JPH07210204A - Two-degree-of-freedom adjusting device - Google Patents

Abstract

PURPOSE:To independently vary the strength of a differentiation component and to improve controllability with extremely simple configuration. CONSTITUTION:Concerning the adjusting device, PI adjusting operation is executed by an adjusting means 17 so that deviation E between a correction target value SVn' provided from a target value SVn and a controlled variable PVn from a controlled system 161 can be zero, and the controlled system is controlled by using a provided PI adjusting arithmetic signal. Then, this two-degree-of- freedom adjusting device is provided with a correction target value arithmetic means 1 for multiplying [1+{H(s)--1]N (H(s) is an advanced/delayed element) to the target value SVn, separating the result into a static characteristic component element SVn and a dynamic characteristic component element {H(s)-1} SVn and defining the synthesized output of both these component elements as the correction target value, parameter multiplying means 19 for multiplying a parameter to vary the strength of a differentiation item to the output of the dynamic characteristic component element, and synthesizing means 18 for providing a differentiating function by synthesizing the output of the PI adjusting means and the output of the parameter multiplying means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a two-degree-of-freedom adjusting device for simultaneously optimizing both a disturbance suppression characteristic and a target value tracking characteristic.

[0002]

2. Description of the Related Art This type of PI or PID (P: proportional,
I: Integral, D: Derivative) regulators have been widely used in all industrial fields since the history of control, and control systems in each industrial field are no longer possible without PI or PID regulators.

Various adjusting calculation systems have been adopted for conventional adjusting devices, but as the times have changed, the analog adjusting calculation system has changed to the digital adjusting calculation system.
The trend will not change in the future, and it forms the basis of plant operation control systems.

The basic formula of this PI adjustment calculation is represented by the following formula. MV (S) = Kp [1+ (1 / T _I · s) ・ E (s) (1) where MV (s): operation signal, E (s): deviation signal, Kp:
Proportional gain, T _I : integration time, s: Laplace operator.

The basic formula of this PI adjustment calculation is one-degree-of-freedom PI
This is called an adjustment method, and only one set of PI parameters can be set. However, in an actual control system, it is necessary to optimize not only the disturbance suppression characteristics but also the target value tracking characteristics, but the parameters used for these optimization calculations, that is, the disturbance suppression optimum PI parameters and the target Value tracking optimum PI
The value is significantly different from the D parameter. as a result,
If the PI parameter is adjusted so as to optimize the disturbance suppression characteristic, the target value tracking characteristic largely overshoots and becomes an oscillatory characteristic. Conversely, if the target value tracking characteristic is optimized, the disturbance suppression characteristic deteriorates. I will end up. In other words, these two characteristics cannot be optimized at the same time, and there is a trade-off relationship, which is a major obstacle to the sophistication of the control system.

Therefore, in this type of PID adjusting device, the appearance of a technique capable of simultaneously optimizing the disturbance suppression characteristic and the target value tracking characteristic has been desired. However, in 1963, Issac M. Two Degrees of Freedom PID A is a two-degree-of-freedom PID algorithm in which Horowits can set two sets of PID parameters independently.
lgorithm: Hereafter, the basic concept of 2DOF PID) was announced.

Thereafter, this 2DOF PID has begun to be put into practical use, and recently has greatly contributed to the sophistication of plant operation control systems. FIG. 5 shows that the second term of PI is 2
It is a figure which shows the basic block structure in the conventional 2DOF PI adjustment apparatus which was made into the degree of freedom. This adjusting device has a configuration in which the two terms of PI have two degrees of freedom by inserting a lead / lag element in the target value in the one-degree-of-freedom PI adjusting device. That is, this adjusting device advances the target value SVn /
After introducing the correction target value SVn 'by introducing it into the delay element 51, the correction target value SVn' and the control amount PVn from the controlled object 53 ₁ detected by the control amount detecting means 52 are introduced into the deviation calculating means 54. Then, the correction target value SVn
The control signal PVn is subtracted from ′, and the deviation signal E = (SVn
'-PVn) is calculated. And this deviation calculation means 5
The deviation signal E obtained in 4 is introduced into the PI adjusting means 55,
Here, PI adjustment calculation is executed under the PI parameter, and the output signal thereof is led to the proportional gain means 56.

The proportional gain means 56 multiplies the output of the PI adjustment calculation by the proportional gain Kp, applies the obtained multiplication signal to the process 53 as the operation signal MVn, and the deviation E =
0, that is, the correction target value signal SVn '= control amount PVn.

Therefore, in order to make the target value SVn = the control amount PVn, the formula (2) is established by using the theorem of the final value from the relationship of SVn '= SVn.H (s). It suffices to select H (s) of the lead / lag element 51.

[0010]

[Equation 1]

[0011]

By the way, in the conventional adjusting apparatus as described above, whether or not the two degrees of freedom are properly realized will be actually examined by using the response formula. Then, when the response equation of the configuration shown in FIG. 5 is obtained, it can be expressed by the following equation (3). PVn = {[H (s) .Kp.C (s) .G (s)] / [1 + Kp.C (s) .G (s)]} SVn + {G (s) / [1 + Kp.C ( s) · G (s)]} · D (s) (3) In the response equation of this equation (3), the former term is the component for the change of the target value SV, and the latter term is for the change of the disturbance D. It is an ingredient. It is clear from the equation (3) that when the parameters of the transfer function H (s) forming the lead / lag element 51 are adjusted, only the tracking characteristic with respect to the change of the target value SVn is affected, and the disturbance Dn (s It can be seen that there is no effect on the suppression characteristics for changes in).

Therefore, from the above equation and its explanation, P
The PI parameter of the I adjusting means 55 is adjusted to be optimum for the disturbance suppression characteristic, while the lead / lag element 51 is adjusted.
By adjusting the parameters of the transfer function H (s) of 1 to be optimum for the target value tracking characteristic, it is possible to realize two degrees of freedom.

However, the transfer function H of the lead / lag element 51 is
In case of (s), the following problems occur. Now, let us consider, as a conventional advanced example using the transfer function H (s) of the lead / lag element 51, an example using a lead / lag element such as the equation (4).

H (s) = (1 + αβT _I · s) / (1 + βT _I · s) (4) In the above equation, β is a parameter, T _I is an integration time, and s is a Laplace operator. Here, using the equation (4),
In the formula (3), the transfer function part H of the molecule related to the adjustment
By transforming (s) · Kp · C (s), it can be expressed by the following equation (5).

[0015]

[Equation 2]

Therefore, in the equation (5), two degrees of freedom can be obtained by adjusting the parameters α and β. Generally, 0 ≦ α ≦ 1, 1 ≦ β ≦ 2, and the optimum values are α = 0.4 and β = 1.35.

However, as is apparent from the equation (5), by adding the lead / lag element H (s) in addition to the proportional term and the integral term, (4) of the lead / lag element H (s) is added. There are only two parameters that can be adjusted from the formula, α and β, α is used for the proportional term, β is used for the integral term, and the parameters of α and β are used for the differential component to adjust. Can not do it. This means that three parameters of the proportional term, the integral term, and the differential component cannot be optimally adjusted and calculated with the two parameters α and β.

Therefore, since the differential component cannot be adjusted and calculated in an optimum state, there is a limit to the advancement of controllability. The present invention has been made in view of the above circumstances, and an object thereof is to provide a two-degree-of-freedom adjusting device that improves controllability.
Another object of the present invention is to provide a two-degree-of-freedom adjusting device capable of adjusting not only the proportional term and the integral term but also the strength of the derivative term.

[0019]

In order to solve the above-mentioned problems, the invention according to claim 1 is such that the deviation between the corrected target value obtained from the target value and the controlled variable from the controlled object becomes zero. In the adjusting device for executing the PI adjustment calculation by the adjusting means and controlling the controlled object using the obtained PI adjustment calculation signal, the target value SVn is [1+ {H (s) -1}].
And the static characteristic component element SVn and the dynamic characteristic component element {H
(s) −1} · SVn, and the correction target value computing means for using the combined output of these two component elements as the correction target value, and the strength of the differential term for the output of the dynamic characteristic component element are varied. The two-degree-of-freedom adjusting device is provided with a parameter multiplying unit that multiplies the adjustment parameter for performing the adjustment, and a combining unit that combines the output of the PI adjusting unit and the output of the parameter multiplying unit and has a differentiating function. However, in the above equation, H
(s) is a lead / lag element.

Next, in the invention according to claim 2, the PI adjustment calculation is executed by the adjusting means so that the deviation between the corrected target value obtained from the target value and the controlled variable from the controlled object becomes zero, and the obtained value is obtained. In the adjusting device for controlling the controlled object by using the obtained PI adjustment calculation signal, the target value SVn is {1+
[(1 + αβT _I · s) / (1 + βT _I · s)] − 1}
And the static characteristic component element SVn and the dynamic characteristic component element {[(1 + αβT _I · s) / (1 + βT _I · s)] −
1} .SVn and correction target value calculating means for making the combined output of these two component elements the correction target value, and adjustment for varying the strength of the differential term in the output of the dynamic characteristic component element. A parameter multiplying means for multiplying the parameter and a synthesizing means for synthesizing the output of the PI adjusting means and the output of the parameter multiplying means to have a differentiating function are provided.
It is a degree of freedom adjusting device. However, in the above equation, α and β are adjustment parameters, T _I is an integration time, and s is a Laplace operator.

Further, the invention according to claim 3 is obtained by executing the PI adjustment calculation by the adjusting means so that the deviation between the corrected target value obtained from the target value and the controlled variable from the controlled object becomes zero. In the adjusting device for controlling the controlled object by using the PI adjustment calculation signal, the target value SVn is {1+
[(Α-1) αβT _I · s] / (1 + βT _I · s)} are multiplied to calculate the static characteristic component element SVn and the dynamic characteristic component element {[(α-1) αβT _I · s] / (1 + βT _I · s). s)}
Correction target value calculating means for separating the SVn and the combined output of these two component elements as the correction target value;
Parameter multiplication means for multiplying the output of the dynamic characteristic component element by an adjustment parameter for varying the strength of the differential term,
The two-degree-of-freedom adjusting device is provided with a combining unit that combines the output of the PI adjusting unit and the output of the parameter multiplying unit and has a differentiating function. However, in the above equation, α and β are adjustment parameters, T _I is an integration time, and s is a Laplace operator.

Further, the invention according to claim 4 is obtained by executing the PI adjustment calculation by the adjusting means so that the deviation between the corrected target value obtained from the target value and the controlled variable from the controlled object becomes zero. In the adjusting device for controlling the controlled object by using the PI adjustment calculation signal, the target value SVn is {1+
(Α-1) [1- (1 / (1 + βT _I · s))]} and multiply by static characteristic component element SVn and dynamic characteristic component element {(α-
1) [1- (1 / (1 + βT _I · s))]} · SVn, and a correction target value calculating means for setting the combined output of these two component elements as the correction target value, and the dynamic characteristic component. A parameter multiplication means for multiplying the output of the element by an adjustment parameter for varying the strength of the differential term, and a synthesis means for synthesizing the output of the PI adjustment means and the output of the parameter multiplication means to have a differentiation function are provided. It is a two-degree-of-freedom adjusting device.

[0023]

Therefore, the inventions corresponding to claims 1 to 4 are:
By taking the above measures, the lead / lag elements to be inserted into the target value are separated into the static characteristic component element and the dynamic characteristic component element, while the strength of the differential term is added to the output of this dynamic characteristic component element. Is multiplied by the adjustment parameter that changes
Since the output of the adjusting means is combined, the strength of the differential component can be adjusted by adding one more parameter to the adjustment parameter of the conventional device, and the proportional term, the integral term, and the differential term can be optimized. Can be adjusted and calculated.

[0024]

Embodiments of the present invention will be described below with reference to the drawings. The basic idea of the present invention is to focus on the fact that the dynamic characteristic component is a differential component and separate the lead / lag element into a static characteristic component and a dynamic characteristic component in order to extract the dynamic characteristic component from the lead / lag element. Then, one parameter that acts on this dynamic characteristic component, that is, the differential component is added, and the differential component is optimally adjusted and calculated.

FIG. 1 is a diagram showing a basic configuration of the invention according to claim 1. In the figure, reference numeral 1 denotes a correction target value calculating means inserted at the output end of the target value SVn for the purpose of providing two degrees of freedom, which is a lead / lag element 11 for advancing or delaying the target value SVn for a predetermined time and this advance. / Dynamic characteristic component element having subtraction means 12 for subtracting the target value SVn from the output of the delay element 11, static characteristic component element for directly outputting the target value SVn, and addition means for adding the outputs of these two component elements. 13 and 13.

Therefore, when the correction target value is SVn ', the correction target value computing means 1 is SVn' = {1+ [H (s) -1]} SVn ... (6), and a = SVn Static characteristic component and b = [H (s) -1]
It can be separated into the dynamic characteristic component of SVn.

A deviation calculating means 14 is connected to the output side of the adding means 13, and the deviation calculating means 14 calculates the deviation between the correction target value SVn 'and the controlled variable PVn from the controlled object 16 ₁ detected by the controlled variable detecting means 15. Introduced in the means 14, the control amount PVn is subtracted from the correction target value SVn 'to obtain the deviation signal E = (SVn'-PVn). Then, the deviation signal E obtained by the deviation calculating means 14 is used as the PI adjusting means 17
Where the PI adjustment operation is performed under the PI parameter and the output signal thereof is led to the subtracting means 18.

On the other hand, the output of the dynamic characteristic component element is introduced into the coefficient multiplication means 19, where the dynamic characteristic component element output is multiplied by the coefficient δ for adjusting the strength of the differential component, and the subtraction means 1
Introduce to 8. The subtracting means 18 subtracts the signal obtained by multiplying the dynamic characteristic component element output by the coefficient δ from the PI adjustment calculation output, and introduces the obtained subtraction output to the proportional gain means 20. Then, here, the subtraction output is multiplied by the proportional gain Kp, the obtained multiplication signal is applied to the process 16 as the operation signal MVn, and the deviation E = 0, that is, the correction target value signal SV.
The control is performed so that n ′ = the control amount PVn.

Therefore, according to the above configuration, the correction target value computing means 1 separates the static characteristic component element and the dynamic characteristic component element, and the coefficient δ which becomes the adjustment parameter for the dynamic characteristic component element output. After the multiplication, the output of the PI adjusting means 17 is subtracted and combined with this multiplication output so as to have a differentiating function. As a result, when the response equation of the controlled variable PVn shown in FIG. 1 is obtained, the following result is obtained.

[0030]

[Equation 3]

Therefore, it is clear from this response formula that
The strength of the differential component can be adjusted by the parameter δ of the molecule, and the control characteristics can be further improved. In particular, this apparatus adopts a simple configuration in which the adjustment parameter δ is increased by one, and adjusts the three parameters α, β, and δ to adjust the three parameters of the proportional term, integral term, and derivative component. The operation can be optimally executed.

Next, an embodiment of the invention according to claim 2 will be described with reference to FIG. The device of this embodiment is
This is a modification of the correction target value calculation means 1, and more specifically, the target is calculated from the lead / lag element 21 having the transfer function H (s) shown in the equation (4) and the output of the lead / lag element 21. The correction target has a dynamic characteristic component element having a subtracting means 22 for subtracting the value SVn, a static characteristic component element for directly outputting the target value SVn, and an adding means 23 for adding outputs of these two component elements. This is a configuration for obtaining the value SVn '.

Therefore, when the correction target value is SVn ', the correction target value calculating means 1 has SVn' = {(1 + αβT _I · s) / (1 + βT _I · s)} · SVn = {1 + [(1 + αβT _I · s) / (1 + βT I · s)] - 1} · SVn ...... (8) , and the static characteristic component of a = SVn and b = {[(1 + αβ
T _I · s) / (1 + βT _I · s)] − 1} · SVn dynamic characteristic component.

The deviation calculating means 14 is connected to the output side of the adding means 23, and the deviation calculating means 14 calculates the deviation between the correction target value SVn 'and the controlled variable PVn from the controlled object 16 ₁ detected by the controlled variable detecting means 15. Introduced in the means 14, the control amount PVn is subtracted from the correction target value SVn 'to obtain the deviation signal E = (SVn'-PVn). Then, the deviation signal E obtained by the deviation calculating means 14 is used as the PI adjusting means 17
Where the PI adjustment operation is performed under the PI parameter and the output signal thereof is introduced into the subtracting means 18.

On the other hand, the output of the dynamic characteristic component is multiplied by the coefficient δ by the coefficient multiplication means 19 and introduced into the subtraction means 18. The subtracting means 18 subtracts the signal obtained by multiplying the dynamic characteristic component element output by the coefficient δ from the PI adjustment calculation output, and introduces the obtained subtraction output to the proportional gain means 20. Then, here, the subtraction output is multiplied by the proportional gain Kp, and the obtained multiplication signal is applied to the process 16 as the operation signal MVn,
Deviation E = 0, that is, correction target value signal SVn '= control amount P
The configuration is such that control is performed so as to attain Vn.

Therefore, according to the above configuration, the correction target value calculating means 1 is separated into the static characteristic component and the dynamic characteristic component, and after the dynamic characteristic component output is multiplied by the coefficient δ serving as the adjustment parameter. , The PI output means 17
A differential function is provided by subtracting and synthesizing the output of. Then, when the regulatory function part of the molecule of the formula (7) is specifically obtained, the formula (9) is obtained.

[0037]

[Equation 4]

Therefore, what is apparent from the expression (9) is that the strength of the differential component can be independently changed by adjusting the parameter δ of the molecule, and the control characteristic can be further improved. Particularly, in this device, the adjustment parameter δ is set to 1
By adopting a simple configuration in which the number is increased, the three parameters α, β, δ can be adjusted, and the optimum adjustment calculation can be performed for the proportional term, the integral term, and the differential component.

Next, FIG. 3 is a diagram showing an embodiment of the invention according to claim 3. The correction target value calculation means 1 of this embodiment differentiates the target value SVn {(α-1) βT _I ·
s} / (1 + βT _I · s) incomplete differentiating means 31, a static characteristic component element that outputs the target value SVn as it is, and the output of these incomplete differentiating means 31 and the static characteristic component element are added. And adding means 32 for As a result, when the correction target value is SVn ', the correction target value calculation means 1 has SVn' = {(1 + αβT _I · s) / (1 + βT _I · s)} · SVn = {1 + [(α-1) αβT _I · s] / (1 + βT _I · s)} · SVn (10), where a = the static characteristic component of SVn and b = {[(α−1)
αβT _I · s] / (1 + βT _I · s)} · SVn dynamic characteristic component.

The deviation calculating means 14 is connected to the output side of the adding means 23, and the deviation calculating means 14 calculates the deviation between the correction target value SVn 'and the controlled variable PVn from the controlled object 16 ₁ detected by the controlled variable detecting means 15. Introduced in the means 14, the control amount PVn is subtracted from the correction target value SVn 'to obtain the deviation signal E = (SVn'-PVn). Then, the deviation signal E obtained by the deviation calculating means 14 is used as the PI adjusting means 17
Where the PI adjustment operation is performed under the PI parameter and the output signal thereof is introduced into the subtracting means 18.

The output of the dynamic characteristic component is multiplied by the coefficient δ by the coefficient multiplication means 19 and introduced into the subtraction means 18. The subtracting means 18 subtracts the signal obtained by multiplying the dynamic characteristic component by the coefficient δ from the PI adjustment calculation output, and introduces the obtained subtraction output to the proportional gain means 20. Then, here, the subtraction output is multiplied by the proportional gain Kp, the obtained multiplication signal is applied to the process 15 as the operation signal MVn, and the deviation E =
0, that is, the correction target value signal SVn '= control amount PVn.

Therefore, according to the above configuration, the correction target value calculating means 1 is separated into the static characteristic component and the dynamic characteristic component, and after the dynamic characteristic component output is multiplied by the coefficient δ serving as the adjustment parameter. , The PI output means 17
A differential function is provided by subtracting and synthesizing the output of.

As a result, the dynamic characteristic component b of the above equation (10)
The subsequent configuration is the same as that of FIG. Also, PVn
The molecular control function of the response equation (1) is the same as the equation (9), and the strength of the differential term can be independently changed by adjusting the parameter δ.

Further, FIG. 4 is a block diagram showing an embodiment of the invention according to claim 4. The correction target value computing means 1 of this embodiment adds a first-order delay to the target value SVn {1 /
(1 + βT _I · s)} first-order delay means 41, subtraction means 42 for subtracting the output of the first-order delay means 41 from the target value SVn, coefficient multiplication means 43 for multiplying the coefficient α of the subtraction output, A dynamic characteristic component element having subtraction means 44 for subtracting the subtracted output of the subtraction means 42 from the output of the coefficient multiplication means 43, a static characteristic component element for directly outputting the target value SVn, and an output and a static value of the subtraction means 44. And a characteristic component element.

As a result, when the correction target value is SVn ', the correction target value computing means 1 has SVn' = {(1 + αβT _I · s) / (1 + βT _I · s)} · SVn = {1+ (α-1) ) [1- (1 / (1 + βT _I · s))] / (1 + βT _I · s)} · SVn (11), where a = SVn static characteristic component and b = (α−1) [1
-(1 / (1 + βT _I · s))] / (1 + βT _I · s
s)}. SVn dynamic characteristic component.

Further, the deviation calculating means 14 is connected to the output side of the adding means 45, and the correction target value SVn 'and the controlled variable PVn from the controlled object 16 ₁ detected by the controlled variable detecting means 15 are deviated here. This is introduced into the calculating means 14, where the control amount PVn is subtracted from the correction target value SVn 'to obtain the deviation signal E = (SVn'-PVn). Then, the deviation signal E obtained by the deviation calculating means 14 is introduced into the PI adjusting means 17, the PI adjusting operation is executed under the PI parameter, and the output signal thereof is introduced into the subtracting means 18.

The output of the dynamic characteristic component is multiplied by the coefficient δ by the coefficient multiplication means 19 and introduced into the subtraction means 18. The subtracting means 18 subtracts the signal obtained by multiplying the dynamic characteristic component by the coefficient δ from the PI adjustment calculation output, and introduces the obtained subtraction output to the proportional gain means 20. Then, here, the subtraction output is multiplied by the proportional gain Kp, the obtained multiplication signal is applied to the process 15 as the operation signal MVn, and the deviation E =
0, that is, the correction target value signal SVn '= control amount PVn.

Therefore, according to the above configuration, the correction target value calculating means 1 is separated into the static characteristic component and the dynamic characteristic component, and after the dynamic characteristic component output is multiplied by the coefficient δ serving as the adjustment parameter. , The PI output means 17
A differential function is provided by subtracting and synthesizing the output of.

As a result, the dynamic characteristic component b of the above equation (11) is obtained.
The subsequent configuration is the same as that of FIG. Also, PVn
The molecular control function of the response equation (1) is the same as the equation (9), and the strength of the differential term can be independently changed by adjusting the parameter δ. In addition, the present invention can be modified in various ways without departing from the scope of the invention.

[0050]

As described above, according to the present invention, the lead / lag element of the correction target value calculating means inserted for the purpose of achieving two degrees of freedom is separated into the static characteristic component and the dynamic characteristic component. By multiplying the dynamic characteristic component by the parameter contributing to the differential component and synthesizing it with the output of the PI adjusting means, a differential component which does not exist in the adjusting means is generated, and the strength of the differential component is independently varied. With this configuration, it is possible to realize a two-degree-of-freedom PID adjustment device that can eliminate the conventional defects and improve controllability with a very simple configuration. As a result, the application to future plant control systems will be expanded, the controllability of the entire plant can be assured, and this will make a great contribution to the industry.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of the invention according to claim 1;

FIG. 2 is a configuration diagram showing an embodiment of the invention according to claim 2;

FIG. 3 is a configuration diagram showing an embodiment of the invention according to claim 3;

FIG. 4 is a configuration diagram showing an embodiment of the invention according to claim 4;

FIG. 5 is a configuration diagram of a conventional PI controller having two degrees of freedom.

[Explanation of symbols]

1 ... Correction target value calculation means, 11 ... Advance / lag element, 1
2, 22 ... Subtraction means, 13, 23 ... Addition means, 14 ... Deviation calculation means, 15 ... Control amount detection means, 16 ... Process,
16 ₁ ... Control object, 17 ... PI adjusting means, 19 ... Coefficient multiplying means, 20 ... Proportional gain means, 21 ... Lead / lag means, 31 ... Incomplete differentiation means, 41 ... First-order lag means.

Claims (4)

[Claims] 1. A PI (P: proportional, I: integral) adjustment calculation is executed by an adjusting means so that a deviation between a correction target value obtained from the target value and a controlled variable from a controlled object is zero, and is obtained. In the adjusting device for controlling the controlled object by using the PI adjustment calculation signal, the target value SVn is multiplied by [1+ {H (s) -1}] and the static characteristic component element SVn and the dynamic characteristic component element {H ( s) -1}
Correction target value calculating means for separating the SVn and the combined output of these two component elements as the correction target value;
Parameter multiplication means for multiplying the output of the dynamic characteristic component element by an adjustment parameter for varying the strength of the differential term,
A two-degree-of-freedom adjusting device comprising: a combining unit that combines the output of the PI adjusting unit and the output of the parameter multiplying unit and has a differentiating function. However, in the above equation, H
(s) is a lead / lag element. 2. The PI adjustment calculation is executed by the adjusting means so that the deviation between the correction target value obtained from the target value and the control amount from the controlled object becomes zero, and the control is performed using the obtained PI adjustment calculation signal. In an adjusting device for controlling an object, the target value SVn is {1 + [(1 + αβT _I · s) /
(1 + βT _I · s)] − 1} and multiplied by the static characteristic component element SVn and the dynamic characteristic component element {[(1 + αβT _I · s) /
(1 + βT _I · s)] − 1} · SVn, and at the same time, a correction target value calculating means for setting the combined output of these two component elements as the correction target value, and a differential term for the output of the dynamic characteristic component element. Two degrees of freedom are provided, comprising a parameter multiplication means for multiplying an adjustment parameter for varying the strength, and a synthesis means for synthesizing the output of the PI adjustment means and the output of the parameter multiplication means to have a differentiating function. Degree adjustment device. However, in the above equation, α and β are adjustment parameters and T _I
Is the integration time and s is the Laplace operator. 3. The PI adjustment calculation is executed by the adjusting means so that the deviation between the correction target value obtained from the target value and the control amount from the controlled object is zero, and the PI adjustment calculation signal obtained is used for control. In an adjusting device for controlling an object, {1 + [(α-1) αβT _I · s] is added to the target value SVn.
Static characteristic component element SV by multiplying / (1 + βT _I · s)}
n and the dynamic characteristic component element {[(α-1) αβT _I · s] /
(1 + βT _I · s)} · SVn and
Correction target value calculation means for making the combined output of these two component elements the correction target value; parameter multiplication means for multiplying the output of the dynamic characteristic component element by an adjustment parameter for varying the strength of the differential term; A two-degree-of-freedom adjusting device comprising: a combining unit that combines the output of the PI adjusting unit and the output of the parameter multiplying unit and has a differentiating function. However, in the above equation, α and β are adjustment parameters, T _I is an integration time, and s is a Laplace operator. 4. The PI adjustment calculation is executed by the adjusting means so that the deviation between the correction target value obtained from the target value and the control amount from the controlled object becomes zero, and control is performed using the obtained PI adjustment calculation signal. In an adjusting device for controlling an object, the target value SVn is {1+ (α-1) [1- (1 / (1
+ ΒT _I · s))]} and multiply it by static characteristic component element SVn and dynamic characteristic component element {(α-1) [1- (1 / (1 + βT _I
.S))]} .. SVn, and at the same time, the correction target value calculating means for making the combined output of these two component elements the correction target value, and the strength of the differential term for the output of the dynamic characteristic component element are varied. A two-degree-of-freedom adjusting device comprising: a parameter multiplying unit that multiplies an adjustment parameter for performing the adjustment; and a combining unit that combines the output of the PI adjusting unit and the output of the parameter multiplying unit and has a differentiating function. However, in the above equation, α and β are adjustment parameters, T _I is integration time, and s
Is the Laplace operator.