Design method of shaft torque controller and feedback controller of test system, and shaft torque controller designed based on this design method

摘要

PROBLEM TO BE SOLVED: To provide a design method capable of bringing an integral gain of a controller close to a designated value. A design method includes a design process for designing a μ controller K by a computer in a feedback control system including a generalized plant P having a nominal plant N and a μ controller K by a computer. . In the design process, the first disturbance input port 81 and the deviation input between the first disturbance input and the output of the nominal plant N are integrated, and the integral manipulated variable is calculated by multiplying the integral gain Ki by a specified value. A calculation unit 90, a summing unit 91 that sums the output of the μ controller K and the integral manipulated variable to generate an input to the nominal plant N, and a deviation input multiplied by the first output weighting function Ge (s). A first controlled variable output port 84 for outputting the first controlled variable output z1 and a second controlled variable output z2 for multiplying the output of the μ controller K by the second output weighting function Gip (s) The control amount output port 85 is set. [Selection diagram] Fig. 4