PURPOSE: To effectively attenuate a limit cycle by setting a compensator increasing input quantity through the use of the inverse function of a blind sector estimated by means of monitoring the limit cycle.
CONSTITUTION: A target value ym is supplied to a PID control part 1, output uinv is supplied to the compensator 2 and the output (u) is supplied to a control object 3. Output (v) is supplied to an integrator 4 and the output (y) is taken out as the output of a non-linear system. The target value ym, outputs (y) and (u) are supplied to a limit cycle monitor part 5. The pressure or adsence of the limit cycle is judged and data is time-sequentially held. An estimation part 6 extracts data required for setting the compensator 2 from the output of the limit cycle monitor part 5, a primary filter 7 suppresses a sudden change and it is supplied to the compensator 2. An online compensator is thus constituted. The blind sector of the control object is monitored on a real time basis, the compensator is set by online and the limit cycle can be attenuated.
MARUOKA HARUKADO
OTSUKI KOICHI
KOSAKA MANABU
