Servo Controller and control method using the same
First Claim
1. A servo controller which repeatedly performs a predetermined control process, and controls a state of a controlled system on the basis of a result of performing the control process, comprising:
- a detector for detecting the state of the controlled system; and
a control unit which performs a positive-integral calculation in which an integral calculation of a physical quantity representing the state of the controlled system detected by the detector is performed, and in which, when a resulting integral value is positive, the integral calculation is continued, and a negative-integral calculation in which an integral calculation of the physical quantity representing the state of the controlled system detected by the detector is performed, and in which, when a resulting integral value is negative, the integral calculation is continued, and a selection of which one of the positive-integral calculation and the negative-integral calculation is used when control is performed so that a value representing the state of the controlled system becomes equal to a desired control value, wherein the control unit performs control so that the value representing the state of the controlled system becomes equal to the desired control value, using one of the positive-integral calculation and the negative-integral calculation, which has been selected.
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Accused Products
Abstract
When an integral calculation of a physical quantity representing a state of a controlled system is performed, two integral calculations, that is, a positive-integral calculation and a negative-integral calculation are performed. In this way, differentiated information can be obtained, depending on the control conditions. A selection of which one of the integral value obtained by the positive-integral calculation and the integral value obtained by the negative-integral calculation is used, is made on the basis of an actual control value and a desired control value when control is performed so that a value representing the state of the controlled system becomes equal to the desired control value. In this way, a control parameter which has been judged to include a phase delay is removed. Thus, the phase delay in the overall control can be suppressed, and an appropriate steering assist control can be performed, for example.
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Citations
20 Claims
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1. A servo controller which repeatedly performs a predetermined control process, and controls a state of a controlled system on the basis of a result of performing the control process, comprising:
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a detector for detecting the state of the controlled system; and
a control unit which performs a positive-integral calculation in which an integral calculation of a physical quantity representing the state of the controlled system detected by the detector is performed, and in which, when a resulting integral value is positive, the integral calculation is continued, and a negative-integral calculation in which an integral calculation of the physical quantity representing the state of the controlled system detected by the detector is performed, and in which, when a resulting integral value is negative, the integral calculation is continued, and a selection of which one of the positive-integral calculation and the negative-integral calculation is used when control is performed so that a value representing the state of the controlled system becomes equal to a desired control value, wherein the control unit performs control so that the value representing the state of the controlled system becomes equal to the desired control value, using one of the positive-integral calculation and the negative-integral calculation, which has been selected. - View Dependent Claims (2, 3, 4, 5)
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6. A servo controller for assisting steering operation of a vehicle so that the vehicle travels keeping a predetermined position in a travel lane, comprising:
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a detector for detecting an offset, which is a deviation of a position of the vehicle from a desired position in a travel lane; and
a control unit which performs a positive-integral calculation in which an integral calculation of the offset detected by the detector is performed, and in which, when a resulting offset integral value is positive, the integral calculation is continued, and a negative-integral calculation in which an integral calculation of the offset detected by the detector is performed, and in which, when a resulting offset integral value is negative, the integral calculation is continued, and a selection of which one of the positive-integral calculation and the negative-integral calculation is used when control is performed so that the position of the vehicle in the travel lane coincides with the desired position, wherein the control unit performs control so that the position of the vehicle in the travel lane coincides with the desired position, using one of the positive-integral calculation and the negative-integral calculation, which has been selected. - View Dependent Claims (7, 8, 9, 10)
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11. A control method using a servo controller which repeatedly performs a predetermined control process, and controls a state of a controlled system on the basis of a result of performing the control process, comprising the steps of:
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detecting the state of the controlled system;
performing a positive-integral calculation in which performed is an integral calculation of a physical quantity representing the state of the controlled system detected, and, when a resulting integral value is positive, the integral calculation is continued;
performing a negative-integral calculation in which performed is an integral calculation of the physical quantity representing the state of the controlled system detected, and, when a resulting integral value is negative, the integral calculation is continued;
making a selection of which one of the positive-integral calculation and the negative-integral calculation is used when control is performed so that a value representing the state of the controlled system becomes equal to a desired control value; and
performing control so that the value representing the state of the controlled system becomes equal to the desired control value, using one of the integral calculations, which has been selected. - View Dependent Claims (12, 13, 14, 15)
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16. A control method using a servo controller for assisting steering operation of a vehicle so that the vehicle travels keeping a predetermined position in a travel lane, comprising the steps of:
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detecting an offset, which is a deviation of a position of the vehicle from a desired position in the travel lane;
performing a positive-integral calculation in which an integral calculation of the offset detected is performed, and in which, when a resulting offset integral value is positive, the integral calculation is continued;
performing a negative-integral calculation in which an integral calculation of the offset detected is performed, and in which, when a resulting offset integral value is negative, the integral calculation is continued;
making a selection of which one of the positive-integral calculation and the negative-integral calculation is used when control is performed so that the position of the vehicle in the travel lane coincides with the desired position; and
performing control so that the position of the vehicle in the travel lane coincides with the desired position, using one of the positive-integral calculation and the negative-integral calculation, which has been selected. - View Dependent Claims (17, 18, 19, 20)
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Specification