A drive system (10), in particular for process automation, includes: a trajectory planning unit (3), which is adapted to provide a trajectory signal (xd) on the basis of a setpoint signal (xs), and an actuator unit (2) having an actuator member (1), in particular a valve member, which actuator unit (2) is adapted to control and/or regulate a position of the actuator member (1) on the basis of the trajectory signal (xd). The trajectory planning unit (3) is adapted to provide the trajectory signal (xd) with a first signal section (s1) and a second signal section (s2), the first signal section (s1) having a straight signal form and the second signal section (s2) having a signal form asymptotic to the setpoint signal (xs).

A drive system (10), in particular for process automation, includes: a trajectory planning unit (3), which is adapted to provide a trajectory signal (xd) on the basis of a setpoint signal (xs), and an actuator unit (2) having an actuator member (1), in particular a valve member, which actuator unit (2) is adapted to control and/or regulate a position of the actuator member (1) on the basis of the trajectory signal (xd). The trajectory planning unit (3) is adapted to provide the trajectory signal (xd) with a first signal section (s1) and a second signal section (s2), the first signal section (s1) having a straight signal form and the second signal section (s2) having a signal form asymptotic to the setpoint signal (xs).

In the design of a mechanical component for a mechanical device driven by a feedback controlled electric motor, the user is enabled to easily know how the properties of mechanical component affect the generation of abnormal vibrations of the mechanical device. In a design assist apparatus (1), the processor (11) is configured to set a plurality of parameters of a mathematical model of an analysis target component selected from one or more mechanical components (24, 56, 58) forming the mechanical device, compute a pole of a transfer function of the mechanical device associated with one or more vibration modes of the mechanical device according to the parameters, and create a stability determination diagram including an isoline of a real part of the pole of the transfer function.

In the design of a mechanical component for a mechanical device driven by a feedback controlled electric motor, the user is enabled to easily know how the properties of mechanical component affect the generation of abnormal vibrations of the mechanical device. In a design assist apparatus (1), the processor (11) is configured to set a plurality of parameters of a mathematical model of an analysis target component selected from one or more mechanical components (24, 56, 58) forming the mechanical device, compute a pole of a transfer function of the mechanical device associated with one or more vibration modes of the mechanical device according to the parameters, and create a stability determination diagram including an isoline of a real part of the pole of the transfer function.

A device-system comprises parallel operating devices (105-107) for driving an operating quantity towards a target value, and a control system for controlling each device at least partly based on a device-specific integral term relating to a time integral of a device-specific error signal that is indicative of a deviation of the operating quantity from the target value. The control system comprises a stabilizing system that computes an arithmetic average of the device-specific integral terms and corrects the device-specific integral terms towards the computed arithmetic average. The correction of the device-specific integral terms makes it possible to avoid unwanted drifts in the device-specific integral terms in a situation where there are differences between the device-specific error signals. The devices can be peers to each other and thus redundancy is achieved because one device can be removed from or added to the device-system without actions from the other devices.

A control device includes a feedback acquisition section that acquires a feedback value from an industrial machine driven by an operation of an electric motor, a correction section that corrects a command for operating the electric motor, based on the feedback value, a filter section that performs, on the feedback value to be supplied to the correction section, filtering for reducing a value in a frequency band predetermined, a driving state determination section that determines whether or not a driving state of the industrial machine is changed, and a filter switching section that switches the frequency band of the filtering to be performed by the filter section from a first frequency band to a second frequency band, when the driving state is determined to be changed.

A control device includes a feedback acquisition section that acquires a feedback value from an industrial machine driven by an operation of an electric motor, a correction section that corrects a command for operating the electric motor, based on the feedback value, a filter section that performs, on the feedback value to be supplied to the correction section, filtering for reducing a value in a frequency band predetermined, a driving state determination section that determines whether or not a driving state of the industrial machine is changed, and a filter switching section that switches the frequency band of the filtering to be performed by the filter section from a first frequency band to a second frequency band, when the driving state is determined to be changed.

A method, system, and apparatus for a linear active disturbance rejection control with a fractional order integral (FOI-LADRC) action for set-point tracking of a process variable is disclosed. The FOI-LADRC method includes receiving and multiplying a reference signal by a first feedback signal, applying, by a set-point tracking controller, fractional order integration to the reference signal, amplifying and multiplying the reference signal by a series of second feedback signals and a third feedback signal, dividing the reference signal by a static gain, and generating a process control variable, inputting the process control variable and applying a disturbance to the plant to output an output signal, feeding back the output signal, as the first feedback signal, generating the series of second feedback signals and a third feedback signal by an extended state observer, ESO, and tuning the set-point tracking controller and the ESO to eliminate the disturbance, from the output signal.

A method, system, and apparatus for a linear active disturbance rejection control with a fractional order integral (FOI-LADRC) action for set-point tracking of a process variable is disclosed. The FOI-LADRC method includes receiving and multiplying a reference signal by a first feedback signal, applying, by a set-point tracking controller, fractional order integration to the reference signal, amplifying and multiplying the reference signal by a series of second feedback signals and a third feedback signal, dividing the reference signal by a static gain, and generating a process control variable, inputting the process control variable and applying a disturbance to the plant to output an output signal, feeding back the output signal, as the first feedback signal, generating the series of second feedback signals and a third feedback signal by an extended state observer, ESO, and tuning the set-point tracking controller and the ESO to eliminate the disturbance, from the output signal.

In the present invention, an input-side control device generates an input-side torque command signal Tr using an engine torque command signal, an input-side velocity detection signal ω, and an input-side shaft torque detection signal Tsh, and is provided with: a shaft torque controller that generates a torque command signal on the basis of the engine torque command signal and an input shaft torque detection signal; and an inertia compensator that feeds back an inertia compensation signal generated by multiplying a set inertia value Jset by the input-side velocity detection signal. The shaft torque controller is provided with a first low-pass filter that, from the engine torque command signal, allows a high-frequency component to decay; and the inertia compensator is provided with a second low-pass filter that, from the input-side velocity detection signal, allows a high-frequency component to decay.