Electricity: motive power systems – Positional servo systems – Digital or numerical systems
Patent
1990-11-19
1993-09-21
Ip, Paul
Electricity: motive power systems
Positional servo systems
Digital or numerical systems
318591, 318610, 280707, 280772, 36442405, G05B 1502
Patent
active
052472345
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The invention relates to an electric control arrangement for generating analog manipulated variables in accordance with the preamble of the main claim.
In addition, the invention relates to a method for controlling analog quantities by means of a controller effecting analog, time-discrete, amplitude-continuous signal processing.
BACKGROUND OF THE INVENTION
Actuating systems, for example for a damping valve in the chassis control of a motor vehicle, have time constants within a range from 1 to 10 ms. If such an actuator is digitally controlled, a processor required for this purpose in the control device concerned must process the controller difference equation concerned with sampling intervals in the order of magnitude of up to 10 .mu.s. By implementing the digital controller by means of a computer program, a large proportion of the processor capacity is used up, particularly if several control loops have to be implemented and operated. Since in most cases a large number of other processes and algorithms are also programmed on the microcontrollers of the control devices, the sampling time predetermined by systems theory and the associated computing power is frequently not available for such actuating control loops. If necessary, the use of multi-processor systems could provide a remedy.
Alternatively, there is the possibility of implementing the control arrangement in conventional analog technology. However, this results in the disadvantage that such a solution is very inflexible and that the transfer functions and parameters of the analog controllers disperse with the tolerances of the electronic components.
SUMMARY OF THE INVENTION
By comparison, the control arrangement according to the invention with the features named in the main claim, has the advantage that it can be adapted in a simple manner to the control task given in each case and is essentially free of influences changing the transfer function or the controller parameters, respectively.
By implementing the control arrangement both in digital and in analog technology, the advantages of these two embodiments can be utilized in each case. The analog construction of the controller makes the digital processing of the controller difference equation unnecessary so that the processor capacity not needed as a result is available for other tasks. The digital adjusting arrangement permits the provision of a controller optimized for the respective control task. Due to the electronic adjustment of the transfer function by selecting a corresponding controller structure (for example, P controller (proportional characteristic), D controller (differential characteristic), I controller (integral characteristic and so forth) and/or also by digitally varying the controller parameters which determine the transfer function with respect to magnitude, a change matching the respective actuating system can be carried out at any time before and even during operation. This allows for great flexibility. Moreover, it is also conceivable that, at the same time, several basic controller circuits of a particular controller structure are combined with one another so that, for example, a PD controller or a PI controller or else even a PID controller and so forth can be implemented in a very simple manner. Dispersions in the transfer functions or parameters, such as occur due to the tolerances of the components in analog controllers, are avoided.
According to a further development of the invention, the adjusting arrangement is connected to a bus and the controller structure and/or the controller parameters can be varied via the bus. Thus, a bus, which is present in any case in the actuating system, can also be utilized for this task.
A bus interface is preferably provided which is connected via the bus to a control register for switching on the respective controller structure or structures and to a parameter register for adjusting the respective controller parameters. Accordingly, the control and parameter register are accessible via the processor to
REFERENCES:
patent: 3623077 (1971-11-01), Clark
patent: 4253141 (1981-02-01), Suzuki et al.
patent: 4504000 (1985-04-01), Ferguson
patent: 5037119 (1991-08-01), Takehara et al.
patent: 5119297 (1992-06-01), Buma et al.
patent: 5142476 (1992-08-01), Shibata et al.
Bitzer Rainer
Burkel Rainer
Dittmer Bernd
Hagele Karl-Heinz
Zieher Peter
Ip Paul
Ottesen Walter
Robert & Bosch GmbH
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