DE102007026300A1 - Control system for object i.e. engine, has adjusting unit that represents mathematical model having transfer function, where transfer function of system is determined to approximate transfer function of mathematical model - Google Patents

Abstract

A control system 30 used to control a controlled system 31 includes a main control unit 32, a first adjustment unit 33, and a second adjustment unit 34. By the control system 30, which is controlled by two weighting parameters of a first multiple and a second multiple, Ruggedness and a fast response are obtained, and exceeding the output Y generated by the controlled equipment disappears or approaches zero. The control system 30 has technical features of objective bandwidth, low frequency noise cancellation, and adaptation of transfer functions. By designing the main control unit 32, the first adjusting unit 33 and the second adjusting unit 34, which control the two weighting parameters of the first multiple and the second multiple, and adjusting the current system, the above technical features are obtained.

Description

The The present invention relates to a control system and a Setting method for this, and more specifically It refers to a robust tax system.

control systems become more and more for the advancement important for the development of modern civilization and technology. For example, household electrical appliances, automobiles and night chairs are in the bathroom all together control systems, which are becoming increasingly popular in the industrial application.

For the application of servo mechanisms will be first a mathematical model according to the physical behavior of the system, the behavior of the system in more convenient Way is predicted and by applying the control function is controlled in the mathematical model.

The conventional Proportional integral differential (PID) control includes the proportional term, the integral term and the differential term, where the proportional Is used to match the output of the controller according to the Extent of To adjust inaccuracy, the integral term is used to avert the inaccuracy in the stationary state and the differential term for predicting the uncertainty trend. The PID controller is widely used because of its simple structure.

Assuming a motor as an example. A controlled body in a conventional control system is a motor, and its mathematical model is established based on the physical behavior of the operation of the engine. The transfer function of the mathematical model is K _t / N j _m + J _d ) s + B), where J _{m is} the mass inertia of the motor, J _{d is} the inertia of the load, B is a damping coefficient, and K _{t is} a ratio value is.

Of the controlled basic body receives a drive signal and generates accordingly an output signal which in this example is a rotation speed. The motor is during the operation of a fault from the outside exposed, the disorder from electromagnetic effects or from machines. A third adder is arranged to eliminate the interference with the conventional one Be considered control system, namely the third adder considered the sum of a third operating signal from a master controller on the Front and an interference signal, to generate a drive signal to drive the motor.

Around this more completely to describe, goes through the third operating signal is a high-frequency electrical power circuit and unites with the interfering signal, while the third operating signal an equivalent electric rotor current is and the disturbing Signal a disturbing Torque is.

The master controller is a kind of proportional integral controller. The transfer function of the master controller is K _P + K _I * 1 / s, which includes a proportional function K and an integral function K _i * 1 / s. The proportional function K _P as the proportional coefficient serves to increase the open loop gain bandwidth of the conventional control system so as to enable the conventional control system to respond quickly. K _I is an integral coefficient which is used to reduce the following steady state error in the conventional control system.

Since the response speed becomes faster with the broader target range of the conventional control system, the proportional coefficient K as 2πB _w (J _m + J _d) / K _t is set to generally ensure that the gain bandwidth of the open loop is supplied with the target bandwidth.

The master controller receives an error signal and then the error signal is processed by the proportional function Kp to produce a first operating signal and is processed by the integral function K _I * 1 / s to generate a second operating signal. The first operating signal and the second operating signal are summed by a second adder to output a third operating signal.

The conventional Control system is a type of closed-loop control system and is equipped with a first adder. The first adder subtracts the output of the controlled body from the input signal PR containing a command of the defined values Error signal for to produce the master controller. The purpose of the entire conventional Closed loop control system is the amplitude the output signal as far as possible identical to the input signal so as to reduce the influence of the interfering signal.

Based on a response step of the conventional control system, the input signal is set as a step function command and processed by the master controller to produce the third signal corresponding to the controlled one Basic body is provided. If the conventional control system asks for the faster response and a minimum error, there will be a larger overshoot in the output of the controlled body.

In addition, since the answer of most industrial processes is very slow, it would be up meet the difficulty, if the proportional coefficient, the integral coefficient and a differential coefficient of a Differential function assumes the response to the output signal from the control system.

One User probably needs several minutes or even several Wait hours to observe the answers given by the Setting will be generated, and thus this setting of the Control member after the tasting an annoying and time-consuming task. Sometimes you are not even able to adjust this that you meet the requirements of the system.

In Sum, the main motivation of the present invention is to both the overshoot the output signals of the controlled body during the control system processes with quick response and minimal error reduction as well to reduce setup time and keep the control system rugged.

Around overcome the disadvantages of the prior art, From the above description, a control system and a Method for adjusting the system of the same to the inventor dedicated to research and preventive work.

Corresponding One aspect of the present invention is a control system and a setting method delivered to the ruggedness and the fast Response of the control system to receive, and the overshoot of the output signal of the controlled basic body is lowered and reaches almost zero.

According to another aspect of the present invention, there is provided a control system for controlling an output signal produced by a controlled object, the control system having a bandwidth and being represented by a first mathematical model having a first transfer function Control system comprising: a master control unit, a first setting unit ( 33 ) and a second adjustment unit; wherein the master control unit, represented by a second mathematical model, has a second transfer function configured to approximate an open loop bandwidth of the control system to a target bandwidth and generate a first operation signal, the first adjustment unit is represented by a third mathematical model, has a third transfer function, and is configured to receive the first operating signal and generate a first adjusting signal, the first adjusting signal, the output signal, and the first operating signal being calculated to produce a second operating signal; and the output signal approaches the first adjustment signal, so that an interference signal to which the controlled object is exposed is compensated; and the second adjustment unit represented by a fourth mathematical model has a fourth transfer function and is configured to receive an input signal to generate a second adjustment signal, wherein the second adjustment signal, the output signal, and the input signal are calculated to generate a third operating signal, which is supplied to the master control unit, and causes the first transfer function of the control system to approach the fourth transfer function of the second setting unit.

Preferably The master controller has a proportional integral (PI) controller.

Preferably the control system further comprises: a first adder, a loop stabilizer, a first amplifier and a second adder; wherein the first adder is so constructed is to produce a first result signal by subtracting the output signal to generate from the second adjustment signal; wherein the control loop stabilizer receives the first result signal, to generate a second result signal and which by a fourth mathematical model is shown, which is an integral function has a state of failure of the system to cause the control system to obtain a steady state of zero; the first one amplifier the second result signal is received and a third result signal by amplifying the second result signal generated by a first multiple, wherein the first multiple set so is that the first transfer function of the control system is the fourth transfer function of the second setting unit approaches, and the second adder is constructed to be the third operating signal by summing up the input signal and the third result signal and removing the output signal.

Preferably the controlled object is an engine.

Preferably, when the controlled object is a motor, the controlled object has a physical behavior represented by the first transfer function K _t / ((J _m + J _d ) s + B), where J _{m is} an inertia of the motor, J _{d is} a mass inertia of a load, B is a damping coefficient, and K _{t is} a ratio; the second transfer function of the master-controlled unit is 2πB _w J _Σ / K _t , where B _{w is} the target bandwidth and J _{Σ is} an estimated inertia value of (J _m + J _d ); the third transfer function of the first setting unit is K _t / (J _Σ s); and the fourth transfer function of the second setting unit is K _t (J _Σ s).

Corresponding Another aspect of the present invention is a Control system supplied, which controls an output signal, which is made by a controlled object, the control system has a bandwidth and through a first mathematical model represents which has a first transfer function, wherein the control system a master control unit and a first control unit; wherein the master control unit, which by a second mathematical Model represents is, has a second transfer function, which is constructed a bandwidth of an open loop of the control system approach a target bandwidth to let, and generates a first operating signal; and the first adjustment unit, which represents by a third mathematical model is, which has a third transfer function, and built is to receive the first operating signal and a first setting signal to generate, wherein the first setting signal, the output signal and the first operating signal is calculated to be a second operating signal to generate, and the output signal to the first setting signal approaches, so that a jamming signal, which subject to the controlled object is compensated.

Preferably the controlled object has a physical behavior, and the master control unit is so according to the physical Behavior of the controlled object designed.

Preferably The master controller has a proportional-integral (PI) controller on.

Preferably the controlled object has a response, and the first Setting unit is according to the response of the controlled object designed.

Preferably the control system according to claim 6 further comprises a first Adder and a first amplifier; wherein the first adder is designed to subtract a result signal the output signal generated by the first setting signal; the first amplifier is constructed so that it receives the first result signal and a second result signal by amplifying the first result signal generated by a first multiple, wherein the first multiple set so is that the output signal approaches the first setting signal.

Preferably the corresponding control system further comprises a second adder which is constructed to be the second operating signal and the interfering signal summed up and the controlled object with a summation result the second operating signal and the interference signal supplies.

Preferably the control system further comprises a second adjustment unit, which is represented by a fourth mathematical model, which is a possesses fourth transfer function and is constructed so that there is a Input signal is received and thereby generates a second adjustment signal, wherein the second Setting signal, the output signal and the input signal so calculated be that they generate a third operating signal which the master control unit is delivered so that the first transfer function of the control system, the fourth transfer function of the second Setting unit is approaching.

Preferably the control system further comprises: a third adder A control loop stabilizer, a second amplifier and a fourth adder; wherein the third adder is constructed to be a third one Result signal by subtracting the output signal from the second Setting signal generated; the loop stabilizer so constructed is that it receives the third result signal and thereby a fourth Result signal generated, wherein the control loop stabilizer, which is represented by a fourth mathematical model, an integral function owns a status to cause the control system Getting the steady state error from zero; in which the second amplifier is constructed so that it receives the fourth result signal and a fifth result signal by amplifying of the fourth result signal generated a second multiple, the second multiple is set so that the first transfer function of the control system, the fourth transfer function of the second Adjusting unit approaches; and the fourth adder is constructed to be the third operating signal by summing the input signal and the fifth result signal and by Removing the output signal generated.

• (a) Erstellen einer Zielbandbreite für das Steuersystem;
• (b) Gestalten einer Steuerfunktion basierend auf der Zielbandbreite und dadurch Veranlassen, dass sich eine Offene-Regelkreis-Bandbreite des Steuersystems der Zielbandbreite nähert und ein erstes Betriebssignal erzeugt;
• (c) Erzeugen eines ersten Einstellsignals, basierend auf dem ersten Betriebssignal; und
• (d) Berechnen des ersten Einstellsignals, des Ausgangssignals und des ersten Betriebssignals, um ein zweites Betriebssignal zu erzeugen und dadurch das Ausgangssignal zu veranlassen, sich dem ersten Einstellsignal zu nähern, indem das zweite Betriebssignal zurück zu dem gesteuerten Objekt geführt wird, welches das Ausgangssignal erzeugt.

According to another aspect of the present invention, there is provided a setting method of a control system for adjusting an output signal generated by a controlled object, the control system having a bandwidth and being represented by a first mathematical model having a first transfer function having:

• (a) create a target bandwidth for the control system;
• (b) designing a control function based on the target bandwidth and causing an open loop bandwidth of the control system to approach the target bandwidth and generate a first operating signal;
• (c) generating a first adjustment signal based on the first operation signal; and
• (d) calculating the first adjustment signal, the output signal and the first operation signal to generate a second operation signal and thereby cause the output signal to approach the first adjustment signal by feeding the second operation signal back to the controlled object which outputs the output signal generated.

• (c1) Gestalten einer ersten Einstellfunktion entsprechend einem Antwortverhalten des gesteuerten Objekts; und
• (c2) Verarbeiten des ersten Betriebssignals durch die erste Einstellfunktion zum Erzeugen des ersten Einstellsignals.

Preferably, the step (c) of the adjustment method further comprises the following steps:

• (c1) designing a first setting function according to a response of the controlled object; and
• (c2) processing the first operation signal by the first adjustment function to generate the first adjustment signal.

• (d1) Erzeugen eines Ergebnissignals durch Subtrahieren des Ausgangssignals von dem ersten Einstellsignal;
• (d2) Erzeugen eines zweiten Ergebnissignals durch Verstärken des ersten Ergebnissignals durch ein erstes Vielfaches;
• (d3) Erzeugen des zweiten Betriebssignals durch Aufsummieren des zweiten Ergebnissignals und des ersten Betriebssignals; und
• (d4) Einstellen des Wertes des ersten Vielfachen, so dass sich das Ausgangssignal dem ersten Einstellsignal nähert.

Preferably, the step (d) of the adjustment method further comprises the following steps:

• (d1) generating a result signal by subtracting the output signal from the first setting signal;
• (d2) generating a second result signal by amplifying the first result signal by a first multiple;
• (d3) generating the second operating signal by summing the second result signal and the first operating signal; and
• (d4) setting the value of the first multiple so that the output signal approaches the first setting signal.

• (e) Liefern eines Eingangssignals für eine zweite Einstellfunktion, um ein zweites Einstellsignal zu erzeugen; und
• (f) Berechnen des zweiten Einstellsignals, des Ausgangssignals und des Eingangssignals, um ein drittes Betriebssignal zu erzeugen, und Veranlassen der ersten Transferfunktion des Steuersystems, sich der zweiten Einstellfunktion zu nähern.

Preferably, the adjustment method further comprises the following steps:

• (e) providing an input signal for a second adjustment function to generate a second adjustment signal; and
• (f) calculating the second adjustment signal, the output signal and the input signal to produce a third operation signal, and causing the first transfer function of the control system to approach the second adjustment function.

• (f1) Erzeugen eines dritten Ergebnissignals durch Subtrahieren des Ausgangssignals von dem zweiten Einstellsignal;
• (f2) Empfangen des dritten Ergebnissignals und Verarbeiten des dritten Ergebnissignals durch eine Integralberechnung, um so ein viertes Ergebnissignal zu erzeugen;
• (f3) Erzeugen eines fünften Ergebnissignals durch Verstärken des vierten Ergebnissignals um ein zweites Vielfaches;
• (f4) Erzeugen des dritten Betriebssignals durch Aufsummieren des fünften Ergebnissignals und des Eingangssignals und Wegnehmen des Ausgangssignals; und
• (f5) Einstellen des Wertes des zweiten Vielfachen, so dass sich die erste Transferfunktion des Steuersystems der zweiten Einstellfunktion nähert.

Preferably, the step (f) of the adjustment method further comprises the following steps:

• (f1) generating a third result signal by subtracting the output signal from the second adjustment signal;
• (f2) receiving the third result signal and processing the third result signal by an integral calculation so as to generate a fourth result signal;
• (f3) generating a fifth result signal by amplifying the fourth result signal by a second multiple;
• (f4) generating the third operation signal by summing the fifth result signal and the input signal and removing the output signal; and
• (f5) setting the value of the second multiple so that the first transfer function of the control system approaches the second adjustment function.

The The above objects and advantages of the invention will eventually become more for professionals Obviously, after reviewing the following detailed Descriptions and the accompanying drawings, in which:

1 Fig. 10 is a schematic block diagram showing the control system of the present invention;

2 Fig. 10 is a schematic block diagram showing a motor as the controlled body of the control system according to the present invention;

3 is a diagram showing the response of the first step of the control system, which in 2 will be shown;

4 FIG. 12 is a diagram showing the second stage response of the control system incorporated in FIG 2 will be shown;

5 FIG. 13 is a diagram showing the third stage response of the control system incorporated in FIG 2 will be shown;

6 FIG. 12 is a diagram showing the fourth stage response of the control system incorporated in FIG 2 will be shown; and

7 is a diagram showing the fifth step response to the control system which is in 2 will be shown.

The The present invention will now be more specifically described with reference to the following embodiments described. It should be noted that the following descriptions of the preferred embodiments of this invention for the purpose of illustration and description only serve. It is not intended to be exhaustive or that this is published on the here precise Form is limited.

To the control system and method for adjusting the system thereof In the present invention, the many preferred embodiments are listed as follows. It should be understood that the following descriptions of the preferred embodiments of this invention are provided herein for purposes of illustration and description. It is not intended to be exhaustive or limited to the precise form disclosed herein.

Please refer to 1 which is a block diagram showing the first embodiment of the control system according to the present invention. As in 1 is shown is a control system 30 designed so that it controls an output signal Y, which by a controlled body 31 is generated and which is a master control unit 32 , a first adjustment unit 33 and a second adjustment unit 34 includes. The master control unit 32 is the core of the tax system 30 , The master control unit 32 is based on the physical behavior of the controlled body 31 designed while the tax system 30 operates in an open loop status and the first setting unit 33 and the second adjustment unit 34 not the operation of the tax system 30 with record. Accordingly, the open loop bandwidth of the control system is approaching 30 a target bandwidth B _w , and a first operating signal U _{1 is} generated.

In the above procedure, a first multiple h of a first amplifier is used 332 in the circuit, which is the first adjustment unit 33 goes through, set to zero, leaving the first setting unit 33 on the tax system 30 does not participate, and a second multiple m of a second amplifier 344 in the circuit, which is the second adjustment unit 34 goes through, is set to zero, so that the second adjustment unit 34 on the tax system 30 does not participate. The master control system 32 usually includes a proportional-integral (PI) controller.

The controlled body would be subject to interference from unspecified factors, the magnitude of the disturbance being an interference signal W present in the control region of the control system 30 by using a third adder 311 is included. The robustness of the control system 30 would be affected by the noise signal W, and thus the STEU ersystem 30 do not work stably. As a result, the first setting unit becomes 33 in the tax system 30 absorbed, so that by the tax system 30 is able to respond quickly to compensate for the interfering signal W to which the controlled body is exposed, and thereby increases the robustness of the control system 30 elevated.

The first adjustment unit 33 is on the response of the controlled body 31 designed, ie the transfer function of the first adjustment 33 is by simulating the controlled body 31 designed. The first adjustment unit 33 receives a first operating signal U ₁ and correspondingly generates a first adjusting signal Q ₁ , wherein the first adjusting signal Q _1, the first output signal Y and the first operating signal U _{1 are} calculated to produce a second operating signal U ₂ . The third adder 311 sums the second operating signal U ₂ and the noise signal W to generate a drive signal V to the controlled body 31 to drive and generate an output signal Y. Due to the feedback impairment, the output signal Y is disabled from the first adjustment signal Q1, thereby the noise signal W, which is the controlled basic body 31 is exposed, balanced. The first adjustment unit 33 is suitable to withstand the disturbance at lower frequency.

The method of calculating the first adjusting signal Q ₁ , the output signal Y and the first operating signal U ₁ to produce the second adjusting signal Q ₂ will be explained as follows. The tax system 30 further includes a first adder 331 , a first amplifier 332 and a second adder 333 , The first adder 331 generates a result signal by subtracting the output signal Y from the first adjustment signal Q ₁ . The first amplifier receives the first result signal and generates a second result signal by amplifying the first result signal by the first multiple h, the first multiple being adjusted so that the output signal approaches the first adjustment signal. Then the second adder sums 333 the first operating signal U ₁ and the second result signal T ₂ to generate the second operating signal U ₂ .

The second adjustment unit 34 is added to the response speed of the control system 30 Furthermore, the error and the overshoot of the controlled body output Y are reduced and the stability of the control system 30 is increased. The second adjustment unit 34 receives an input signal R to generate a second adjustment signal Q ₂ , the second adjustment signal Q ₂ , the output signal Y and the input signal R being calculated to produce a third operation signal U ₃ indicative of the master control unit 32 is delivered. The first transfer function of the control system 30 becomes according to the second transfer function of the second setting unit 34 approach.

The method of calculating the second adjusting signal Q ₂ , the output signal Y and the input signal R to produce the third operating signal U ₃ will be explained as follows.

The tax system 30 also includes a fourth adder 342 , a loop stabilizer 343 , a second amplifier and a fifth adder 341 , The fourth adder is constructed to generate a third result signal T ₃ by subtracting the output signal Y from the second adjustment signal Q ₂ . The control loop stabilizer 343 receives the third result signal T ₃ to generate a fourth result signal T ₄ .

The control loop stabilizer 343 also has an integral function F to the control system 30 to cause it to reach a status of a steady state error of zero. The second amplifier 344 receives the fourth result signal T ₄ and generates a fifth result signal T ₅ by amplifying the fourth result signal T ₄ by a second multiple m, the second multiple m being set so that the transfer function of the control system 30 the transfer function of the second adjustment unit 34 approaches. The fifth adder 341 is configured to generate the third operation signal U ₃ by summing up the input signal R and the fifth result signal T ₅ and removing the output signal Y.

A second embodiment is further based on the 1 delivered. As in 1 is shown is a control system 30 designed so that it controls an output signal Y, which by a controlled body 31 is generated, and includes a master control unit 32 and a first adjustment unit 33 , The master control unit 32 is the core of the tax system 30 , The master control unit 32 is based on a target bandwidth B _{w of} the control system 30 designed while the tax system 30 operates in an open-loop state and the first adjustment unit 33 not on the operation of the tax system 30 participates. The open-loop bandwidth of the control system 30 approaches a target bandwidth B _w , and a first operating signal U ₁ is generated.

In the previously mentioned method, a first multiple h of the first amplifier is used 332 which is in the circuit of the first adjustment unit 33 goes through, set to zero, to the control system 30 to get started without the first adjustment unit 33 participates. The master control unit 32 usually includes a proportional-integral (PI) controller. The master control unit 32 is based on the physical behavior of the controlled body 31 designed so that the open loop bandwidth of the control system easily approaches a target bandwidth. In addition, the tax system includes 30 a fifth adder 341 , which is constructed so that it generates the third operating signal U ₃ , which is for the master control unit 32 is supplied by the output signal Y is removed from the input signal R.

The first adjustment unit 33 receives the first operating signal U ₁ and correspondingly generates a first adjusting signal Q ₁ , wherein the first adjusting signal Q ₁ , the output signal Y and the first operating signal U _{1 are} calculated to produce a second operating signal U ₂ . The third adder 311 sums the second operating signal U ₂ and the noise signal W to generate a drive signal V to the controlled body 31 to drive and generate an output signal Y. Due to feedback interference, the output signal Y is locked relative to the first adjustment signal Q ₁ , whereby the interference signal W, which is the controlled basic body 31 is balanced. The first adjustment unit 33 is usually based on the response of the controlled body 31 designed, ie the transfer function of the first adjustment 33 is done by simulating the controlled body 31 designed. The first adjustment unit 33 is suitable to withstand the disturbance at lower frequencies.

The method of calculating the first adjusting signal Q ₁ , the output signal Y and the first operating signal U ₁ to produce the second adjusting signal Q ₂ is identical to that of the first embodiment.

The tax system 30 in the second embodiment further includes a second adjustment unit 34 , The second adjustment unit 34 is configured to receive an input signal R to generate a second adjustment signal Q ₂ , the second adjustment signal Q ₂ , the output signal Y and the input signal R being calculated to produce a third operation signal U ₃ indicative of the master -Steuereinheit 32 and which is the first transfer function of the control system 30 brings to the second transfer function of the second setting unit 34 to approach.

The method of calculating the second adjusting signal Q ₂ , the output signal Y and the input signal R to produce the third operating signal U ₃ is identical to that of the first embodiment.

For the servomechanism application, a motor is usually used as a controlled body. Please refer to 2 which is a block diagram showing the motor as a controlled body in the control system according to the present invention. The names in the control system 40 in 2 which are identical to those in the control system 30 in 1 are, have the same names and functions.

As in 2 is shown, the transfer function of the physical behavior of the controlled th main body 31 Kt / ((J _m + J _d ) s + B), where J _{m is} a mass inertia of the motor, J _{d is} a mass inertia of a load, B is a damping coefficient, and K _{t is} a ratio. To the master control unit 32 according to the physical behavior of the control body 31 to design and the first adjustment unit 33 according to the response behavior of the control body 31 For example, an estimated inertia value J _{Σ is} assumed to represent the total mass inertia value of the motor and the load (J _m + J _d ), where J _{m is} an inertia of the motor and J _{d is} a mass inertia of a load. The transfer function of the master control unit 32 is designed as 2πB _w J _Σ / K _t , where B _{w is} the target bandwidth of the control system 40 and J _{Σ is} the estimated inertia value of (J _m + J _d ), so that the open loop bandwidth of the open control system 40 the target bandwidth B _w approaches.

The transfer function of the first adjustment unit 33 is like K _t (J _Σ s) according to the response of the controlled body 33 designed, wherein the output signal Y of the controlled body 31 Approximations to the first adjustment signal Q ₁ generated, wherein the first adjustment unit 33 generated via the calculation and the feedback control. The transfer function of the second adjustment unit 34 is designed as K _t / ((J _m + J _d ) s + B), where J _{m is} an inertia of the motor, J _{d is} a mass inertia of a load, B is a damping coefficient and K _{t is} a ratio, and wherein the transfer function of the tax system 4D that of the second adjustment unit 34 about the calculation and the feedback control approaches.

Please refer to 3 showing a diagram showing the comparison result of the first stage response of the control system 40 in 2 and the conventional control system shows, and in the case where the target bandwidth B _w = 50 Hz is set, the first multiple is h = 1 and the second multiple is m = 1. Since the conventional control system is an ordinary PID (Proportional Integral Differential -) control structure, here a proportional-integral (PI) controller with the target bandwidth B _w = 50 Hz is taken as an example.

As in 3 is shown, there is an input signal curve of a step function command A1, the third operating curve A2 and the output signal curve A3 of the conventional control system and the second operating curve B1 and the output signal curve B2 of the control system 40 , At this time, the first setting signal Q _{1 of} the control system 40 according to a first setting signal curve (not shown) by the first setting unit 32 generated with a level of 50 Hz bandwidth. As 3 shows has the output signal curve B2 of the control system 40 The present invention does not overshoot and rather approximates the first tuning signal curve so as to easily overcome the influence of the damping coefficient B.

Please refer to 4 , which is a diagram of the second stage response of the control system 40 in 2 and which is delivered to the influence of the second multiple m on the control system 40 display. In 4 For example, the estimated inertia is set as J _Σ = (J _m + J _d ) / 2, the target bandwidth is set as B _w = 50 Hz, and the first multiple is set as h = 1. The second multiple m is set variably with m = 1, 2, 3, 4.

As in 4 is shown, there is an input signal curve of a step function command A1, the curves of the varied second multiple m = 1 (i = 1, 2, 3, 4) of the control system 40 in 2 and the output signal curve PID of the conventional control system for comparison. As 4 shows, the output signal curve PID of the prior art PID control system according to the prior art has a large overshoot in contrast to that in the control system 40 of the present invention wherein the second multiple m increases, the corresponding overshoot is minimized, and the step response rise time approaches 20ms or more.

The influence of the first multiple h on the control system 40 is in 4 which is a diagram of the third stage response of the control system 40 in 2 is. In 5 the bandwidth B _{w is set} as B _w = 50 Hz, and the second multiple m is set as m = 1, and then the first multiple m is variably set as h = 1, 2, 4, 6, 8. As in 4 is shown, there is an input signal curve of a step function command A1, the curves of the varied first multiple h = i (i = 1, 2, 4, 6, 8) of the control system 40 in 2 , As 5 As the first multiple h increases, the corresponding overshoot is minimized, and the step response's rise time approaches more and more 20 ms.

According to the above illustration, the best setting of the system is the target bandwidth B _w = 50 Hz, the first multiple h = 1 and the second multiple m = 4 when the control system of the situation of a target bandwidth of B _w = 50 Hz and the step response rise time with 20 ms and without overshoot.

The influence of changing the estimated inertia value J _Σ is then displayed. When the relation between the inertia of the load J _d and the inertia of the motor J _m is J _d = 10J _m , the estimated inertia value J _Σ is J _Σ = 6J _m , J _Σ = 11J _m and J _Σ = 16J _m set adjusted to the corresponding changes of the output signal Y of the controlled body 31 in the tax system 40 in 2 to observe. The observed result is in 6 shown a diagram of the fourth step response of the control system 40 in 2 is.

In 6 There is an input signal curve of a step function command A1, the third operating signal curves Ci (i = 1 ~ 3) under the conditions of variable estimated mass inertia values J _Σ (J _Σ = 6J _m , 11J _m , 16J _m ) and the output signal curves Di (i = 1 ~ 3). The third operation signal curve C1 is based on the estimated inertia value J _Σ = 6J _m , while the third operation signal curve C2 is based on the estimated inertia value J _Σ = 11J _m and the third operation signal curve C3 is based on the estimated inertia value J _Σ = 16J _m . The output signal curve D1 is based on the estimated inertia value J _Σ = 6J _m , while the output signal curve D1 is based on the estimated inertia value J _Σ = 6J _m and the output signal curve D3 is based on the estimated inertia value J _Σ = 16J _m .

The three third operational waveforms Di (i = 1 ~ 3) are generated by operation of the master control unit 32 , the first adjustment unit 33 and the second adjustment unit 34 obtained by weighting the first multiple h and the second multiple m. As 6 shows possesses the control system 40 The present invention has a good robustness with respect to the variation of the estimated inertia value J _Σ .

Similarly, the influence of varying the inertia of J _{d is} then shown. If the relation between the mass inertia J _d and the inertia of the motor J _m is J _d = 11J _m , the estimated inertia value J _{d is set} as J _d = 5J _m , J _d = 10J _m and J _d = 15J _m , to the corresponding changes of the output signal Y of the controlled body 31 in the tax system 40 in 2 to observe. The observed result is in 7 showing the fifth stage response diagram of the control system in FIG 2 is.

In 7 There is an input signal curve of a step function command A1, the third operating signal curves Gi (i = 1 ~ 3) and the output signal curves Hi (i = 1 ~ 3) under the conditions of the varied mass inertia of the load J _d (J _d = 5J _m , 10J _m , 15K _m ). The third operating signal curve G1 is based on the mass inertia of the load J _d = 5J _m , while the third operating signal curve G2 is based on the mass inertia of the load J _d = 10J _m and the third operating signal curve G3 is based on the mass inertia of the load J _d = 15J _m . The output signal curve H1 is based on the mass inertia of the load J _d = 5J _m , while the output signal curve H2 is based on the mass inertia of the load J _d = 10J _m and the output signal curve H2 is based on the mass inertia of the load J _d = 15J _m . As 7 shows possesses the control system 40 the present invention, a good robustness with respect to changing the inertia of the load J _d .

• (a) Erstellen einer Zielbandbreite B_w für das Steuersystem 30;
• (b) Gestalten einer Steuerfunktion basierend auf der Zielbandbreite B_w, wobei dadurch veranlasst wird, dass sich die Bandbreite eines offenen Regelkreises eines Steuersystems der Zielbandbreite B_w nähert und dass dadurch ein erstes Betriebssignal U₁ erzeugt wird, wobei die Steuerfunktion die Transferfunktion der Master-Steuereinheit 32 ist;
• (c) Erzeugen eines ersten Einstellsignals Q₁, basierend auf dem ersten Betriebssignal U₁; und
• (d) Berechnen des ersten Einstellsignals Q₁, des Ausgangssignals Y und des ersten Betriebssignals U₁, um ein zweites Betriebssignal U₂ zu erzeugen, wobei dadurch ausgelöst wird, dass sich das Ausgangssignal Y dem ersten Einstellsignal Q₁ nähert, indem das zweite Betriebssignal U₂ zu dem gesteuerten Grundkörper 31 rückgeführt wird, welcher das Ausgangssignal Y erzeugt.

The adjustment method of the control system 30 for adjusting an output signal Y, which by a controlled basic body 31 is generated is represented as follows. The procedure includes the following steps:

• (a) Create a target bandwidth B _w for the control system 30 ;
• (b) designing a control function based on the target bandwidth B _w , thereby causing the open loop bandwidth of a control system to approach the target bandwidth B _w and thereby generate a first operating signal U ₁ , the control function being the transfer function of the master -Steuereinheit 32 is;
• (c) generating a first adjustment signal Q ₁ based on the first operation signal U ₁ ; and
• (d) calculating the first setting signal Q ₁ , the output signal Y and the first operating signal U ₁ to produce a second operating signal U ₂ , thereby causing the output signal Y to approach the first adjusting signal Q ₁ by the second operating signal U ₂ to the controlled body 31 is returned, which generates the output signal Y.

• (c1) Gestalten einer ersten Einstellfunktion entsprechend einem Antwortverhalten des gesteuerten Objektes 31, wobei die erste Einstellfunktion die Transferfunktion der ersten Einstelleinheit 33 ist; und
• (c2) Liefern des ersten Betriebssignals U₁ für die erste Einstellfunktion, um das erste Einstellsignal Q₁ zu erzeugen.

The step (c) in the above-mentioned method further includes the following steps:

• (c1) designing a first setting function according to a response of the controlled object 31 wherein the first adjustment function is the transfer function of the first adjustment unit 33 is; and
• (c2) providing the first operation signal U ₁ for the first adjustment function to generate the first adjustment signal Q ₁ .

• (d1) Erzeugen eines ersten Ergebnissignals T₁ durch Subtrahieren des Ausgangssignals Y von dem ersten Einstellsignal Q₁;
• (d2) Erzeugen eines zweiten Ergebnissignals T₂ durch Verstärken des ersten Ergebnissignals T₁ durch ein erstes Vielfaches h;
• (d3) Erzeugen des zweiten Betriebssignals U₂ durch Aufsummieren des zweiten Ergebnissignals T₂ und des ersten Betriebssignals U₁; und
• (d4) Einstellen des Wertes des ersten Vielfachen h, so dass das Ausgangssignal Y sich dem ersten Einstellsignal Q₁ nähert.

The step (d) in the above-mentioned method further comprises the following steps:

• (d1) generating a first result signal T ₁ by subtracting the output signal Y from the first adjustment signal Q ₁ ;
• (d2) generating a second result signal T ₂ by amplifying the first result signal T ₁ by a first multiple h;
• (d3) generating the second operating signal U ₂ by summing up the second result signal T ₂ and the first operating signal U ₁ ; and
• (d4) setting the value of the first multiple h, so that the output signal Y approaches the first adjustment signal Q ₁ .

• (e) Liefern eines Eingangssignals R an eine zweite Einstellfunktion, um ein zweites Einstellsignal Q₂ zu erzeugen, wobei die zweite Einstellfunktion die Transferfunktion der zweiten Einstelleinheit 34 ist; und
• (f) Berechnen des zweiten Einstellsignals Q₂, des Ausgangssignals Y und des Eingangssignals R, um ein drittes Betriebssignal U₃ zu erzeugen, wobei die Transferfunktion des Steuersystems 30 veranlasst wird, sich der zweiten Einstellfunktion zu nähern.

Following the step (d), the above he Furthermore, the method suggested the following steps:

• (e) providing an input signal R to a second adjustment function to generate a second adjustment signal Q ₂ , wherein the second adjustment function is the transfer function of the second adjustment unit 34 is; and
• (f) calculating the second adjustment signal Q ₂ , the output signal Y and the input signal R to produce a third operating signal U ₃ , wherein the transfer function of the control system 30 is caused to approach the second adjustment function.

• (f1) Erzeugen eines dritten Ergebnissignals T₃ durch Subtrahieren des Ausgangssignals Y von dem zweiten Einstellsignal Q₂;
• (f2) Empfangen des dritten Ergebnissignals T₃ und Verarbeiten des dritten Ergebnissignals durch eine integrale Berechnung, um so ein viertes Ergebnissignal T₄ zu erzeugen, wobei die integrale Berechnung durch die integrale Funktion F in dem Regelkreis-Stabilisierglied 343 verarbeitet wird;
• (f3) Erzeugen eines fünften Ergebnissignals T₅ durch Verstärken des vierten Ergebnissignals T₄ um ein zweites Vielfaches m;
• (f4) Erzeugen des dritten Betriebssignals U₃ durch Aufsummieren des fünften Ergebnissignals T₅ und des Eingangssignals R und Wegnehmen des Ausgangssignals Y; und
• (f5) Einstellen des Wertes des zweiten Vielfachen m, so dass die Transferfunktion des Steuersystems 30 sich der zweiten Einstellfunktion nähert.

The step (f) in the above-mentioned method further includes the following steps:

• (f1) generating a third result signal T ₃ by subtracting the output signal Y from the second adjustment signal Q ₂ ;
• (f2) receiving the third result signal T ₃ and processing the third result signal by an integral calculation so as to generate a fourth result signal T ₄ , wherein the integral calculation by the integral function F in the loop stabilizer 343 is processed;
• (f3) generating a fifth result signal T ₅ by amplifying the fourth result signal T ₄ by a second multiple m;
• (f4) generating the third operating signal U ₃ by summing up the fifth result signal T ₅ and the input signal R and removing the output signal Y; and
• (f5) setting the value of the second multiple m, so that the transfer function of the control system 30 approaches the second adjustment function.

The Characteristic of the invention is: a control system for controlling a Output signal, which is produced by a controlled object is, wherein the control system is a master control unit, a first Setting unit and a second adjustment unit includes. By setting the two weighting parameters, d. H. of the first multiple and the second multiple, become the robustness and the fast Response of the control system received, and the overshoot of the output signal of the controlled body is diminished and approached zero. The control system has the technical features of Target bandwidth, where it is the fault Resists at low frequency and having a transfer function followed by adjusting and controlling in the main engine by designing the master control unit, the first setting unit and the second adjustment unit and setting the two weighting parameters of the first multiple and the second multiple.

In Sum is the efficiency and the progressiveness of the tax system and the adjusting method of the present invention.

Claims (18)

Control system for controlling an output signal (Y) which is controlled by a controlled object ( 31 ), the control system having a bandwidth and being represented by a first mathematical model having a first transfer function, the control system being characterized by comprising: a master controller (10); 32 ) represented by a second mathematical model having a second transfer function configured to cause an open loop bandwidth of the control system to approach a target bandwidth and generate a first operating signal (U ₁ ); a first adjustment unit ( 33 ), which is represented by a third mathematical model having a third transfer function and configured to receive the first operating signal (U ₁ ) and to generate a first setting signal (Q ₁ ), the first setting signal ( 33 ), the output signal (Y) and the first operating signal (U ₁ ) are calculated to produce a second operating signal (U ₂ ), and the output signal (Y) approaches the first adjusting signal (Q ₁ ) so that an interference signal ( W) to which the controlled object ( 31 ) is compensated; and a second adjustment unit ( 34 ) represented by a fourth mathematical model having a fourth transfer function and configured to receive an input signal (R) to produce a second adjustment signal (Q ₂ ), the second adjustment signal (Q ₂ ), the output signal (Y) and the input signal (R) are calculated in order to generate a third operating signal (U ₃ ) which is required for the master control unit ( 32 ) and the first transfer function of the control system causes the fourth transfer function of the second adjustment unit ( 34 ) to approach. Control system according to claim 1, characterized in that the master control unit ( 32 ) has a proportional-integral (PI) controller. Control system according to claim 1, characterized in that it comprises: a first adder ( 342 ) configured to generate a first result signal (T ₃ ) by subtracting the output signal (Y) from the second adjustment signal (Q ₂ ); a control loop stabilizer ( 343 ) which receives the first result signal (T ₃ ) to generate a second result signal (T ₄ ) and which is represented by a fourth mathematical model having an integral function for causing the control system to determine a status of the steady state error To get state from zero; a first amplifier ( 344 ) which receives the second result signal (T ₄ ) and which receives a third one Result signal (T ₅ ) by amplifying the second result signal (T ₄ ) generated by a first multiple, wherein the first multiple is set so that the first transfer function of the control system of the fourth transfer function of the second setting unit ( 34 ) approaches; and a second adder ( 341 ) which is constructed to generate the third operating signal (U ₃ ) by summing up the input signal (R) and the third result signal (T ₅ ) and removing the output signal (Y). Control system according to claim 1, characterized in that the controlled object ( 31 ) is an engine. Control system according to claim 1, characterized in that when the controlled object ( 31 ) is an engine, the controlled object ( 31 ) has a physical behavior given by the first transfer function K _t / ((J _m + J _d ) s + B), where J _{m is} an inertia of the motor, J _{d is} a mass inertia of a load, B is an attenuation coefficient and K _{t is} a ratio; the second transfer function of the master-controlled unit is 2πB _w J _Σ / K _t , where B _{w is} the target bandwidth and J _{Σ is} an estimated inertia value of (J _m + J _d ); the third transfer function of the first setting unit ( 33 ) K _t / (J _Σ s); and the fourth transfer function of the second adjustment unit ( 34 ) K _t / (J _Σ s). Control system which controls an output signal (Y) controlled by a controlled object ( 31 ), the control system having a bandwidth and being represented by a first mathematical model having a first transfer function, the control system being characterized by comprising: a master controller (10); 32 ) represented by a second mathematical model having a second transfer function configured to cause an open loop bandwidth of the control system to approach a target bandwidth and generate a first operating signal (U ₁ ); and a first adjustment unit ( 33 ) represented by a third mathematical model having a third transfer function and configured to receive the first operating signal (U ₁ ) and generate a first adjustment signal (Q ₁ ), the first adjustment signal (Q ₁ ), the output signal (Y) and the first operating signal (U ₁ ) are calculated to produce a second operating signal (U ₂ ), and the output signal (Y) approaches the first setting signal (Q ₁ ), so that an interference signal (W) to which the controlled object ( 31 ) is compensated. Control system according to claim 6, characterized in that the controlled object ( 31 ) has a physical behavior and that the master control unit ( 32 ) according to the physical behavior of the controlled object ( 31 ) is designed. Control system according to claim 6, characterized in that the master control unit ( 32 ) has a proportional-integral (PI) controller. Control system according to claim 6, characterized in that the controlled object ( 31 ) has a response behavior and the first setting unit ( 33 ) according to the response behavior of the controlled object ( 31 ) is designed. A control system according to claim 6, characterized by comprising: a first adder ( 332 ) configured to generate a first result signal (T ₁ ) by subtracting the output signal (Y) from the first adjustment signal (Q ₁ ); a first amplifier ( 332 ) configured to receive the first result signal (T ₁ ) and generate a second result signal (T ₂ ) by amplifying the first result signal (T ₁ ) by a first multiple, the first multiple being set such that the output signal (Y) approaches the first adjustment signal (Q ₁ ). Control system according to Claim 6, characterized in that it comprises a second adder ( 333 ) which is constructed so that it sums up the second operating signal (U ₂ ) and the interference signal (W) and the controlled object ( 31 ) supplied with a sum result of the second operating signal (U ₂ ) and the interference signal (W). Control system according to claim 6, characterized in that it comprises a second adjusting unit ( 34 ) represented by a fourth mathematical model having a fourth transfer function and configured to receive an input signal (R) and thereby generate a second adjustment signal (Q ₂ ), the second adjustment signal (Q ₂ ), the output signal (Y) and the input signal (R) are calculated in order to generate a third operating signal (U ₃ ) which is sent to the master control unit ( 32 ), so that the first transfer function of the control system of the fourth transfer function of the second adjustment unit ( 34 ) approaches. Control system according to claim 12, characterized in that it comprises: a third adder ( 342 ) configured to generate a third result signal (T ₃ ) by subtracting the output signal (Y) from the second adjustment signal (Q ₂ ); a control loop stabilizer ( 343 ) which is arranged to receive the third result signal (T ₃ ) and thereby generate a fourth result signal (T ₄ ), the control loop stabilizer ( 343 ) represented by a fifth mathematical model has an integral function for causing the control system to obtain a steady state error status of zero; a second amplifier ( 344 ), Which is constructed so that it receives the fourth result signal (T ₄₎ and a fifth result signal (T ₅₎ (by amplifying the fourth result signal T ₄₎ generated by a second multiple, said second multiple is set so that the first transfer function of the control system, the fourth transfer function of the second setting unit ( 34 ) approaches; and a fourth adder ( 341 ) which is constructed to generate the third operation signal (U ₃ ) by summing the input signal (R) and the fifth result signal (T ₅ ) and removing the output signal (Y). Setting method of a control system for setting an output signal (Y) controlled by a controlled object ( 31 ), the control system having a bandwidth and being represented by a first mathematical model having a transfer function, the method characterized by: (a) establishing a target bandwidth for the control system; (b) designing a control function based on the target bandwidth and causing an open loop bandwidth of the control system to approach the target bandwidth, and generating a first operating signal (U ₁ ); (c) generating a first adjustment signal (Q ₁ ) based on the first operation signal (U ₁ ); and (d) calculating the first adjustment signal (Q ₁ ), the output signal (Y) and the first operation signal (U ₁ ) to produce a second operation signal (U ₂ ), thereby causing the output signal (Y) to become the first one Approaching signal (Q ₁ ) by passing the second operating signal (U ₂ ) to the controlled object ( 31 ) which produces the output signal (Y). A method according to claim 14, characterized in that step (c) further comprises the steps of: (c1) designing a first setting function ( 33 ) according to a response behavior of the controlled object ( 31 ); and (c2) processing the first operating signal (U ₁ ) by the first setting function ( 33 ) to generate the first adjustment signal (Q ₁ ). A method according to claim 14, characterized in that step (d) further comprises the steps of: (d1) generating a first result signal (T ₁ ) by subtracting the output signal (Y) from the first adjustment signal (Q1); (d2) generating a second result signal (T ₂ ) by amplifying the first result signal (T ₁ ) by a first multiple; (d3) generating a second operating signal (U ₂ ) by summing up the second result signal (T ₂ ) and the first operating signal (U ₁ ); and (d4) setting the value of the first multiple so that the output signal (Y) approaches the first adjustment signal (Q ₁ ). Method according to Claim 14, characterized in that it comprises the steps of: (e) providing an input signal (R) to a second setting function ( 34 ) to generate a second adjustment signal (Q ₂ ); and (f) calculating the second adjustment signal (Q ₂ ), the output signal (Y) and the input signal (R) to produce a third operating signal (U ₃ ), and causing the first transfer function of the control system to engage the second adjustment function ( 34 ) to approach. A method according to claim 17, characterized in that step (f) further comprises the steps of: (f1) generating a third result signal (T ₃ ) by subtracting the output signal (Y) from the second adjustment signal (Q ₂ ); (f2) receiving the third result signal (T ₃ ) and processing the third result signal (T ₃ ) by an integral calculation so as to generate a fourth result signal (T ₄ ); (f3) generating a fifth result signal (T ₅ ) by amplifying the fourth result signal (T ₄ ) by a second multiple; (f4) generating the third operating signal (U ₃ ) by summing up the fifth result signal (T ₅ ) and the input signal (R) and removing the output signal (Y); and (f5) setting the value of the second multiple, such that the first transfer function of the control system adopts the second setting function ( 34 ) approaches.