Improved standard and difference PID devices for outputting DPWM signal and methods thereof

Abstract

A standard proportional-integral-derivative (PID) control device for outputting a digital pulse width modulation (DPWM) signal and a method thereof according to one embodiment of the present invention may output a DPWM signal adopting an integer-based calculation method, and a difference PID control device for outputting a DPWM signal and a method thereof according to another embodiment of the present invention may output a DPWM signal adopting an integer-based calculation method.

Description

Improved standard and difference PID device and method for outputting DPWM signal

[0001] The present invention relates to software control, and more specifically, to a Standard PID (Proportional-Integral-Derivative) and Difference PID control device and method that outputs a DPWM (Digital Pulse Width Modulation) signal.

[0002] Systems implementing Portional-Integral-Derivative (PID) controllers and Digital Pulse Width Modulation (DPWM) modules in microprocessors are widely used in various industrial fields. In such systems, the PID controller receives raw sensor data as input to generate a control output, which is then used as the duty cycle input for the DPWM module to generate a DPWM signal. The DPWM module consists of software and hardware. The software receives the duty cycle input and the duration time ( ), clock time( ), duty value( Hardware calculates ). Generates a DPWN signal using as input.

[0003]

[0004] Mathematical Equation 1 is the output of the PID Controller When used as the duty cycle input for this DPWM module, This is the Duty Value Equation for calculating.

[0005]

[0006] Mathematical Equation 2 is the Standard PID Equation widely used by default in PID controllers. PID Controller Output To calculate, the proportionality constant ( ), integration constant( ), derivative constant( ), samplelet time( ), input variable error( Uses ).

[0007]

[0008]

[0009]

[0010]

[0011] Mathematical Equation 3 is the Difference PID Equation, which is widely used by default in PID controllers. PID Controller Output To calculate, the proportionality constant ( ), integration constant( ), derivative constant( ), samplelet time( ), input variable error( Uses ).

[0012]

[0013] In mathematical formula 4 is setpoint value( ) and actual value( Represents the Subtractor Equation using ).

[0014]

[0015] In mathematical formula 5 origin-raw data( ), sensor resolution( ), sensor input range ( Represents the Data Scaling Equation using ).

[0016] The Duty Value Equation, Standard PID Equation, Subtractor Equation, and Data Scaling Equation are referred to as the Classic Standard PID-DPWM device. Figure 1 is a block diagram of a conventional Classic Standard PID-DPWM device.

[0017] Referring to Fig. 1, the Data Scaling Equation is origin-raw data( Sampling input range( ), Sampling resolution( Applying ) to actual value( Scale with ), and the Subtractor Equation is and set point( Calculate the difference of ) and the error value( It calculates ). The Standard PID Standard Equation is proportionality constant ( ), integration constant( ), derivative constant( ), sampling time( output( It calculates ). The Duty Value Equation is Apply it as the duty cycle and duration time( ), clock time( using ) duty value( It calculates ).

[0018] The Duty Value Equation, Difference PID Equation, Subtractor Equation, and Data Scaling Equation are referred to as the Classic Difference PID-DPWM device. Figure 2 is a block diagram of a conventional Classic Difference PID-DPWM device.

[0019] Referring to Fig. 2, the Data Scaling Equation is origin-raw data( Sampling input range( ), Sampling resolution( Applying ) to actual value( Scale with ), and the Subtractor Equation is and set point( Calculate the difference of ) and the error value( It computes ). The Difference PID and Difference Equation are proportionality constant ( ), integration constant( ), derivative constant( ), sampling time( output( It calculates ). The Duty Value Equation is Apply it as the duty cycle and duration time( ), clock time( using ) duty value( It calculates ).

[0020] Classic Standard PID-DPWM Equation and Classic Difference PID-DPWM Equation in Microprocessors , , , , , , , Since it is a real number, floating-point operations are performed using the standard IEEE-754 format. However, these floating-point operations can cause small errors in the floating-point operation, and these small errors accumulate in a repeated closed-loop system, leading to defects in accuracy, operation speed, and energy efficiency, and in the worst case, to system failure. Therefore, we intend to provide an improved standard PID device and method.

[0021] According to one embodiment of the present invention, a Standard PID (Proportional-Integral-Derivative) control device and a method thereof can be provided for outputting a DPWM (Digital Pulse Width Modulation) signal that adopts an integer-based operation method.

[0022] According to this embodiment of the present invention, a Difference PID (Proportional-Integral-Derivative) control device and a method thereof can be provided for outputting a DPWM (Digital Pulse Width Modulation) signal that adopts an integer-based operation method.

[0023] The equations in the Improved Standard PID-DPWM device are equivalent to the equations in the Classic Standard PID-DPWM device, and can improve computational speed and accuracy.

[0024] The equations in the Improved Difference PID-DPWM device are equivalent to the equations in the Classic Difference PID-DPWM device, and can improve computational speed and accuracy.

[0025] The present invention is applicable to various industrial fields such as automobiles, power regulation, motor control, and robots, and in the field of power regulation, it optimizes energy consumption and ensures stable power, while in motor control and robots, it enables performance optimization and precise motion control of high-speed motors.

[0026] In the fields of aerospace and robotic electronic control, which require precise control technology and high-performance control systems to meet continuously advancing technological requirements, an improved standard PID device and method can be provided that outputs a DPWM signal with enhanced DPWM signal processing capabilities and precise control functions.

[0027] Figure 1 is a block diagram of a conventional basic standard PID-DPWM device.

[0028] Figure 2 is a block diagram of a conventional basic difference PID-DPWM device.

[0029] FIG. 3 is a block diagram of an improved standard PID-DPWM device according to one embodiment of the present invention.

[0030] FIG. 4 is a drawing relating to a software program according to an embodiment of the present invention.

[0031] FIG. 5 is a diagram relating to the generation of an S-function block according to an embodiment of the present invention.

[0032] FIG. 6 is a diagram relating to the setting of environmental parameters of a closed-loop system model parameter according to an embodiment of the present invention.

[0033] Fig. 7 is a diagram of a conventional basic standard PID-DPWM software MATLAB / SIMULINK model.

[0034] FIG. 8 is a diagram relating to an improved standard PID-DPWM software MATLAB / SIMULINK model according to one embodiment of the present invention.

[0035] Figure 9 is a comparison graph of y(n) between CSSM and ISSM according to one embodiment of the present invention.

[0036] FIG. 10 is a graph comparing e(n) of CSSM and ISSM according to one embodiment of the present invention.

[0037] FIG. 11 is a diagram relating to a comparison of error performance indicators of CSSM and ISSM according to an embodiment of the present invention.

[0038] FIG. 12 is a block diagram of an improved difference PID-DPWM device according to this embodiment of the present invention.

[0039] FIG. 13 is a drawing relating to a software program according to this embodiment of the present invention.

[0040] FIG. 14 is a diagram relating to the generation of an S-function block according to this embodiment of the present invention.

[0041] FIG. 15 is a diagram relating to the setting of environmental parameters of a closed-loop system model parameter according to this embodiment of the present invention.

[0042] Figure 16 is a diagram of a conventional basic difference PID-DPWM software MATLAB / SIMULINK model.

[0043] FIG. 17 is a diagram relating to an improved difference PID-DPWM software MATLAB / Simulink model according to this embodiment of the present invention.

[0044] FIG. 18 is a graph comparing y(n) of CDSM and IDSM according to this embodiment of the present invention.

[0045] FIG. 19 is a graph comparing e(n) of CDSM and IDSM according to this embodiment of the present invention.

[0046] FIG. 20 is a diagram relating to a comparison of error performance indicators of CDSM and IDSM according to this embodiment of the present invention.

[0047] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims.

[0048] The terms used in this specification will be briefly explained, and the invention will be described in detail.

[0049] The terms used in this invention have been selected based on currently widely used general terms, taking into account their functions within the invention; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this invention should be defined not merely by their names, but based on their meanings and the overall content of the invention.

[0050] Throughout the specification, when a part is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as "part," "module," and "unit" used in the specification refer to a unit that processes at least one function or operation and may be implemented as software, hardware components such as FPGAs or ASICs, or a combination of software and hardware. However, the terms "part," "module," and "unit" are not limited to software or hardware. "Part," "module," and "unit" may be configured to reside in an addressable storage medium or configured to run one or more processors. Accordingly, as an example, terms such as "part," "module," and "unit" include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables.

[0051] Below, embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the invention. Additionally, parts of the drawings that are irrelevant to the description are omitted to clearly explain the invention.

[0052] Terms including ordinal numbers, such as "first," "second," etc., may be used to describe various components, but the components are not limited by the terms. The terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of multiple related items or any one of the multiple related items.

[0053] First, there is a description of a Standard PID (Proportional-Integral-Derivative) controller that outputs a DPWM (Digital Pulse Width Modulation) signal and a method thereof.

[0054]

[0055]

[0056]

[0057]

[0058] PID proportional constants for integer-based computation , , integer coefficients , , It can be replaced with. Therefore, the entire calculation process is based on integer operations, and only a single floating-point operation is performed. Here, m is , , It is defined as the smallest integer considering the dp with the most decimal places. Integer coefficient , , is defined as in mathematical formula 6.

[0059] FIG. 3 is a block diagram of an improved standard PID-DPWM device according to one embodiment of the present invention.

[0060]

[0061]

[0062]

[0063] The equation used for the Improved Standard PID-DPWM device is as shown in Equation 7. The real terms of Equation 7 ( It presents methods for simplifying ) and constants using deterministic relationships as corollaries. In addition, it provides three corollaries and special cases as examples. The sensor's sampling period ( ) and duration in the DPWM module ( It is assumed that ) is identical. In the case of, ... holds. When this deterministic relationship is satisfied in Equation 7, the simplified Improved Standard PID-DPWM equation is derived from Lemma 7-1.

[0064] The following is [Lemma 7-1] of mathematical formula 7.

[0065] when ,

[0066]

[0067]

[0068]

[0069] The proof of Lemma 7-1 is It is. Clock period in the sensor ( ) and duration in the PWM module ( The deterministic relationship between ) is covered in Lemma 7-1, and through this, is simplified. This simplification is It can be confirmed that it can be expressed in a more concise form. Therefore, during the programming preprocessing stage, the simplified The form can improve calculation accuracy. DPWM resolution is defined as follows.

[0070] Here, When, This holds. If this deterministic relationship is satisfied in Equation 7, the simplified Improved Standard PID-DPWM equation is derived from Lemma 7-2.

[0071] The following is [Lemma 7-2] of mathematical formula 7.

[0072] when

[0073]

[0074]

[0075]

[0076] The proof of Lemma 7-2 is is. Sampling resolution in the sensor ( ) and the resolution of the DPWM module ( The deterministic relationship between ) holds in Lemma 7-2, and through this, is simplified. This simplification is It can be confirmed that it can be expressed in a more concise form. Consequently, simplified during the programming preprocessing stage The form of can improve calculation accuracy.

[0077] The sensor bitrate is defined as follows.

[0078] When the sensor bitrate is It can be seen that it becomes equal to. If this deterministic relationship is satisfied in Equation 7, the simplified Improved Standard PID-DPWM equation is derived by Lemma 7-3.

[0079] The following is [Lemma 7-3] of mathematical formula 7.

[0080] when ,

[0081]

[0082]

[0083]

[0084] *

[0085] The proof of Lemma 7-3 is It is the sensor's bitrate and DPWM module resolution. The deterministic relationship between them is discussed in Lemma 6-3, and through this, is simplified. This simplification is It is confirmed that it can be expressed in a more concise form, and calculation accuracy can be improved during the programming preprocessing process.

[0086] As a special case, in Classic Standard PID-DPWM equations used without data scaling, for example in the case of a DC-DC converter, It is assumed that... Based on this, the present invention has the following form Presents.

[0087] The Improved Standard PID-DPWM and its method 1) approach the problem from the Scaling Data Equation rather than an approximation from the PID Equation, and 2) use raw data instead of actual values, and the actual , , Instead, integer , 3) use the Scaling Data Equation, Subtractor Equation, PID Equation, and Duty Value Equation, and 4) utilize the commutative and associative laws to distinguish between integers and real numbers and optimize integer operations.

[0088] In the test environment, the present invention introduced a Classic Standard PID-DPWM device and an Improved Standard PID-DPWM device, and created a software program using the following program. FIG. 4 is a diagram relating to a software program according to an embodiment of the present invention.

[0089] The present invention converts the program functions of FIG. 4 into MATLAB / Simulink S-function blocks. The result of this conversion is presented in FIG. 5. FIG. 5 is a diagram relating to S-function block generation from program according to an embodiment of the present invention.

[0090] FIG. 6 is a diagram relating to the Environment Parameter Configuration of Closed-loop-system model parameters according to an embodiment of the present invention.

[0091] The present invention designed two closed-loop system models as follows using the S-function block of Fig. 5.

[0092] Figure 7 is a diagram of a conventional standard PID-DPWM software MATLAB / SIMULINK model (CLASSIC STANDARD PID-DPWM SOFTWARE MATLAB / SIMULINK MODEL, CSSM). A closed-loop system of the MATLAB / Simulink model using Classic Standard PID-DPWM equations is referred to as CSSM.

[0093] FIG. 8 is a diagram relating to an improved standard PID-DPWM software MATLAB / SIMULINK model (IMPROVED STANDARD PID-DPWM SOFTWARE MATLAB / SIMULINK MODEL, ISSM) according to an embodiment of the present invention. A closed-loop system of a MATLAB / Simulink model using improved standard PID-DPWM equations is referred to as ISSM.

[0094] In the test results, the degree of improvement of the Improved Standard PID-DPWM device compared to the Classic Standard PID-DPWM Equation device is evaluated through performance tests. The y(n) comparison test was performed in CSSM and ISSM, and the results are presented in Fig. 9.

[0095] FIG. 9 is a comparison graph of y(n) between CSSM and ISSM according to an embodiment of the present invention. FIG. 9 shows the y(n) results of CSSM and ISSM over 10 seconds. These graphs indicate that the output is gradually converging to a set value r.

[0096] FIG. 10 is a comparison graph of e(n) between CSSM and ISSM according to an embodiment of the present invention. Referring to FIG. 10, a graph of e(n) of CSSM and ISSM executed for 10 seconds is presented. Performance indicators include Integral of Squared Error (ISE), Integral of Absolute Error (IAE), Integral of Error (IE), Integral Time Squared Error (ITSE), and Integral Time Absolute Error (ITAE), which were derived using e(n). These derived values ​​are presented in FIG. 11.

[0097] FIG. 11 is a diagram showing a comparison of error performance indicators of CSSM and ISSM according to an embodiment of the present invention. ISSM showed improved results in all performance evaluations compared to CSSM. The improved rates are 0.00038% in ISE, 0.267% in IAE, 0.035% in IE, 0.011% in ITSE, and 2.85% in ITAE.

[0098] Equations in the Improved Standard PID-DPWM device according to one embodiment of the present invention are equivalent to the equations in the Classic Standard PID-DPWM device, and can improve computation speed and accuracy. In Classic PID-DPWM Equations, it was confirmed that the input raw data and the output duty value are integers. Integer-based operations are performed using the original raw data as input, and floating-point operations are performed only once.

[0099] Assume the following: 1) The device is a microprocessor or DSP chip, 2) Sampling time, , is , 3) , 4) and y(n) have a linear relationship.

[0100]

[0101]

[0102] Next, there is a description of a Difference PID (Proportional-Integral-Derivative) controller that outputs a DPWM (Digital Pulse Width Modulation) signal and a method thereof.

[0103]

[0104]

[0105]

[0106]

[0107] PID proportional constants for integer-based computation , , integer coefficients , , It can be replaced with. Therefore, the entire calculation process is based on integer operations, and only a single floating-point operation is performed. Here, m is , , It is defined as the smallest integer considering the dp with the most decimal places. Integer coefficient , , is defined as in mathematical formula 8.

[0108] FIG. 12 is a block diagram of an Improved Difference PID-DPWM device according to this embodiment of the present invention.

[0109]

[0110]

[0111]

[0112]

[0113]

[0114]

[0115] The equation used in the Improved Difference PID-DPWM device is as shown in Equation 9. The real terms of Equation 9 ( It presents methods for simplifying ) and constants using deterministic relationships as corollaries. In addition, it provides three corollaries and special cases as examples. The sensor's sampling period ( ) and duration in the DPWM module ( It is assumed that ) is identical. In the case of, ... holds. When this deterministic relationship is satisfied in Equation 9, the simplified Improved Difference PID-DPWM equation is derived from Lemma 9-1.

[0116] When, and duration in the DPWM module Assume that it is the same. In the case of, ... holds. When this deterministic relationship is satisfied in Equation 9, the simplified Improved Difference PID-DPWM equation is derived from Lemma 9-1.

[0117] The following is [Lemma 9-1] of mathematical formula 9.

[0118] when ,

[0119]

[0120]

[0121]

[0122]

[0123]

[0124]

[0125] The proof of Lemma 9-1 is It is. Clock period in the sensor ( ) and duration in the PWM module ( The deterministic relationship between ) is covered in Lemma 9-1, and through this, is simplified. This simplification is It can be confirmed that it can be expressed in a more concise form. Therefore, during the programming preprocessing stage, the simplified The form can improve calculation accuracy. DPWM resolution is defined as follows.

[0126] Here, When, This holds. If this deterministic relationship is satisfied in Equation 9, the simplified Improved Difference PID-DPWM equation is derived from Lemma 9-2.

[0127] The following is [Lemma 9-2] of mathematical formula 9.

[0128] when ,

[0129]

[0130]

[0131]

[0132]

[0133]

[0134]

[0135] The proof of Lemma 9-2 is It is. Here represents the PWM resolution, and It is calculated as. Sampling resolution at the sensor ( ) and the resolution of the DPWM module ( The deterministic relationship between ) holds in Lemma 9-2, and through this, is simplified. This simplification is It can be confirmed that it can be expressed in a more concise form. Consequently, simplified during the programming preprocessing stage The form improves calculation accuracy.

[0136] The sensor bitrate is defined as follows.

[0137] When this occurs, it can be seen that the sensor bitrate becomes equal to . If this deterministic relationship is satisfied in Equation 9, the simplified Improved Difference PID-DPWM equation is derived by Lemma 9-3.

[0138] The following is [Lemma 9-3] of mathematical formula 9.

[0139] when ,

[0140]

[0141]

[0142]

[0143]

[0144]

[0145]

[0146] The proof of Lemma 9-3 is is. Here, Bitrate is the sampling resolution ( ) and sampling Time( In a ) relationship, It is calculated as follows: Sensor Bitrate and DPWM Module Resolution The deterministic relationship between them is discussed in Lemma 9-3, and through this, is simplified. This simplification is It is confirmed that it can be expressed in a more concise form, and calculation accuracy can be improved during the programming preprocessing process.

[0147] As a special case, in Classic Difference PID-DPWM equations used without data scaling, for example in the case of a DC-DC converter, It is assumed that... Based on this, the present invention has the following form Presents.

[0148] The Improved Difference PID-DPWM method 1) approaches the concept from the Scaling Data Equation rather than approximating it from the PID Equation, and 2) uses raw data instead of actual values, and the actual , , Instead, integer , , 3) use the Scaling Data Equation, Subtractor Equation, PID Equation, and Duty Value Equation, and 4) utilize the commutative and associative laws to distinguish between integers and real numbers and optimize integer operations.

[0149] In the test environment, a Classic Difference PID-DPWM device and an Improved Difference PID-DPWM device were introduced, and a software program was created using the following program. FIG. 13 is a drawing of a software program according to this embodiment of the present invention.

[0150] The present invention converts the program functions of FIG. 13 into MATLAB / Simulink S-function blocks. The result of this conversion is presented in FIG. 14. FIG. 14 is a diagram relating to S-function block generation from program according to this embodiment of the present invention.

[0151] FIG. 15 is a diagram relating to the Environment Parameter Configuration of Closed loop-system model parameters according to this embodiment of the present invention.

[0152] The present invention designed two closed-loop system models as follows using the S-function block of FIG. 14.

[0153] Figure 16 is a diagram of a conventional basic difference PID-DPWM software MATLAB / SIMULINK model (CLASSIC DIFFERENCE PID-DPWM SOFTWARE MATLAB / SIMULINK MODEL, CDSM). A closed-loop system of a MATLAB / Simulink model using Classic Difference PID-DPWM equations is referred to as CDSM.

[0154] FIG. 17 is a diagram relating to an improved difference PID-DPWM software MATLAB / SIMULINK model (IDSM) according to this embodiment of the present invention. A closed-loop system of a MATLAB / Simulink model using improved difference PID-DPWM equations is referred to as IDSM.

[0155] In the test results, we evaluate how much the Improved Difference PID-DPWM device has improved compared to the Classic PID-DPWM Difference through performance tests. We performed y(n) comparison tests on CDSM and IDSM, and the results are presented in Fig. 18.

[0156] FIG. 18 is a comparison graph of y(n) between CDSM and IDSM according to this embodiment of the present invention. FIG. 18 shows the y(n) results of CDSM and IDSM over 10 seconds. These graphs indicate that the output is gradually converging to a set value r.

[0157] FIG. 19 is an e(n) graph of CDSM and IDSM according to this embodiment of the present invention. Referring to FIG. 19, an e(n) graph of CDSM and IDSM executed for 10 seconds is presented. Performance indicators include Integral of Squared Error (ISE), Integral of Absolute Error (IAE), Integral of Error (IE), Integral Time Squared Error (ITSE), and Integral Time Absolute Error (ITAE), which were derived using e(n). These derived values ​​are presented in FIG. 20.

[0158] FIG. 20 is a diagram showing a comparison of error performance indicators of CDSM and IDSM according to this embodiment of the present invention. IDSM showed improved results in all performance evaluations compared to CDSM. The improved rates are 0.98% in ISE, 4.79% in IAE, 15.87% in IE, 4.25% in ITSE, and 26.89% in ITAE.

[0159] The equations in the Improved Difference PID-DPWM device of the present invention are equivalent to the equations in the Classic Difference PID-DPWM device, and can improve computational speed and accuracy. In Classic PID-DPWM equations, it was confirmed that the input raw data and the output duty value are integers. Integer-based operations are performed using the origin raw data as input, and floating-point operations are performed only once.

[0160] Assume the following: 1) The device is a microprocessor or DSP chip, 2) Sampling time, , is , 3) , 4) and y(n) have a linear relationship.

[0161]

[0162] Those skilled in the art related to the embodiments of the present invention will understand that they may be implemented in modified forms without departing from the essential characteristics of the description. Therefore, the disclosed methods should be considered in an illustrative rather than a restrictive sense. The scope of the invention is defined by the claims, not by the detailed description of the invention, and all variations within the scope of the claims should be interpreted as being included within the scope of the invention.

[0163] This invention is applicable to various industrial fields such as automobiles, power regulation, motor control, and robots. In the field of power regulation, it optimizes energy consumption and ensures stable power, while in motor control and robots, it enables performance optimization and precise motion control of high-speed motors, thus demonstrating potential for industrial application.

[0164] Industrial applicability exists in the fields of aerospace and robotic electronic control, which require precise control technology and high-performance control systems to meet continuously evolving technological requirements, as it is possible to provide an improved standard PID device and method that outputs a DPWM signal with enhanced DPWM signal processing capabilities and precise control functions.

[0165]

[0166] Supported Project: This research was conducted through a grant funded by the Korea government (MSIT, MSIT) from the Institute of Information & Communications Technology Planning & Evaluation (IITP) (No. RS-2018-II180532, Development of High-Assurance (≥EAL6) Secure Microkernel).

Claims

1. A Standard PID (Proportional-Integral-Derivative) control device and method that outputs a DPWM (Digital Pulse Width Modulation) signal adopting an integer-based operation method.

2. A Difference PID (Proportional-Integral-Derivative) control device and method that outputs a DPWM (Digital Pulse Width Modulation) signal adopting an integer-based calculation method.

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