To make it possible to quickly restore normal control state from transition state a the time of control system switching by equipping plural physical control systems and plural mathematical control systems and performing FB control by using a deviation regulated by an output and a mathematical input.
A mathematical/physical composite control system is equipped with a physical control system consisting of actuators 9 and 11 and mathematical control systems 7 and 8 which have pairs for forming an irreducible decomposed expression. Also, a deviation normalized by an output from a control object and an input to a mathematical input point is determined as (e), transmission functions of the mathematical control systems 7 and 8 as C1 and C2, and operation functions at the time of converting output u1 and u2 of the actuators 9 and 11 into functions respectively and inputting them to the mathematical control system 8 are determined as F2 and F1. A relation between the output values u1 and u2 and the deviation (e) is indicated by an equation I, and there does exist a solution in which variables F1, F2, are appropriately set and the transmission function C2 from (e) to u2 becomes zero. Thus, physical control in which plural driving systems indicated by an equation II internally exists is performed.
| JPH06344986A | 1994-12-20 | |||
| JPH01240398A | 1989-09-25 | |||
| JPS5647395A | 1981-04-30 |
陶山貢市: "補償器間の負荷分担を考慮した受動的冗長化", 計測自動制御学会論文集, vol. 31, no. 8, JPNX007011276, August 1995 (1995-08-01), JP, pages 1098 - 1105, ISSN: 0000825451