Two degree of freedom controller

Claim 2

A two degree of freedom PID controller comprising: setpoint filter means (20, 220) for performing a derivative operation (D) on a process disturbance signal in accordance with a setpoint value (SV) and a control value (PV) of a controlled system (26), thereby outputting a setpoint signal (SV₀); PI-control operation means (22) for determining a deviation (E) between said setpoint signal and said con­trol value, and performing a PI-control operation on the deviation, thereby outputting a manipulative signal (MV); and adder means (24) for adding the process disturbance signal to the manipulative signal output by said PI-control operation means, thus obtaining a sum signal, and for supplying the sum signal to the controlled system.

Claim 3

The PID controller according to claim 1, characterized in that said PI-control operation means includes non-linear means (30) for performing a non-­linear operation on the deviation.

Claim 4

The PID controller according to claim 1, characterized in that said setpoint filter means (20) includes: gain coefficient multiplying means (34) for multiplying the setpoint value by a two degree of freedom coefficient of a proportional gain, thereby outputting a first product; first subtracter means (38) for subtracting the first product from the setpoint value, thereby outputting a first difference; first 1st lag means (52) having a two degree of freedom coefficient for an integral time, for performing 1st lag operation on the first difference, thereby outputting a first result of the lst lag operation; derivative time coefficient multiplying means (46) for multiplying the first product by a two degree of freedom coefficient of a derivative time, thereby out­putting a second product; second subtracter means (48) for subtracting the control value from the second product, thereby outputting a second difference; incomplete derivative means (50) for receiving the second difference and performing incomplete derivative operation on the second difference, thereby outputting a result of the incomplete derivative operation; third subtracter means (40) for subtracting the result of the incomplete derivative operation from the first result of 1st lag operation, thereby outputting a third difference; second 1st lag means (42) for performing 1st lag operation on the third difference, thereby outputting a second result of 1st lag operation; first adder means (44) for adding the second result of 1st lag operation to the result of incomplete derivative operation, thereby outputting a first sum; and second adder means (36) for adding the first sum to the first product, thereby obtaining a second sum, and for supplying the second sum, as setpoint signal, to said PI-control operation means.

Claim 5

The PID controller according to claim 3, characterized in that said incomplete derivative means (50) includes: divider means (70) for dividing the second difference by a predetermined number, thereby outputting a quotient; third 1st lag means (72) for performing a 1st lag operation on the quotient output from said divider means, thereby producing an output; and fourth subtracter means (74) for subtracting the output of said third 1st lag means from the quotient, thereby producing an output of said incomplete derivative means, which is supplied to said third subtracter means and said first adder means.

Claim 6

The PID controller according to claim 3, characterized in that said PI-control operation means includes non-linear means (30) for performing a non-­linear operation on the deviation.

Claim 7

The PID controller according to claim 1, characterized in that said setpoint filter means (20) includes: gain coefficient multiplying means (34) for multiplying the setpoint value by a two degree of freedom coefficient of a proportional gain, thereby outputting a first product; first subtracter means (38) for subtracting the first product from the setpoint value, thereby outputting a first difference; first 1st lag means (52) having a two degree of freedom coefficient for a integral time, for performing 1st lag operation on the first difference, thereby outputting a first result of said 1st lag operation; derivative time coefficient multiplying means (56) for multiplying the setpoint value by a two degree of freedom coefficient of a derivative time, thereby out­putting a second product; second subtracter means (48) for subtracting the control value from the second product, thereby outputting a second difference; incomplete derivative means (50) for receiving the second difference and performing incomplete derivative operation on the second difference, thereby outputting a result of the incomplete derivative operation; third subtracter means (40) for subtracting the result of the incomplete derivative operation from the first result of 1st lag operation, thereby outputting a third difference; second 1st lag means (42) for performing 1st lag operation on the third difference, thereby outputting a second result of the lst lag operation; first adder means (44) for adding the second result of 1st lag operation to the result of incomplete derivative operation, thereby outputting a first sum; and second adder means (36) for adding the first sum to the first product, thereby obtaining a second sum, and for supplying the second sum, as setpoint signal, to said PI-control operation means.

Claim 8

The PID controller according to claim 6, characterized in that said incomplete derivative means (50) includes: divider means (70) for dividing the second difference by a predetermined number, thereby outputting a quotient; third 1st lag means (72) for performing a 1st lag operation on the quotient output from said divider means, thereby producing an output; and fourth subtracter means (74) for subtracting the output of said third 1st lag means from the quotient, thereby producing an output of said incomplete derivative means, which is supplied to said third substrate means and said first adder means.

Claim 9

The PID controller according to claim 6, characterized in that said PI-control operation means includes non-linear means (30) for performing a non-­linear operation on the deviation.

Claim 10

The PID controller according to claim 1, characterized in that said setpoint filter means (20) includes: gain coefficient multiplying means (34) for multiplying the setpoint value by a two degree of freedom coefficient of a proportional gain, thereby outputting a first product; first subtracter means (38) for subtracting the first product from the setpoint value, thereby outputting a first difference; derivative time coefficient multiplying means (46) for multiplying the first product by a two degree of freedom coefficient of a derivative time, thereby out­putting a second product; second subtracter means (48) for subtracting the control value from the second product, thereby outputting a second difference; incomplete derivative means (70, 72, 74) for receiving the second difference and performing incomplete derivative operation on the second difference, thereby outputting a result of the incomplete derivative operation; third subtracter means (40) for subtracting the result of the incomplete derivative operation from the first difference, thereby outputting a third difference; 1st lag means (42) for performing 1st lag operation on the third difference, thereby outputting a result of the 1st lag operation; first adder means (44) for adding the result of 1st lag operation to the result of incomplete derivative operation, thereby outputting a first sum; and second adder means (36) for adding the first sum to the first product, thereby obtaining a second sum, and for supplying the second sum, as setpoint signal, to said PI-control operation means.

Claim 11

The PID controller according to claim 9, characterized in that said incomplete derivative means (50) includes: divider means (70) for dividing the second difference by a predetermined number, thereby outputting a quotient; second 1st lag means (72) for performing a 1st lag operation on the quotient output from said divider means, thereby producing an output; and fourth subtracter means (74) for subtracting the output of said second 1st lag means from the quotient, thereby producing an output of said incomplete derivative means, which is supplied to said third subtracter means and said first adder means.

Claim 12

The PID controller according to claim 9, characterized in that said PI-control operation means includes non-linear means (30) for performing a non-­linear operation on the deviation.

Claim 13

The PID controller according to claim 1, characterized in that said setpoint filter means (20) includes: gain coefficient multiplying means (34) for multiplying the setpoint value by a two degree of freedom coefficient of a proportional gain, thereby outputting a first product; first subtracter means (38) for subtracting the first product from the setpoint value, thereby outputting a first difference; derivative time coefficient multiplying means (56) for multiplying the setpoint value by a two degree of freedom coefficient of a derivative time, thereby out­putting a second product; second subtracter means (48) for subtracting the control value from the second product, thereby outputting a second difference; incomplete derivative means (70, 72, 74) for receiving the second difference and performing incomplete derivative operation on the second difference, thereby outputting a result of the incomplete derivative operation; third subtracter means (40) for subtracting the result of the incomplete derivative operation from the first difference, thereby outputting a third difference; 1st lag means (42) for performing 1st lag operation on the third difference, thereby outputting a result of the 1st lag operation; first adder means (44) for adding the result of 1st lag operation to the result of incomplete derivative operation, thereby outputting a first sum; and second adder means (36) for adding the first sum to the first product, thereby obtaining a second sum, and for supplying the second sum, as setpoint signal, to said PI-control operation means.

Claim 14

The PID controller according to claim 12, characterized in that said incomplete derivative means (50) includes: divider means (70) for dividing the second difference by a predetermined number, thereby outputting a quotient; second 1st lag means (72) for performing a 1st lag operation on the quotient output from said divider means, thereby producing an output; and fourth subtracter means (74) for subtracting the output of said second 1st lag means from the quotient, thereby producing an output of said incomplete derivative means, which is supplied to said third subtracter means and said first adder means.

Claim 15

The PID controller according to claim 13, characterized in that said PI-control operation means includes non-linear means (30) for performing a non-­linear operation on the deviation.

Claim 16

A two degree of freedom controller comprising: setpoint filter means (120) for receiving a setpoint value and generating a setpoint signal, said setpoint filter means including: coefficient multiplying means (34) for multiplying the setpoint value by a two degree of freedom coefficient for a proportional gain, thereby outputting a product; 1st lag means (38, 52, 58, 42) having at least a two degree of freedom coefficient for an integral time, and designed to subtract the product from the setpoint value, thereby generating a difference; and means (36) for adding the product to the difference, thereby outputting the setpoint signal; PI-control operation means (28, 32) for determining a deviation between the setpoint signal and a control value supplied from a controlled system, and performing a PI-control operation on the deviation, thereby outputting a manipulative signal; and adder means (24) for adding a process disturbance signal to the manipulative signal output by said PI-control operation means, thus obtaining a sum signal, and for supplying the sum signal to said controlled system.

Claim 17

A two degree of freedom controller comprising: setpoint filter means (120) for receiving a setpoint value and generating a setpoint signal, said setpoint filter means including: coefficient multiplying means (34) for multiplying the setpoint value by a two degree of freedom coefficient for a proportional gain, thereby outputting a product; 1st lag means (38, 52, 58, 42) having at least a two degree of freedom coefficient for an integral time, and designed to subtract the product from the setpoint value, thereby generating a difference; and means (36) for adding the product to the difference, thereby outputting the setpoint signal; PI-control operation means (28, 32) for determining a deviation between the setpoint signal and a control value supplied from a controlled system, and performing a PI-control operation on the deviation, thereby outputting a manipulative signal; and adder means (24) for adding a process disturbance signal to the manipulative signal output by said PI-control operation means, thus obtaining a sum signal, and for supplying the sum signal to said controlled system.

Claim 18

The controller according to claim 15, characterized in that said 1st lag means includes: subtracter means (34) for subtracting the product from the setpoint value, thereby outputting a difference; and two 1st lag means (52, 42) connected in series and receiving said difference, one of which has the two degree of freedom coefficient for the integral time.

Claim 19

A two degree of freedom controller comprising: setpoint filter means (120) for receiving a setpoint value and generating a setpoint signal, said setpoint filter means including: coefficient multiplying means (34) for multiplying the setpoint value by a two degree of freedom coefficient for a proportional gain, thereby outputting a product; first 1st lag means (42) designed to subtract the product from the setpoint value, thereby generating a difference; and second 1st lag means (52, 58) having a two degree of freedom coefficient for an integral time, and designed to delay the setpoint value and to output the setpoint value thus delayed; and means (36) for adding the product to the delayed setpoint value by said second 1st lag means, thereby outputting the setpoint signal; PI-control operation means (28, 32) for determining a deviation between the setpoint signal and a control value supplied from a controlled system, and performing a PI-control operation on the deviation, thereby outputting a manipulative signal; and adder means (24) for adding a process disturbance signal to the manipulative signal output by said PI-control operation means, thus obtaining a sum signal, and for supplying the sum signal to the controlled system.

Claim 20

A two degree of freedom controller comprising: setpoint filter means (120) for receiving a setpoint value and generating a setpoint signal, said setpoint filter means including: coefficient multiplying means (34) for multiplying the setpoint value by a two degree of freedom coefficient for a proportional gain, thereby outputting a product; first 1st lag means (42) designed to subtract the product from the setpoint value, thereby generating a difference; and second 1st lag means (52, 58) having a two degree of freedom coefficient for an integral time, and designed to delay the setpoint value and to output the setpoint value thus delayed; and means (36) for adding the product to the delayed setpoint value by said second 1st lag means, thereby outputting the setpoint signal; PI-control operation means (28, 32) for determining a deviation between the setpoint signal and a control value supplied from a controlled system, and performing a PI-control operation on the deviation, thereby outputting a manipulative signal; and adder means (24) for adding a process disturbance signal to the manipulative signal output by said PI-control operation means, thus obtaining a sum signal, and for supplying the sum signal to the controlled system.

Claim 21

A two degree of freedom PID controller comprising: gain coefficient multiplying means (82) for multiplying a setpoint value by a two degree of freedom coefficient of a proportional gain, thereby outputting a first product; derivative time coefficient multiplying means (84) for multiplying the setpoint value by a two degree of freedom coefficient of a derivative time, thereby outputting a second product; first 1st lag means (80) for performing 1st lag operation on the setpoint value, thereby outputting a first result of the 1st lag operation; integral time coefficient multiplying means (86) for multiplying the result of the 1st lag operation by a two degree of freedom coefficient of an integral time, thereby outputting a third product; incomplete derivative means (88, 96) for performing an incomplete derivative operation on the second product and a control value supplied from a controlled system, thereby outputting a result of the incomplete derivative operation; second 1st lag means (94, 90) for performing 1st lag operation on the first product, the third product, and the result of the incomplete derivative operation, thereby outputting a second result of 1st lag operation; first adder means (92) for adding the first and second results of 1st lag operation, thereby outputting a setpoint signal; PI-control operation means (28, 30, 32) for determining a deviation between the setpoint signal and the control value and performing a PI-control operation on the deviation, thereby outputting a manipulative signal; and second adder means (24) for adding a process dis­turbance signal to the manipulative signal, thus obtaining a sum signal, and for supplying the sum signal to said controlled system.

Claim 22

A two degree of freedom PID controller comprising: gain coefficient multiplying means (82) for multiplying a setpoint value by a two degree of freedom coefficient of a proportional gain, thereby outputting a first product; derivative time coefficient multiplying means (84) for multiplying the setpoint value by a two degree of freedom coefficient of a derivative time, thereby outputting a second product; first 1st lag means (80) for performing 1st lag operation on the setpoint value, thereby outputting a first result of the 1st lag operation; integral time coefficient multiplying means (86) for multiplying the result of the 1st lag operation by a two degree of freedom coefficient of an integral time, thereby outputting a third product; incomplete derivative means (88, 96) for performing an incomplete derivative operation on the second product and a control value supplied from a controlled system, thereby outputting a result of the incomplete derivative operation; second 1st lag means (94, 90) for performing 1st lag operation on the first product, the third product, and the result of the incomplete derivative operation, thereby outputting a second result of 1st lag operation; first adder means (92) for adding the first and second results of 1st lag operation, thereby outputting a setpoint signal; PI-control operation means (28, 30, 32) for determining a deviation between the setpoint signal and the control value and performing a PI-control operation on the deviation, thereby outputting a manipulative signal; and second adder means (24) for adding a process dis­turbance signal to the manipulative signal, thus obtaining a sum signal, and for supplying the sum signal to said controlled system.

Claim 23

The PID controller according to claim 18, characterized in that said PI-control operation means includes non-linear means (30) for performing a non-­linear operation on the deviation.