JPS59167701A - Automatic control method - Google Patents
Automatic control methodInfo
- Publication number
- JPS59167701A JPS59167701A JP4192283A JP4192283A JPS59167701A JP S59167701 A JPS59167701 A JP S59167701A JP 4192283 A JP4192283 A JP 4192283A JP 4192283 A JP4192283 A JP 4192283A JP S59167701 A JPS59167701 A JP S59167701A
- Authority
- JP
- Japan
- Prior art keywords
- control
- gain control
- region
- control region
- controlled variable
- 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
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B7/00—Arrangements for obtaining smooth engagement or disengagement of automatic control
- G05B7/02—Arrangements for obtaining smooth engagement or disengagement of automatic control electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
Description
【発明の詳細な説明】
不発明は、自動制御方法、詳しくは、制御量が目標値を
含も領域内にあるときには基本円にローゲイン制御を行
ない、その他の領域にあるときにはハイゲイン制御を行
なうデュアルゲイン自動制御方法に関する。[Detailed Description of the Invention] The invention is an automatic control method, and more specifically, a dual method that performs low gain control on the base circle when the controlled amount is within the range including the target value, and performs high gain control when it is in other ranges. This invention relates to an automatic gain control method.
従来から、この種の自動制御方法のように、制御量が目
標値近辺にあるときはハンチングを防止するためローゲ
イン制御を行なうとともに、制御量が目標値に対して太
きくず几ているときには応答よく目標値に到達させる之
めにハイゲイン制御上行なうというように制御ゲインを
切り換えて制御することが行なわnて馳る。Conventionally, this type of automatic control method performs low gain control to prevent hunting when the controlled variable is close to the target value, and responds when the controlled variable is in the vicinity of the target value. In order to reach the target value, control is often performed by switching the control gain, such as performing high gain control.
しかしながら、上記従来のデュアルゲイン自動制御方法
にあっては、ローゲイン制御とハイゲイン、制御との切
換を単に制御量と目標値との比較結果に基いて、制御量
が目標値針・辺の一足範囲内におさまったときKに直ち
にローゲイン制御に切換沁・、また、この目標値近辺以
外の範囲にず′t″したときに゛げ直ちにハイゲイン制
御に切換えるというように、直ちに制御ゲインの切換え
を行なっていたので、以下に示す欠点が有った0
即ち、制御量が目標値近辺に到達するまでぽ制御応答が
良いのであるが、目標値近辺から目標値に一致または?
1ぼ一致するまでの制御収束をローゲイン制御VCよっ
て行なっているために、オーバーシュートが生じて収束
しなゆったり、あるいは、収束に四する応答時間が長く
なる欠点が有つ−た。However, in the conventional dual gain automatic control method described above, switching between low gain control, high gain control, and control is simply based on the comparison result between the control amount and the target value, and the control amount is within a range of the target value needle/side. When the value falls within K, the control gain is immediately switched to low gain control, and when the value falls within a range other than this target value, the control gain is immediately switched to high gain control. In other words, the control response is good until the controlled variable reaches around the target value, but from around the target value it does not match the target value or not.
Since the control convergence until a one-point coincidence is performed by the low gain control VC, there is a drawback that overshoot occurs and the convergence takes a long time or the response time for convergence becomes long.
X発明に上記実情に鑑みてなさ′i″したものであって
、その目的に、制御収束が速く、かつ、ハンチングの少
ない自動制御方法を提供することにある。This invention has been made in view of the above-mentioned circumstances, and its purpose is to provide an automatic control method that achieves rapid control convergence and reduces hunting.
上記目的全達成すべく不発明による自動制御方法は、制
御量が前記ノ・イゲンイ制御領域からローゲイン制御領
域に移行したときに−ば、一定時間のタイムラグをもた
せてノ・イゲイン制徊1状態からローゲイン制御状態に
切換え、一方、制御1侘が前記ローゲイン制御領域から
ノ・イゲイン制御領域に移行したときには、直ち【てロ
ーゲイン制御状態からハイゲイン制御状態に切換えるこ
と全特徴とする。In order to achieve all of the above objects, the uninvented automatic control method is such that when the control amount shifts from the above-mentioned no-gain control region to the low-gain control region, the control amount is changed from the no-gain control 1 state with a certain time lag. The present invention is characterized in that when the first control period shifts from the low gain control region to the no gain control region, the low gain control state is immediately switched to the high gain control state.
上Bc2. t+!f徴構成故に前記の如き優れた効果
を発揮するに至った0
即ち、制御量がノ・イゲイン制御領域からローゲイン領
域に移行しt後も一定時間はノ蔦イゲイン制御が続行さ
れるので、目標値に対する制御量の収束が確実でしかも
速やかであり、その後はローゲイン制御が行なわ几るの
で目標値到達後にはハンチングを起こすことなく制御が
安定するとともに、ローゲイン制御:領域からノ・イゲ
イン制御領域へ制、御量が移行した場合は直ちにハイゲ
イン制御に切換えられるので制御量が目標値からずれた
場合にも制御応答が悪くなることがないのである0
以下、不発明の実施例を図面に基いて説明する0
尚、この実施例は不発明による自動制御方法をコンバイ
ンにおける刈高さ制御に適用した例を示すものである。Upper Bc2. T+! Because of the f-characteristic structure, the above-mentioned excellent effect has been achieved. The control amount converges with respect to the value reliably and quickly, and after that, low gain control is performed and the control stabilizes without causing hunting after the target value is reached, and the transition from the low gain control region to the no gain control region When the control amount shifts, the control is immediately switched to high gain control, so even if the control amount deviates from the target value, the control response does not worsen. Description0 This embodiment shows an example in which the automatic control method according to the invention is applied to cutting height control in a combine harvester.
そして、本実施例における刈高さ制御(ば、基本的に、
刈取部先端部に設けらtした分葦具の背後に取付けであ
る超音波センサー(1)に工って対地高さを繰返し計測
して、この計測結果と予め設足しである目標[直として
の所定対地高さとを比較して、計測対地高さがこの目標
値に一致すべく油圧シリンダ(2)によって刈取部を昇
降制御することによって行なわ几るものである。(構造
は図示せず。)
@1図に示すように、制御システムは、主要部ヲマイク
ロコンピュータによって構成されt制御装置(3)の演
算部(4)に前記超音波センサー(1)からの対地高さ
検出信号但)が入力インターフェース(5)を介して入
力してあり、予め設足さnた適市対地高さとi〜ての目
標値(Ho)との差を制御(;(((イ)として演算し
て、その結果を制御信号として前記油圧シリンダ(江を
操作する電磁パルプ(6)に出力インターフェース、(
7)−e介して出力すべく構成しである。The cutting height control in this embodiment (basically,
The height above the ground is repeatedly measured using an ultrasonic sensor (1) attached to the back of the reed splitter installed at the tip of the reaping part, and this measurement result is compared with the target set in advance. This is done by comparing the measured height above the ground with a predetermined height above the ground and controlling the reaping section to move up and down using the hydraulic cylinder (2) so that the measured height above the ground matches the target value. (The structure is not shown.) As shown in Figure 1, the main part of the control system is composed of a microcomputer, and the control system (4) of the control device (3) receives the information from the ultrasonic sensor (1). The height above ground detection signal (however) is input via the input interface (5), and the difference between the suitable height above the ground set in advance and the target value (Ho) of i~ is controlled (;(( (A), and output the result as a control signal to the electromagnetic pulp (6) that operates the hydraulic cylinder (I).
7) It is configured to be output via -e.
そして、第2図に示す″ように前記制御量(Δ)が目標
値(1]。)を含む所定対地高さ領域(ハ))内に有る
場合は基本的にローゲイン制御となるように制御モード
を決定するフラグ(MODE)全〃0〃にセットする。Then, as shown in Fig. 2, if the control amount (Δ) is within a predetermined height above the ground range (c) that includes the target value (1), the control is basically performed to perform low gain control. Set the flag (MODE) that determines the mode to all 0.
一方前記制御所(7)が所定対地高さ領域(A)外の
領域(B)に有る場合はハイゲイン制御となるように前
記フラグ(MODE)’? ’/2’にセットする。
更に、前記制御量(萄が前記領域(B)から領域(A)
に移行した場合は前記フラグ(MODE)全“1′にセ
ットして経過時間(T) ’にチェックして所定時間c
T、)経過後に前記フラグ(MODE)を〃0〃に切
換えるのである。On the other hand, if the control center (7) is located in a region (B) outside the predetermined height above the ground region (A), the flag (MODE)'? Set to '/2'.
Further, the control amount (the amount of control changes from the region (B) to the region (A)
If the transition is made, set all the flags (MODE) to "1', check the elapsed time (T)', and wait for the predetermined time c.
After T, ) has elapsed, the flag (MODE) is switched to 0.
つ寸り、前記ローゲイン制御およびハイゲイン制御の各
制御ゲインの切換えを前記フラグ(MODE)の値によ
って行なうのであり、@記電磁バルブ(6)全駆動する
制御信号としてのパルス電流の周期またにデコーティ比
を変えることによって制御すべく構成しである。The switching of each control gain of the low gain control and high gain control is performed by the value of the flag (MODE), and the cycle of the pulse current as a control signal for fully driving the electromagnetic valve (6) is also controlled by the decoupling. It is configured to be controlled by changing the ratio.
同、第3図は以上説明した制御量(司と制御ゲイン全決
定する制御装置の動作を示すフローチャートである。FIG. 3 is a flowchart showing the operation of the control device that completely determines the control amount and control gain described above.
図面は不発明に係る自動制御方法の実施例を示し、第1
図にコンバインにおける刈高さ制御の制御システムのブ
ロック図、第2図は刈高さ制御の説明図、そして、第3
図は制御装置の動作金示すフローチャートである。
(4・・・・・・制御量、(A)・・・・・・ローゲイ
ン制御領域、(B)・・・・・・ハイゲイン制御領域、
(T、)・・・・・・タイムラグ。The drawings show an embodiment of the automatic control method according to the invention, and the first
Figure 2 is a block diagram of the control system for cutting height control in a combine harvester, Figure 2 is an explanatory diagram of cutting height control, and Figure 3 is an explanatory diagram of cutting height control.
The figure is a flowchart showing the operation of the control device. (4... Control amount, (A)... Low gain control region, (B)... High gain control region,
(T,)...Time lag.
Claims (1)
あるときには基本円にローゲイン制御を行ない、その他
の領域(B)にあるときにはハイゲイン制御を行なうデ
ュアルゲイン自動制御方法であって、制御量(Δ)が前
記ハイゲイン制御領域(Blからローゲイン制御領域(
A)に移行したときには、一定時間のタイムラグ(T、
)をもたせてハイゲイン制御状態からローゲイン制御状
態に切換え、一方、制御量(萄が前記ローゲイン制御領
域(A)からハイゲイン制御領域(B)に移行したとき
には、直ちにローゲイン制御状態からハイゲイ制御状悪
に切換えることを特徴とする自動制御方法。This is a dual gain automatic control method in which low gain control is performed on the basic circle when the control amount (Δ) is within a region (A) including the target value (Ho), and high gain control is performed when it is in another region (B). Then, the control amount (Δ) changes from the high gain control region (Bl) to the low gain control region (B1).
When transitioning to A), there is a certain time lag (T,
), the high gain control state is switched to the low gain control state, and on the other hand, when the control amount (the control amount) shifts from the low gain control region (A) to the high gain control region (B), the low gain control state immediately changes to the high gain control state. An automatic control method characterized by switching.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4192283A JPS59167701A (en) | 1983-03-14 | 1983-03-14 | Automatic control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4192283A JPS59167701A (en) | 1983-03-14 | 1983-03-14 | Automatic control method |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS59167701A true JPS59167701A (en) | 1984-09-21 |
Family
ID=12621734
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP4192283A Pending JPS59167701A (en) | 1983-03-14 | 1983-03-14 | Automatic control method |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS59167701A (en) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5284382A (en) * | 1975-12-29 | 1977-07-13 | Komatsu Ltd | Stable circuit for servomechanism |
JPS575703B2 (en) * | 1978-08-19 | 1982-02-01 |
-
1983
- 1983-03-14 JP JP4192283A patent/JPS59167701A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5284382A (en) * | 1975-12-29 | 1977-07-13 | Komatsu Ltd | Stable circuit for servomechanism |
JPS575703B2 (en) * | 1978-08-19 | 1982-02-01 |
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