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1.前言以前的PID控制是只设定一种控制常数的一个自由度的PID控制方式。然而,如本文所述,在实际控制系统中,存在“外扰动抑制最佳控制常数”和“目标值跟踪”两种最佳控制常数。但是,在以前1个自由度PID控制方式里,由于只能设定一种常数,因此,在运行过程中整定参数吋,会使控制性能恶化。为克服这些本质缺欠,使“外扰抑制最佳控制常数”和“目标值跟踪最佳常数”这两种常数能够独立设定,尽管必要的调数参数的数量与以前相同,但调整方法比以前的
1. Introduction The previous PID control was to set only one degree of freedom PID control method for controlling constants. However, as described in this paper, in the actual control system, there are two kinds of optimal control constants: “optimal control constant of external disturbance suppression” and “target tracking”. However, in the previous one-degree-of-freedom PID control method, since only one type of constant can be set, setting the parameter during operation deteriorates the control performance. To overcome these inherent shortcomings, two constants, “optimal control constant of extrinsic disturbance rejection” and “best constant of target tracking”, can be set independently. Although the number of necessary tuning parameters is the same as before, the adjustment method ratio Earlier