Two degree of freedom controller

Claim 2

A PI type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means having a transfer function which follows the setpoint value, and is expressed by the following formula: ##EQU30## where T I : an integral time, S : a Laplace operator, α : a constant which can be set between 0 and 1, and β : a constant which can be set between 0 and about 10; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 3

A PI type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means having a transfer function which follows the setpoint value, and is expressed by the following formula: ##EQU31## where T I : an integral time, S : a Laplace operator, α : a constant which can be set between 0 and 1, and β : a constant which can be set between 0 and about 10; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 4

A PI type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means having a transfer function which follows the setpoint value, and is expressed by the following formula: ##EQU31## where T I : an integral time, S : a Laplace operator, α : a constant which can be set between 0 and 1, and β : a constant which can be set between 0 and about 10; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 5

A controller according to claim 2, wherein said setpoint filter means includes: multiplier means for multiplying the setpoint value with a predetermined constant and outputting a product; subtraction means for subtracting the product from the setpoint value and outputting a difference; 1st lag means for performing a 1st lag operation of the difference and outputting a 1st lag output; and addition means for adding the 1st lag output and the product and outputting the control setpoint value.

Claim 6

A PI type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means having a transfer function which follows the setpoint value, and is expressed by the following formula: ##EQU32## where T I : an integral time, S : a Laplace operator, α : a constant which can be set between 0 and 1, and β : a constant which can be set between 0 and about 10; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 7

A PI type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means having a transfer function which follows the setpoint value, and is expressed by the following formula: ##EQU32## where T I : an integral time, S : a Laplace operator, α : a constant which can be set between 0 and 1, and β : a constant which can be set between 0 and about 10; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 8

A controller according to claim 4, wherein said setpoint filter means includes: multiplier means for multiplying the setpoint value with a predetermined constant and outputting a product; first subtraction means for subtracting the setpoint value from the product and outputting a first difference; 1st lag means for performing a 1st lag operation of the first difference and outputting a 1st lag output; second subtraction means for subtracting the 1st lag output from the first difference and outputting a second difference; and addition means for adding the setpoint and the second difference and outputting the control setpoint value.

Claim 9

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU33## where SV : a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 10

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU33## where SV : a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 11

A controller according to claim 6, wherein said setpoint filter means includes: lead/lag operation means for executing a lead/lag operation of the setpoint value upon reception of the setpoint value, and outputting a lead/lag output; multiplier means for multiplying the setpoint value with a predetermined constant and outputting a product; subtraction means for subtracting the control value from the product and outputting a difference; incomplete derivative means for executing an incomplete derivative of the difference and outputting an incomplete derivative output; and addition means for adding the lead/lag output and the incomplete derivative output and outputting the control setpoint value.

Claim 12

A controller according to claim 6, wherein said setpoint filter means includes: first multiplier means for multiplying the setpoint value with a predetermined first constant and outputting a first product; second multiplier means for multiplying the first product with a predetermined second constant and outputting a second product; first subtraction means for subtracting the control value from the second product and outputting a first difference; division means for dividing the first difference with a predetermined third constant and outputting a quotient; first 1st lag means for executing a 1st lag operation of the quotient and outputting a first 1st lag output; second subtraction means for subtracting the 1st lag output from the quotient and outputting a second difference; third subtraction means for subtracting the first product from the setpoint value and outputting a third difference; second 1st lag means for executing a 1st lag operation of the third difference and outputting a second 1st lag output; fourth subtraction means for subtracting the second 1st lag output from the third difference and outputting a fourth difference; first addition means for adding the second and fourth differences and outputting a sum; and second addition means for adding the first product and the sum and outputting the control setpoint value.

Claim 13

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU34## where SV a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 14

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU34## where SV a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 15

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU35## where SV : a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 16

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU35## where SV : a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 17

A controller according to claim 10, wherein said setpoint filter means includes: first multiplier means for receiving the setpoint value, multiplying the setpoint value with a predetermined first constant, and outputting a first product; second multiplier means for multiplying the first product with a predetermined second constant and outputting a second product; first subtraction means for subtracting the control value from the second product and outputting a first difference; incomplete derivative means for executing an incomplete derivative of the first difference and outputting an incomplete derivative output; second subtraction means for subtracting the first product from the setpoint value and outputting a second difference; third subtraction means for subtracting the incomplete derivative output from the second difference and outputting a third difference; 1st lag operation means for executing a 1st lag operation of the third difference and outputting a 1st lag output; first addition means for adding the 1st lag output and the incomplete derivative output and outputting a first sum output; and second addition means for adding the first product and the first sum output, and outputting the control setpoint value as a second sum.

Claim 18

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU36## SV : a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 19

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU36## SV : a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 20

A controller according to claim 12, wherein said setpoint filter means includes: first multiplier means for receiving the setpoint value, multiplying the setpoint value with a predetermined first constant, and outputting a first product; second multiplier means for multiplying the first product with a predetermined second constant and outputting a second product; first subtraction means for subtracting the control value from the second product and outputting first difference; division means for dividing the first difference with a third constant and outputting a quotient; first 1st lag operation means for executing a 1st lag operation of the quotient and outputting a first 1st lag output; second subtraction means for subtracting the first 1st lag output from the quotient and outputting a second difference; third subtraction means for subtracting the first product from the setpoint value and outputting third difference; fourth subtraction means for subtracting the first difference from the third difference and outputting a fourth difference; second 1st lag operation means for executing a 1st lag operation of the fourth difference and outputting a second 1st lag output; first addition means for adding the second 1st lag output and the second difference and outputting a first sum output; and second addition means for adding the first product and the first sum output and outputting the control setpoint value as a second sum.

Claim 21

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU37## where SV : a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.

Claim 22

A PID type two degrees of freedom controller comprising: setpoint filter means for receiving a setpoint value, and outputting a control setpoint value, said setpoint filter means executing a calculation given by the following equation upon reception of the setpoint value, and obtaining the control setpoint value SV 0 : ##EQU37## where SV : a setpoint value, PV : a control value, T I : an integral time, T D : a derivative time, S : a Laplace operator, α : a constant which can be set between 0 and 1, β : a constant which can be set between 0 and about 10, γ : a constant which can be set between 0 and 2, and η : a constant which can be set between 0.1 and 1; deviation-calculating means for calculating a deviation between the control setpoint value and a control value fed back from a controlled system; control operation means for receiving the deviation, executing at least a PI (P : proportional, I : integral) control operation, and outputting a manipulative variable; and means for applying the manipulative variable to the controlled system.