JPH0553601A - Electronic governor - Google Patents
Electronic governorInfo
- Publication number
- JPH0553601A JPH0553601A JP21510591A JP21510591A JPH0553601A JP H0553601 A JPH0553601 A JP H0553601A JP 21510591 A JP21510591 A JP 21510591A JP 21510591 A JP21510591 A JP 21510591A JP H0553601 A JPH0553601 A JP H0553601A
- Authority
- JP
- Japan
- Prior art keywords
- error
- target value
- manipulated variable
- control
- magnitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Combined Controls Of Internal Combustion Engines (AREA)
- Feedback Control In General (AREA)
- Flow Control (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】制御対象の制御量と目標値との誤
差がゼロの時には，操作量を予め決めた基準値に操作
し，誤差がゼロでない時には，誤差と操作量の上記基準
値に対する変位とが比例関係になるように操作する比例
制御系の電子ガヴァナに関する。[Industrial application] When the error between the controlled variable of the controlled object and the target value is zero, the manipulated variable is manipulated to a predetermined reference value, and when the error is not zero, the error and the manipulated variable with respect to the above reference value The present invention relates to an electronic governor of a proportional control system which operates so as to have a proportional relationship with displacement.
【０００２】[0002]
【従来の技術】図６は比例制御における誤差と変位との
関係を示している。図６に示す如く，誤差がゼロの時に
は，操作量を予め決められた基準値に操作し，制御量が
目標値からずれて誤差が存在する時には，誤差に比例す
る変位を操作量に与え，制御量が目標値に近づく方向に
変化する。しかし，上記予め決められた基準値は，負荷
に関係なく決められた値であるので，通常，誤差がゼロ
で変位がゼロの状態にはならず，変位と誤差とがつり合
う点で安定する。例えば，負荷が大きくて，操作量を上
記基準値に操作すると制御量が減少してしまうような場
合には，上記基準変位よりも制御量を増加させる変位に
おいて誤差と変位とがつり合って安定する。図７は，制
御量の過渡応答を示す。図７に示す如く，時間とともに
制御量は目標値へ近づいていき，上記の如く，負荷の大
きさに応じた誤差を持って安定する。また，その定常誤
差は負荷の大きさに対応して大きくなる。2. Description of the Related Art FIG. 6 shows the relationship between error and displacement in proportional control. As shown in FIG. 6, when the error is zero, the manipulated variable is manipulated to a predetermined reference value, and when the controlled variable deviates from the target value and there is an error, a displacement proportional to the error is given to the manipulated variable. The controlled variable changes toward the target value. However, since the above-mentioned predetermined reference value is a value determined regardless of the load, normally, the error is zero and the displacement is not zero, and the displacement and the error are stable. For example, when the load is large and the control amount decreases when the operation amount is operated to the reference value, the error and the displacement are balanced and stable in the displacement increasing the control amount above the reference displacement. To do. FIG. 7 shows the transient response of the controlled variable. As shown in FIG. 7, the control amount approaches the target value with time, and as described above, it stabilizes with an error corresponding to the magnitude of the load. Moreover, the steady-state error increases with the magnitude of the load.
【０００３】[0003]
【発明が解決しようとする課題】比例制御の場合，誤差
と操作量の変位が比例しているので，誤差は，通常，存
在していることになる。この誤差をゼロに近づけるため
に，誤差を時間で積分してそれと誤差とを加算して，そ
の結果により操作量を決定するＰＩ（比例積分）制御が
ある。しかし，ＰＩ制御であると誤差を積分しているの
で，そのための時間がかかり応答性が悪くなる。In the case of proportional control, since the error and the displacement of the manipulated variable are proportional to each other, the error usually exists. In order to bring this error close to zero, there is PI (proportional integral) control that integrates the error over time, adds it and the error, and determines the manipulated variable based on the result. However, in the PI control, the error is integrated, so that it takes time and the responsiveness deteriorates.
【０００４】本発明は，応答性を犠牲にすることなく誤
差をゼロに近づけることを目的とする。An object of the present invention is to bring an error close to zero without sacrificing responsiveness.
【０００５】[0005]
【課題を解決するための手段】図１は，本発明の原理構
成図を示す。図中，１０は制御対象，２０は比較部，３
０は調節部，４０は操作部，５０は操作量検出部，６０
は目標値変換部を表わす。FIG. 1 is a block diagram showing the principle of the present invention. In the figure, 10 is a controlled object, 20 is a comparison unit, 3
0 is an adjustment unit, 40 is an operation unit, 50 is an operation amount detection unit, 60
Represents a target value conversion unit.
【０００６】比較部２０は制御対象１０の制御量と目標
値とを比較して，その誤差を出力する。調節部３０は上
記誤差に応じて，比例制御により操作量の大きさを指示
する制御信号を発する。The comparison unit 20 compares the control amount of the controlled object 10 with the target value and outputs the error. The adjusting unit 30 issues a control signal instructing the magnitude of the manipulated variable by proportional control according to the error.
【０００７】操作部４０は上記制御信号を受けて，制御
対象１０に操作を加える。操作量検出部５０は上記操作
量の大きさを検出する。目標値変換部６０は操作量に対
応して上記目標値をずらす。The operation unit 40 receives the control signal and operates the controlled object 10. The manipulated variable detector 50 detects the magnitude of the manipulated variable. The target value conversion unit 60 shifts the target value according to the operation amount.
【０００８】[0008]
【作用】操作量検出部５０は，調節部３０の出力する制
御信号又は操作部４０の操作する操作量又は制御対象に
おける操作量に対応する物理量によって操作量を検出
し，目標値変換部６０へ操作量を伝える。目標値変換部
６０は，操作量の大きさに応じて目標値をずらす。The operation amount detection unit 50 detects the operation amount by the control signal output from the adjustment unit 30, the operation amount operated by the operation unit 40, or the physical amount corresponding to the operation amount in the controlled object, and the detected value is sent to the target value conversion unit 60. Tell the operation amount. The target value conversion unit 60 shifts the target value according to the magnitude of the operation amount.
【０００９】制御量が本来の目標値よりも小さい時に
は，本来の目標値よりも大きい値を目標値として，逆
に，制御量が本来の目標値よりも大きい時には，本来の
目標値よりも小さい値を目標値とする。その結果，定常
値と本来の目標値との誤差は小さくなる。When the control amount is smaller than the original target value, a value larger than the original target value is set as the target value, and conversely, when the control amount is larger than the original target value, it is smaller than the original target value. The value is the target value. As a result, the error between the steady value and the original target value becomes smaller.
【００１０】[0010]
【実施例】図２，図３は夫々本発明の実施例を示す。図
２，図３において，１０，２０，３０，４０，５０は図
１に対応している。2 and 3 show embodiments of the present invention. In FIGS. 2 and 3, reference numerals 10, 20, 30, 40 and 50 correspond to those in FIG.
【００１１】図２，図３は負荷１２を伴うエンジン１１
を制御対象１０として制御を行なう系を示している。図
２に示す系では，アクチエータ４１に位置検出手段５０
（操作量検出部に相当）を設けて演算部３０（調節部に
相当）が比較部２０から受け取る誤差情報とエンジン１
１のスロットル位置との対応を図っている。また，当該
系では，位置検出手段５０の出力をゲイン５１を介して
比較部２０へ入力し，本来の目標値と加算又は減算し
て，目標値の変換を行なっている。2 and 3 show an engine 11 with a load 12.
1 shows a system for performing control with the control target 10. In the system shown in FIG. 2, the actuator 41 has a position detecting means 50.
The error information received from the comparison unit 20 by the calculation unit 30 (corresponding to the adjustment unit) and the engine 1 are provided by providing the operation amount detection unit.
It corresponds to the throttle position of 1. Further, in this system, the output of the position detecting means 50 is input to the comparing section 20 via the gain 51, and the target value is converted by adding or subtracting it to the original target value.
【００１２】図３に示す系では，アクチエータ４１にス
プリング１４を設け，アクチエータとスプリングのトル
クとが釣り合うところで，スロットル位置が定まるよう
になっている。また，当該系では，演算部３０から出力
される制御信号が位置検出手段５０を介して比較部２０
へ入力される。当該制御信号がスロットル位置に対応し
ているので，比較部２０は当該制御信号に対応して目標
値を変換する。In the system shown in FIG. 3, the actuator 41 is provided with the spring 14, and the throttle position is determined when the torque of the actuator and the spring are balanced. Further, in this system, the control signal output from the arithmetic unit 30 is transmitted via the position detecting means 50 to the comparison unit 20.
Is input to. Since the control signal corresponds to the throttle position, the comparison unit 20 converts the target value according to the control signal.
【００１３】図４は図３の回路例を示す。符号１３，２
０，３０，４１，５０は図１及び図３に対応している。
点Ａには制御量の目標値が入力され，点Ｂには制御量が
入力される。制御量入力はオペアンプＯＰ３により増幅
されて抵抗Ｒ２を介してオペアンプＯＰ１へ入力され
る。目標値よりも制御量の方が小さい時には，オペアン
プＯＰ１の出力が負の値になり，オペアンプＯＰ２の出
力が正の値となるので，当該出力が位置検出手段５０を
介してオペアンプＯＰ１へ入力される結果，目標値はよ
り大きな値へ変換される。逆に，目標値よりも制御量の
方が大きい時には，目標値はより小さい値へ変換され
る。FIG. 4 shows an example of the circuit shown in FIG. Reference numerals 13 and 2
0, 30, 41, 50 correspond to FIGS. 1 and 3.
The target value of the controlled variable is input to the point A, and the controlled variable is input to the point B. The control amount input is amplified by the operational amplifier OP3 and input to the operational amplifier OP1 via the resistor R2. When the control amount is smaller than the target value, the output of the operational amplifier OP1 has a negative value and the output of the operational amplifier OP2 has a positive value, so that the output is input to the operational amplifier OP1 via the position detecting means 50. As a result, the target value is converted to a larger value. On the contrary, when the controlled variable is larger than the target value, the target value is converted to a smaller value.
【００１４】図５は実施例の過渡応答を示す。エンジン
の場合を例にとると，回転数一定の比例制御を行なう場
合に，負荷の大きさに対応するスロットル位置に応じて
目標値をずらしているので，誤差が小さくなる。FIG. 5 shows the transient response of the embodiment. Taking the case of an engine as an example, when performing proportional control with a constant number of revolutions, the target value is shifted according to the throttle position corresponding to the magnitude of the load, so the error becomes small.
【００１５】ところで，スロットルの細かい動きが目標
値の入力に反映され系が不安定になるなら，スロットル
位置の検出部にローパスフィルタを設ければよい。ま
た，ＰＩ制御やＰＩＤ（比例積分微分）制御等の積分制
御を含むものにこれを適用しても，誤差を少なくする積
分部の負担が少なくなり応答性がよくなる。By the way, when the fine movement of the throttle is reflected in the input of the target value and the system becomes unstable, a low-pass filter may be provided in the throttle position detecting section. Further, even when this is applied to the one including the integral control such as the PI control or the PID (proportional integral derivative) control, the load on the integrating portion for reducing the error is reduced and the responsiveness is improved.
【００１６】[0016]
【発明の効果】本発明によれば，応答性を犠牲にするこ
となく，誤差を小さくすることができる。According to the present invention, the error can be reduced without sacrificing the responsiveness.
【図１】本発明の原理構成図を示す。FIG. 1 shows a principle configuration diagram of the present invention.
【図２】本発明の実施例を示す。FIG. 2 shows an embodiment of the present invention.
【図３】本発明の他の実施例を示す。FIG. 3 shows another embodiment of the present invention.
【図４】図３の場合の要部の具体的回路例を示す。FIG. 4 shows a specific circuit example of a main part in the case of FIG.
【図５】本発明の場合の過渡応答を示す。FIG. 5 shows the transient response for the present invention.
【図６】誤差と変位とを説明する図である。FIG. 6 is a diagram illustrating an error and a displacement.
【図７】従来の場合の過渡応答を示す。FIG. 7 shows a transient response in the conventional case.
１０ 制御対象 ２０ 比較部 ３０ 調節部 ４０ 操作部 ５０ 操作量検出部 ６０ 目標値変換部 10 Control Target 20 Comparing Section 30 Adjusting Section 40 Operating Section 50 Operating Quantity Detection Section 60 Target Value Converting Section
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.5 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｇ０５Ｄ 7/06 Ｚ 8811−3Ｈ ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 5 Identification code Internal reference number FI technical display location G05D 7/06 Z 8811-3H
Claims (2)
較してその誤差を求める比較部（20) と, 上記誤差の大
きさに応じて操作量の大きさを指示する制御信号を発す
る調節部 (30) と, 上記制御信号を受けて, 制御対象
(10) に操作を加える操作部 (40) とを備え, 上記誤差
がゼロの時には操作量を予め決めた基準値に操作し，誤
差がゼロでない時には誤差と操作量の上記基準値に対す
る変位とが比例関係になるように操作する比例制御系の
電子ガヴァナにおいて,上記操作量の大きさを検出する
操作量検出部 (50) と，操作量の大きさに対応して上記
目標値をずらす目標値変換部 (60) とを設けて, 当該ず
らされた目標値をもって上記比例制御を行なうようにし
たことを特徴とする電子ガヴァナ。1. A comparison unit (20) for comparing a control amount of a controlled object (10) with a target value to obtain an error thereof, and a control signal for instructing a magnitude of an operation amount according to the magnitude of the error. The control unit (30) that emits
An operation unit (40) for applying an operation to (10) is provided, and when the error is zero, the operation amount is operated to a predetermined reference value, and when the error is not zero, the error and the displacement of the operation amount with respect to the reference value are set. In an electronic governor of a proportional control system that operates in a proportional relationship, the manipulated variable detector (50) that detects the magnitude of the manipulated variable and the target that shifts the target value corresponding to the magnitude of the manipulated variable. An electronic governor, characterized in that a value conversion unit (60) is provided to perform the proportional control with the shifted target value.
を設けた請求項１記載の電子ガヴァナ。2. The electronic governor according to claim 1, wherein the manipulated variable detector (50) is provided with a low-pass filter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21510591A JPH0553601A (en) | 1991-08-27 | 1991-08-27 | Electronic governor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21510591A JPH0553601A (en) | 1991-08-27 | 1991-08-27 | Electronic governor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0553601A true JPH0553601A (en) | 1993-03-05 |
Family
ID=16666837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21510591A Pending JPH0553601A (en) | 1991-08-27 | 1991-08-27 | Electronic governor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0553601A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012216170A (en) * | 2011-04-01 | 2012-11-08 | Hitachi Metals Ltd | Flow control device |
-
1991
- 1991-08-27 JP JP21510591A patent/JPH0553601A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012216170A (en) * | 2011-04-01 | 2012-11-08 | Hitachi Metals Ltd | Flow control device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5015934A (en) | Apparatus and method for minimizing limit cycle using complementary filtering techniques | |
| US6549826B1 (en) | VAV airflow control for preventing processor overflow and underflow | |
| EP0376969B1 (en) | Monitoring device for the position regulator in an electronic accelerator pedal | |
| KR920700417A (en) | Sliding mode control method with feedforward compensation | |
| US5435779A (en) | Precision gas flow control by use of coarse and fine control elements | |
| US4612489A (en) | Power transmission | |
| US5814962A (en) | Servo controller | |
| US6487458B1 (en) | Adaptive closed-loop servo control | |
| JPH0553601A (en) | Electronic governor | |
| US6055971A (en) | Plateau linearization curves with proportional/integral/derivative control theory | |
| GB2270998A (en) | Positioning system | |
| JP3297219B2 (en) | Power amplifier for clutch and brake | |
| JP2932444B2 (en) | Motor servo control device | |
| KR20010086077A (en) | Improved servomechanical control system and method | |
| JPH0733975B2 (en) | Electromagnetic force balance | |
| JPH09158761A (en) | Fuel control device for engine | |
| JPH07219601A (en) | Controller | |
| JPH03115803A (en) | Light beam position detector | |
| JP3095755B2 (en) | Proportional valve with closed loop control amplifier | |
| SU1581874A1 (en) | Method of controlling hydroelectric follow-up drive of throttle control | |
| CA1271243A (en) | Power transmission | |
| JPS59186098A (en) | Zero-point adjuster for signal source | |
| JPS6134360A (en) | Governor for water turbine or pump water wheel | |
| JPH0620408A (en) | Magnetic disk device | |
| JPH01279304A (en) | Integral proportion compensator for servo control system |