AUTO TUNING METHOD AND DEVICE OF OVERSHOOT SUPPRESSION USE FEED FORWARD TERM FOR STEP FOLLOWING TIME

摘要

Disclosed is an auto tuning device (1) which is capable of inputting a response of an object to be controlled (4) of a feedback control system (2) which is provided with an FF control block (5) in an upstream side. In a state in which the FF control block (5) has been disabled a step response for a step target value X is obtained and from an apex of overshooting where the value is maximized and the magnitude of the imparted step target value an overshoot factor a is obtained. In addition from the amount of time after the step target value has been imparted until the apex of the overshoot is reached the risetime T of the step response is obtained. To the FF control block (5) an instruction is imparted which causes output of a signal S such that a first order lag for which a coefficient (a reciprocal of a time constant) is set to be log (a/(1+a))/T is applied to the input step target value X.