AUTO-TUNING METHOD AND DEVICE OF FEEDFORWARD TERM FOR OVERSHOOT DAMPING AT TIME OF STEP TRACKING

摘要

PROBLEM TO BE SOLVED: To enable an auto-tuning of a feedforward term for preventing overshoot.;SOLUTION: There is provided with an auto-tuning device 1 capable of receiving a response from a control target 4 in a feedback control system 2, in whose upstream there is provided with an FF control block 5. With the FF control block 5 in a disable state, a step response to a step target value X is found, and an overshoot rate α is found based on an overshoot peak whose value is maximum and a level of the step target value given. A step response rise time T₁ is found from time duration until the overshoot peak is reached after the step target value is given. The FF control block 5 is given an instruction to output a signal S generated by multiplying the step target value X input by a temporary lag having a coefficient (inverse of time constant) of log(α/(1+α))/T₁.;COPYRIGHT: (C)2012,JPO&INPIT