JP2008293192A - Control gain automatic setting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control gain automatic setting device by which appropriate control gain is obtained automatically even when a parameter of a transfer function of a control target cannot be clearly expressed with a mathematical equation. <P>SOLUTION: A control gain automatic setting device which automatically sets up a control gain of a control target 4 in a system which constitutes a feedback control loop with a controller 2 for controlling and a control target 4, is provided with: a controller 2 for controlling which has a parameter storage 2a in which a parameter for measuring a control response of the control target 4 is stored beforehand; an automatic response measurement device 1 comprising a means of a parameter read means 1a for reading a parameter from the parameter storage 2a of the controller 2 for controlling, a measuring condition automatic setting means 1b which automatically sets up the control target as a measuring condition, and a control response measurement means 1c which measures a response of the control target 4; and a control gain determination device 3 which identifies a parameter of the control target 4 from output of the automatic response measurement device 1, and determines the control gain of the control target 4. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  This invention is a system having a feedback control loop that controls a position or pressure to a target value by operating a machine to be controlled by hydraulic pressure or an electric motor, and the characteristics of the controlled object change depending on electrical characteristics, ambient environment, and the like. The present invention relates to a control gain automatic setting device for automatically setting a control gain of a control loop.

  As a conventional device of this type, in an inverter device that has a current minor loop that performs current control based on a current command value and a current feedback value and performs variable speed control of an electric motor, when setting a control gain, a step of a current control unit A technique has been proposed in which a connected motor is automatically detected by taking a response and automatically set to a control gain suitable for the motor (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 5-175692 (summary column, FIG. 1)

  According to the control gain automatic setting device proposed in Patent Document 1, there is an advantage that the time required for the control gain setting adjustment can be shortened and the adjustment can be simplified. The control gain automatic setting device proposed in Patent Document 1 determines the optimum control gain when the object to be controlled is clearly expressed by a mathematical expression, that is, when the parameters of the transfer function can be clearly expressed by a mathematical expression. Can do. However, it is rare that the actual controlled object can be clearly expressed by a mathematical formula, and since there is some uncertainty, the optimal control gain cannot be determined based on the mathematical formula, and some fine adjustment is required. .

  The present invention has been made to solve the above-described problems, and is a control gain automatic setting that automatically obtains an appropriate control gain even when the parameters of the transfer function to be controlled cannot be clearly expressed by mathematical expressions. An object is to provide an apparatus.

  The control gain automatic setting device according to the present invention is a control gain automatic setting device that automatically sets the control gain of the control target in a system that constitutes a feedback control loop by the control controller and the control target. A control controller having a parameter storage unit in which parameters for measurement are stored in advance, parameter reading means for reading parameters from the parameter storage unit of the control controller, and measurement conditions for automatically setting the control target as measurement conditions An automatic response measuring device including an automatic setting means and a control response measuring means for measuring a response of the controlled object; and identifying a parameter of the controlled object from an output of the automatic response measuring apparatus, and a control gain of the controlled object A control gain determining device for determining That.

  According to the control gain automatic setting device according to the present invention, even when the parameter of the transfer function to be controlled cannot be clearly expressed by a mathematical formula, an appropriate control gain can be obtained, without requiring manual operation, There is an effect that the optimum control gain can be obtained automatically and easily.

  Exemplary embodiments of a control gain automatic setting apparatus according to the present invention will be described below with reference to the accompanying drawings.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a control gain automatic setting apparatus according to the first embodiment, and FIG. 2 is a block diagram showing the details thereof.
In FIG. 1, a control gain automatic setting device 10 includes an automatic response measuring device 1, a control controller 2, and a control gain determining device 3. The automatic response measuring device 1 is connected to a higher level of a feedback control loop composed of a control controller 2 and a control object 4, receives data necessary for automatic response measurement from the control controller 2, and automatically receives data from the control controller 2. Outputs a response measurement command. Similarly, the automatic response measuring device 1 is connected to a control gain determining device 3 that is connected to a higher level of the feedback control loop, and the control gain determining device 3 and the automatic response measuring device 1 are mutually necessary data. In addition to transmitting and receiving operation timing signals and the like, a signal necessary for determining the control gain is received from the control object 4 and output to the controller 2 for control.

  As shown in FIG. 2, the automatic response measuring apparatus 1 includes parameter reading means 1a, measurement condition automatic setting means 1b, and control response measuring means 1c. Further, the control controller 2 includes a parameter storage unit 2a in which parameters (data) shown in FIG. 3 are stored, a feedback control software unit 2b, and a control gain table unit 2c having a gain table shown in FIG. Is provided. Further, the control gain determining device 3 is composed of a control gain rewriting means 3a and a control gain determining means 3b.

  FIG. 3 shows an example of the parameters stored in the parameter storage unit 2a in a predetermined format. As shown on the left side of FIG. 3, the parameter storage unit 2a has a declaration statement for what is defined beforehand. It is decided and how to describe is decided similarly. The specification of the declaration statement and how to describe it is a format, and as shown on the right side of FIG. 3, numerical values and addresses are set in the declaration statement, which are parameters.

  In FIG. 3, “2”, which is “the number of automatic measurement variables, the number of measurements: 2, 10, 5”, indicates that there are two variables to be measured under different conditions. That is, the gain table is two-dimensional. “10, 5” indicates the configuration of the gain table, and there are 10 measurement schedules for the automatic measurement variable 1 and 5 measurement schedules for the automatic measurement variable 2. Note that the schedule is one of the functions of the measurement condition automatic setting means 1b, which determines the order in which responses are automatically measured under different conditions, and is the order. In the measurement condition automatic setting means 1b, the final purpose is to prepare the conditions for automatically measuring the response in the above order. For example, the order is a schedule for the purpose of changing the position of the measurement object to 10 cm, 15 cm, 20 cm,... 55 cm in order. FIG. 4 shows a gain table based on the parameters shown in FIG.

The control gain automatic setting apparatus according to the first embodiment is configured as described above, and the operation thereof will be described based on the flowchart shown in FIG.
As shown in FIG. 3, the parameter storage unit 2a of the control controller 2 stores parameters required for automatic measurement by the automatic response measuring apparatus 1 in a predetermined format. The parameter reading means 1a reads the control parameters from the parameter storage unit 2a of the control controller 2 in accordance with the measurement start command from the measurement condition automatic setting means 1b (step S51), and automatically sets them in the measurement condition automatic setting means 1b. Necessary data is sent (step S52).

  The measurement condition automatic setting means 1b determines the automatic setting schedule based on the transmitted data, and first outputs the target value for the first setting to the feedback control software unit 2b of the controller 2 for control (step). S53).

  As a result, the control controller 2 sets the control target 4 to the given target value, confirms the completion of the setting (step S54), and then sends a setting confirmation signal to the control response measuring means 1c of the automatic response measuring device 1 (step S54). S55).

  The control response measuring means 1c receives the setting confirmation signal, and outputs a signal for step response (or frequency response) measurement to the feedback control software section 2b of the controller 2 for control, and this output is sent to the control object 4 ( Step S56).

  The control gain determining means 3b of the control gain determining device 3 takes in the step response (or frequency response) waveform of the controlled object 4 (step S57), identifies the model of the controlled object 4, and calculates the gain that seems to be optimal (step). S58). The calculated gain is sent to the control gain rewriting means 3a. The control gain rewriting means 3a is the gain corresponding to the current measurement condition of the control gain table section 2c set in the controller 2 for control (or the measurement is not finished). (All gains) are rewritten (step S59).

  When the gain rewriting is completed in the control gain rewriting means 3a, the procedure from step S54 is repeated several times to obtain the optimum control gain (step S60), and then the procedure from step S54 is performed according to the automatic setting schedule. This is repeated (step S61), and the control gain is determined under all measurement conditions (step S62).

  As described above, the automatic control gain setting apparatus according to the first embodiment provides a parameter for determining a model to be controlled to the control controller as a parameter of the control gain table, and automatically performs a step response (or frequency response). ), The optimum control gain is obtained, so that the optimum control gain can be obtained automatically and easily without the need for manpower as compared with the method of obtaining the gain from the mathematical expression expressing the control target. .

  The present invention can be applied as a control gain automatic setting device for a device having a feedback control loop for operating a machine to be controlled by hydraulic pressure or an electric motor and controlling a position or pressure to a target value.

It is a block diagram which shows the control gain automatic setting apparatus which concerns on Embodiment 1 of this invention. It is a block diagram explaining the detail of the control gain automatic setting apparatus which concerns on Embodiment 1 of this invention. It shows an example of parameters described in a predetermined format. 4 shows an example of a gain table based on the parameters shown in FIG. It is a flowchart explaining operation | movement of the control gain automatic setting apparatus which concerns on Embodiment 1 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Automatic response measuring device 1a Parameter reading means 1b Measurement condition automatic setting means 1c Control response measuring means 2 Control controller 2a Parameter description part 2b Feedback control software 2c Control gain table 3 Control gain determination apparatus 3a Control gain rewriting means 3b Control gain determination Mean 4 Control object

Claims (2)

In a control gain automatic setting device that automatically sets the control gain of the control target in a system that configures a feedback control loop with a control controller and the control target,
A controller for control having a parameter storage unit in which parameters for measuring the control response of the control object are stored in advance;
Parameter reading means for reading parameters from the parameter storage section of the control controller, automatic measurement condition setting means for automatically setting the control object as a measurement condition, and control response measurement means for measuring the response of the control object Including an automatic response measuring device,
A control gain determining device for identifying the parameter to be controlled from the output of the automatic response measuring device and determining the control gain of the controlled object;
Control gain automatic setting device.   The control gain determination device identifies a parameter to be controlled from the output of the automatic response measurement device, determines a control gain, and determines the control gain determined by the control gain determination device as the control controller. 2. The control gain automatic setting device according to claim 1, further comprising control gain rewriting means for writing to the control gain.

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