MODEL STANDARD TYPE ADAPTIVE CONTROL METHOD WITH AMPLITUDE LIMIT OF PLANT INPUT

摘要

PURPOSE:To obtain the suitable control performance, by saturating th scale of a control input signal at the value less than the limit amplitude of a plant and at the same time by shifting the control input signal toward the direction where the output error is set at 0 in response to a model output signal and a plant output signal. CONSTITUTION:The internal state is changed for a target input signal r(k) supplied to a standard model 10, and a model output signal Y*(k) is applied to an adaptive controller 14. The controller 14 usually consists of a digital computer along with an adaptive input generator 15 and a saturation element 16 which delivers an output signal U(k) by the signal Uc(k) of the generator 15. The element 16 feeds saturation value R to a plant 12 as an output signal when the absolute value of the input signal Uc(k) exceeds the R. The plant 12 has both saturation characteristics 12a and linear characteristics 12b of an operating device and delivers a plant output signal y(k) showing the state of the plant to the controller 14.