values to the process outputs of a noninterference N-input/N-output process model, and tuning the sampled-data I-PD control parameters in accordance with a matching result.
Claim 3
Dependent Claim
58 words
An apparatus according to claim 1, characterized in that said control error calculating means comprises a first adder (12) a (+) input terminal of which receives the N set-point values and a (-) input terminal of which receives the N outputs from the process (10), and a first sampler (14) for sampling outputs from said first adder (12).
Claim 4
Dependent Claim
117 words
An apparatus according to claim 2, characterized in that said sampled-data I-PD controller means comprises a sampled-data I controller (18) for receiving an output from said first sampler (14), a sampled-data PD controller (20) for receiving the N outputs of the process (10) through a second sampler (24) for sampling the N outputs from the process (10) in synchronism with said first sampler (14), and a second adder (22) a (+) input terminal of which receives an output from said sampled-data I controller (18) and a (-) input terminal of which receives an output from said sampled-data PD controller (20), an output from said second adder (22) being supplied to the process (10) through a holder (30).
Claim 5
Dependent Claim
53 words
An apparatus according to claim 3, characterized in that a third adder (26) is connected between said second adder (22) and said holder (30) to add the output from said second adder (22) and an output from said identification signal generating means (28) and to supply an addition result to said holder (30).
Claim 6
Dependent Claim
44 words
An apparatus according to claim 4, characterized in that the N outputs from the process (10) are supplied to said identifying means (32) through said second sampler (24), and an output from said third adder (26) is directly supplied to said identifying means (32).
Claim 7
Dependent Claim
21 words
An apparatus according to claim 1, characterized in that said identification signal generating means (28) generates a maximum period sequence signal.
Claim 8
Dependent Claim
29 words
An apparatus according to claim 1, characterized in that said sampled-data I-PD controller means ( 16 ) calculates the control variables in accordance with a velocity type control algorithm.
Claim 9
Dependent Claim
26 words
An apparatus according to claim 1, characterized in that said identifying means (32) identifies the pulse transfer function in accordance with a recursive least square algorithm.
Claim 10
Dependent Claim
35 words
An apparatus according to claim 1, characterized in that said S-transfer function calculating means (34) calculates the S-transfer function by Laplace-transforming a response obtained by linearly approximating a step response of the pulse transfer function.
Claim 11
Dependent Claim
36 words
An apparatus according to claim 1, characterized in that said tuning means (36) selects a model as a control model wherein an overshoot between input/output pairs is independently variable in accordance with a response shape parameter.
References Cited (Backward Citations)
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