CN102893226B - Auto-tuning method and device of overshoot suppression-use feed forward term for step-following time - Google Patents
Auto-tuning method and device of overshoot suppression-use feed forward term for step-following time Download PDFInfo
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Abstract
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 T1 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 (alpha/(1+alpha))/T1 is applied to the input step target value X.
Description
Technical field
The present invention relates to automated tuning method and the device of overshoot (overshoot) suppression feedforward term when step follows (ス テ ッ プ chases after Cong, step following), for producing after overshoot to possessing when following the step of step desired value, converging on the system of the characteristic of step desired value, when using feedforward control to suppress the overshoot from step desired value, hands-off tuning feedforward term.
Background technology
Usually, control system is roughly divided into FEEDBACK CONTROL and feedforward control.Wherein, for multiplex PID(ratio, integration, the differential of making FEEDBACK CONTROL) control, known various automated tuning method (such as with reference to patent documentation 1).
On the other hand, with regard to feedforward control, former motion has specific control object in double-freedom control system, uses the detailed model (Details Fine な モ デ Le) of control object to carry out the method (such as with reference to patent documentation 2) of hands-off tuning feedforward term.
In addition, usually know in feedback control system or possess in the control object of the such vibrating mass of the parts that press work with fluid, if input (providing) certain step desired value is as control objectives, then when carrying out step to step desired value and following, there is overshoot for the moment, afterwards, the step following feature converging on the fixed value corresponding to step desired value is shown.
Patent documentation 1: Japanese Unexamined Patent Publication 11-161301 publication;
Patent documentation 2: Japanese Patent No. 3545006 publication.
Summary of the invention
But the method according to patent documentation 1, can not use the detailed model of control object and carry out hands-off tuning.But the PID that its object is limited to as FEEDBACK CONTROL controls.
On the other hand, shown in patent documentation 2 is the automated tuning method associated with feedforward control.But, in the method, because the detailed model of required control object, so the detailed model in order to make this control object, in the physical characteristics of design phase specific control object, thus in fact must require great effort time-consuming.
Therefore, the present inventor etc. to possess follow in the step of input of above-mentioned certain step desired value to forming control objectives time, after there is overshoot for the moment, illustrate in the system of step following feature of the characteristic of the fixed value converged on corresponding to step desired value, whenever execution is provided for the feedforward control that can suppress overshoot, the hands-off tuning just can implementing feedforward term used without the need to detailed model is studied intensively, research, its result, be conceived to approximate linear and these 2 fundamental propertys of time invariance set up in the control system of a lot of plant equipment or mechanical system etc., make the present invention.
Therefore, the automated tuning method of overshoot suppression feedforward term when the object of the present invention is to provide step to follow and device, for possess produce overshoot when following the step of input of the step desired value forming control objectives after, converge in the system of step following feature of step desired value, use feedforward control, when suppressing the overshoot from step desired value, only use the response of said system and linear and these 2 fundamental propertys of time invariance, just can hands-off tuning feedforward term.
The present invention is in order to solve above-mentioned problem, corresponding to claim 1, the automated tuning method of overshoot suppression feedforward term when providing step to follow, produce after overshoot when the step of the input to step desired value is followed, converge on the upstream side of the system of the step following feature of step desired value possessing, possess in the formation of feedforward control block, it is characterized in that
Make under the state that feedforward control block is invalid, obtaining the step response of the step desired value to said system,
Then, above-mentioned step response is worth maximum point and is set as overshoot summit, according to the size of summit value with step desired value, determine overshoot rate α, and, for step response, be similar to approximate response, described approximate response for by after step desired value is provided, be set to dead time and the rise time T of step response to the elapsed time arriving overshoot summit
1, and with rise time T
1equal convergence time converges on step desired value from overshoot vertex―straight line,
Afterwards, hands-off tuning feedforward control block, imposes coefficient to the step desired value inputting feedforward control block as control objectives be set to log (α/(1+ α))/T to export
1first-order lag after signal.
In addition, step response to the step desired value to said system imposes second-order differential filtering, it is the point that maximum point responsively rises by its value, is set to the dead time of step response the time of the point providing to said system step desired value to rise to response, is set as the rise time of step response the time of the point to the overshoot summit of step response that respond rising.
And, said system is set to feedback control system or control object self.
Or, corresponding to claim 4, the automatic tuning apparatus of overshoot suppression feedforward term when providing step to follow, produce after overshoot when the step of the input to step desired value is followed, converge on the upstream side of the system of the step following feature of step desired value possessing, possess in the formation of feedforward control block, it is characterized in that possessing following function
Make under the state that feedforward control block is invalid, obtaining the step response of the step desired value to said system;
Step response is worth maximum point and is set as overshoot summit, according to the size of summit value with step desired value, determine overshoot rate α, and, for step response, be similar to approximate response, described approximate response for by after step desired value is provided, be set to dead time and the rise time T of step response to the elapsed time arriving overshoot summit
1, and with rise time T
1equal convergence time converges on step desired value from overshoot vertex―straight line; With
There is provided instruction to feedforward controll block, coefficient is imposed to the step desired value inputting feedforward control block as control objectives be set to log (α/(1+ α))/T to export
1first-order lag after signal, hands-off tuning feedforward control block.
Invention effect
According to the present invention, play effect good as follows.
(1) because the automated tuning method of overshoot suppression feedforward term when following as step and device, produce after overshoot when the step of the input to step desired value is followed, converge on the upstream side of the system of the step following feature of step desired value possessing, possess in the formation of feedforward control block
Make under the state that feedforward control block is invalid, obtaining the step response of the step desired value to said system,
Then, step response is worth maximum point and is set as overshoot summit, according to the size of summit value with step desired value, determine overshoot rate α, and, for step response, be similar to approximate response, described approximate response for by after step desired value is provided, be set to dead time and the rise time T of step response to the elapsed time arriving overshoot summit
1, and with rise time T
1equal convergence time converges on step desired value from overshoot vertex―straight line,
Afterwards, hands-off tuning feedforward control block, imposes coefficient to the step desired value inputting feedforward control block as control objectives be set to log (α/(1+ α))/T to export
1first-order lag after signal,
So produce after overshoot when the step of the input to step desired value is followed, converge in the feedforward control block of upstream side of the system of the step following feature of step desired value possessing, the detailed model without the need to said system just can only use this response with linearly and these 2 fundamental propertys of time invariance carry out hands-off tuning controls content feedforward term as it.
(2) and, the signal of first-order lag that export from the feedforward control block of hands-off tuning, that comprise set coefficient can be utilized, carry out feedforward control, with suppress overshoot state under, make the response of said system follow step desired value fast.
Accompanying drawing explanation
Fig. 1 is the block diagram of the 1st embodiment represented based on automated tuning method of the present invention and device.
Fig. 2 represents the block diagram making the state obtaining step response under the state invalid based on the FF controll block of the automatic tuning apparatus of Fig. 1 from feedback control system.
Fig. 3 is the figure of the time variations of the step response representing Fig. 2.
Fig. 4 is the figure of the approximate response of the step response representing approximate setting Fig. 3.
Fig. 5 represents the overshoot eliminated step desired value, the figure being inputted control object response step desired value being imposed to the feedback control system of the signal after first-order lag by FF controll block.
Fig. 6 is the block diagram of the 2nd embodiment represented based on automated tuning method of the present invention and device.
Symbol description
1 automatic tuning apparatus; 2 feedback control systems (system); 3 feedback control blocks (FB controll block); 4,4A control object; 5 feedforward control blocks (FF controll block); α overshoot rate; A overshoot summit; B responds rising point; X step desired value; Ya step response; The approximate response of Yb; S signal; T
0the dead time of step response; T
1the rise time of step response; T
2convergence time.
Embodiment
Below, illustrate for implementing mode of the present invention with reference to accompanying drawing.
Fig. 1 to Fig. 5 is the figure of the 1st embodiment represented based on automated tuning method of the present invention and device.
In the present embodiment, illustrate produce after overshoot by possessing when the step of the input to step desired value is followed, the system of the step following feature that converges on step desired value is set to feedback control system, feedforward control is used to feedback control system, the summary of Application Example when suppressing the overshoot from step desired value.
Present embodiment is as follows.
Namely, apply the control system of the automated tuning method of overshoot suppression feedforward term when step of the present invention is followed and device as shown in Figure 1, being configured to the upstream side of the feedback control system 2 formed being connected in series feedback control block (being denoted as FB controll block below) 3 and control object 4, possessing and being set to overshoot suppression feedforward term automatic tuning apparatus 1(when following based on step of the present invention hereinafter referred to as automatic tuning apparatus 1 of the present invention) the feedforward control block (being denoted as FF controll block below) 5 of hands-off tuning object.
Be applicable to be configured to input response (output valve) Y exported from the control object 4 by feedback control system 2 FEEDBACK CONTROL as the automatic tuning apparatus of the present invention 1 of the control system of above-mentioned formation.And, automatic tuning apparatus 1 of the present invention, while the function possessing control FB controll block 3 and FF controll block 5, possesses following function, even inputs response Y from the control object 4 being fed control, then according to response Y, the instruction obtained by process described later is supplied to FF controll block 5.
FF controll block 5, as shown in Fig. 5 center line C described later, has the function exporting and the input of the step desired value X forming control objectives is imposed to the signal S after first-order lag.
As long as the linear control methods such as the PID used in FB controll block 3 general feedback control controls, optimal regulator controls, the infinitely great control of H, then also can adopt any type of control method.
Here, so-called H infinity controls to be with " the infinitely great norm (ノ Le system) of H " this index to evaluate the performance of control system, is the control method of best (the infinitely great Norm minimum of H) by the setting parameter of FEEDBACK CONTROL.This control method is applicable to steadily and surely (ロ バ ス ト) controls (control for the treatment of uncertain control object).
Below, the function of automatic tuning apparatus 1 of the present invention is described according to the processing sequence in automatic tuning apparatus 1 of the present invention.
First automatic tuning apparatus 1 of the present invention makes under the state that FF controll block 5 is invalid, namely as shown in Figure 2, under the state that the feedback control system 2 formed to FB controll block 3 and control object 4 directly inputs the step desired value X forming control objectives, execution FB controll block 3 tuning.
Now, as the tuning methods of FB controll block 3, both can try mistake and perform, in addition, also when the control method of FB controll block 3 is PID control, existing automated tuning method can have been used.
As mentioned above, if the tuning termination of FB controll block 3, then automatic tuning apparatus 1 of the present invention then still makes under the state that FF controll block 5 is invalid, there is provided step desired value X to the feedback control system 2 of the FB controll block 3 after possessing tuning termination, obtain only based on the step response Ya of feedback control system 2.Now, feedback control system 2 possesses and occurs after overshoot when the step of the input to step desired value X is followed, converges on the step following feature of step desired value, so in step response Ya such as Fig. 3 shown in solid line.Dotted line in Fig. 3 be form control objectives step desired value X(Fig. 4 and Fig. 5 described later in too).
Then, in automatic tuning apparatus 1 of the present invention, the step response Ya obtained is similar to, obtains approximate response (approximate step response) Yb as shown in Figure 4.
This is approximate particularly as shown in Figure 4, point maximum for step response Ya intermediate value is set as overshoot summit A, according to the value of overshoot summit A and height (size) x of the step desired value X provided, determine overshoot rate α, make the value of overshoot summit A become x (1+ α).
And, the elapsed time T arriving overshoot summit A to step response Ya after step desired value X is supplied to feedback control system 2 is divided into the dead time T of step response
0with the rise time T of step response
1, approximate response Yb is set as after providing step desired value X to feedback control system 2, through the dead time T of step response
0after, with the rise time T of step response
1straight line rises to overshoot summit A, afterwards, with the rise time T with step response
1equal convergence time T
2(T
2=T
1) straight line converges on step desired value X.
The dead time T of step response
0with the rise time T of step response
1preferably second-order differential filtering [1 ,-2,1] is imposed to step response Ya, be worth maximum point and determine, for the some B that response is risen, to be set to the dead time T of step response the time of the some B providing to feedback control system 2 step desired value X to rise to response
0, in the some B to step response Ya rise response, the time of overshoot summit A is set as the rise time T of step response
1.
Here, the time series data of so-called second-order differential filtering [1 ,-2,1] combine digital signal and the convolution algorithm of [1 ,-2,1] are the approximate filtering process obtaining the second order differential coefficient of signal.
Accordingly, at the dead time T that automatically can obtain step response with computing
0with rise time T
1while, the approximate response Yb of the change of step response Ya can be reflected better.
If described above setting approximate response Yb, then linear the and time invariance that has according to feedback control system 2 of automatic tuning apparatus 1 of the present invention, by the rise time T of the step response in approximate response Yb
1and overshoot rate α is as parameter, in order to follow step desired value X with making approximate response Yb not overshoot as shown in Figure 4, obtain to the required signal S of the input of feedback control system 2, in order to this signal S can be exported from the FF controll block 5 of input step desired value X, there is provided instruction to FF controll block 5, export and coefficient (inverse of time constant) is imposed to the step desired value X inputted as control objectives be set to log (α/(1+ α))/T
1first-order lag after signal S.
Therefore, possess in the control system as shown in Figure 1 of automatic tuning apparatus 1 of the present invention as what form above, if certain step desired value X forming control objectives is inputted FF controll block 5, then according to the instruction from automatic tuning apparatus 1 of the present invention, perform the hands-off tuning of FF controll block 5, to export from FF controll block 5 pairs of feedback control systems 2 as shown in Fig. 5 center line C, step desired value X to be imposed to the signal S after the first-order lag of the set coefficient (inverse of time constant) of setting as mentioned above.
Thus, what export from FF controll block 5 in input imposes the feedback control system 2 of the signal S of the first-order lag of set coefficient (inverse of time constant) to step desired value X, the response Y of control object 4 as shown in Figure 5, is controlled to smoothly and does not follow step desired value with producing overshoot.
Like this, the automated tuning method of overshoot suppression feedforward term when step according to the present invention is followed and automatic tuning apparatus of the present invention 1, can as original step following feature, possess in the FF controll block 5 of the upstream side setting converging on the feedback control system 2 of the step following feature of step desired value X after producing overshoot when the step of the input of the step desired value X to formation control objectives is followed, without the need to the detailed model of feedback control system 2, only use the response of feedback control system 2 and linear and these 2 fundamental propertys of time invariance, hands-off tuning controls the feedforward term of content as it, under the state suppressing overshoot, the response Y of the control object 4 in feedback control system 2 is made to follow step desired value X fast.
Then, Fig. 6 is the block diagram of the 2nd embodiment represented based on automated tuning method of the present invention and device.
In the present embodiment, represent when control object 4A self originally possess produce overshoot when the step of the input to step desired value is followed after converge on the step following feature of step desired value, the summary of the Application Example during overshoot using feedforward control to suppress from step desired value to control object 4A.
Present embodiment is as follows.
Namely, now in the formation the same with shown in Fig. 1, be configured to replace feedback control system 2, possess the FF controll block 5 formed based on the object of the hands-off tuning of automatic tuning apparatus 1 of the present invention at the upstream side of control object 4A self, automatic tuning apparatus 1 of the present invention is configured to input response (output valve) Y exported from control object 4A.In addition, if control object 4A possesses linear and time invariance with regard to controlling.
In this condition, automatic tuning apparatus 1 of the present invention is with the step the same with shown in Fig. 2 to Fig. 5, first make under the state that FF controll block 5 is invalid, step response Ya(reference Fig. 3 when providing step desired value X is obtained to control object 4A), obtain the dead time T of overshoot summit A, the overshoot rate α determined in this step response Ya, step response
0, rise time T
1, with rise time T
1equal convergence time T
2(T
2=T
1) approximate response Yb(with reference to Fig. 4).
Then, automatic tuning apparatus 1 of the present invention is by the rise time T of overshoot rate α and step response
1as parameter, provide output to impose coefficient (inverse of time constant) to the step desired value X inputted as control objectives to FF controll block 5 and be set to log (α/(1+ α))/T
1first-order lag after the instruction of signal S.
Thus, among the control object 4A inputting signal S that export from FF controll block 5, that comprise first-order lag, the response Y of the feedback control system 2 shown in response Y and Fig. 5 of control object 4A is the same, exports under the state suppressing overshoot to occur.
Therefore, according to this example, can as original step following feature, possess in the FF controll block 5 of the upstream side setting converging on the control object 4A of the step following feature of step desired value X after producing overshoot when the step of the input of the step desired value X to formation control objectives is followed, without the need to the detailed model of control object 4A, only use the response of control object 4A and linear and these 2 fundamental propertys of time invariance, hands-off tuning controls the feedforward term of content as it, under the state suppressing overshoot, the response Y of control object 4A is made to follow step desired value X fast.
In addition, the present invention is not limited only to above-mentioned example, also again can implement hands-off tuning to the FF controll block 5 after hands-off tuning once.Now, also can under the state effectively utilizing FF controll block 5, obtain the response Y to the control object 4 produced during FF controll block 5 input step desired value X, 4A, according to this response Y, the coefficient (inverse of time constant) that set first-order lag the same as during above-mentioned common hands-off tuning, is set to new coefficient the value after it being added with upper ordered coefficients.
As long as possessing after producing overshoot when following the step of input of the step desired value forming control objectives, converging on the step following feature of step desired value, then feedback control system 2 and control object 4A may also be any.
According at the step response Ya making to obtain under the invalid state of FF controll block 5, the rise time T that the approximate response Yb shown in Fig. 4 makes the step response to overshoot summit A if can set
1with convergence time T
2equal, then with step response Ya is imposed to second-order differential filtering [1 ,-2,1], be worth maximum point and determine, for the some B that response is risen, to be set to the dead time T of step response the time of the some B providing step desired value X to rise to response
0situation compare, the also dead time T of Ke Zeng Minus step response
0length.
In the embodiment of Fig. 1 to Fig. 5, also can omit the automatic tuning capabilities of FB controll block 3 from automatic tuning apparatus 1 of the present invention.Now, also before starting the hands-off tuning based on the FF controll block 5 of automatic tuning apparatus 1 of the present invention, the hands-off tuning of FB controll block 3 can be performed in advance by other devices.
Certainly, various change can be applied without departing from the scope of the gist of the present invention.
Claims (4)
1. the automated tuning method of an overshoot suppression feedforward term when step is followed, produce after overshoot when the step of the input to step desired value is followed, converge on the upstream side of the system of the step following feature of step desired value possessing, possess feedforward control block, it is characterized in that
Make under the state that feedforward control block is invalid, obtaining the step response of the step desired value to said system,
Then, step response is worth maximum point and is set as overshoot summit, according to the size of summit value with step desired value, determine overshoot rate α, and, for step response, be similar to approximate response, described approximate response for by after step desired value is provided, be set to dead time and the rise time T of step response to the elapsed time arriving overshoot summit
1, and with rise time T
1equal convergence time converges on step desired value from overshoot vertex―straight line,
Afterwards, hands-off tuning feedforward control block, imposes coefficient to the step desired value inputting feedforward control block as control objectives be set to export
first-order lag after signal.
2. the automated tuning method of overshoot suppression feedforward term when step according to claim 1 is followed, wherein,
Step response to the step desired value to said system imposes second-order differential filtering, it is the point that maximum point responsively rises by its value, is set to the dead time of step response the time of the point providing to said system step desired value to rise to response, is set as the rise time of step response the time of the point to the overshoot summit of step response that respond rising.
3. the automated tuning method of overshoot suppression feedforward term when step according to claim 1 and 2 is followed, wherein,
Said system is set to feedback control system or control object self.
4. the automatic tuning apparatus of an overshoot suppression feedforward term when step is followed, produce after overshoot when the step of the input to step desired value is followed, converge on the upstream side of the system of the step following feature of step desired value possessing, possesses feedforward control block, it is characterized in that possessing following function:
Make under the state that feedforward control block is invalid, obtaining the step response of the step desired value to said system;
Above-mentioned step response is worth maximum point and is set as overshoot summit, according to the size of summit value with step desired value, determine overshoot rate α, and, for step response, be similar to approximate response, described approximate response for by after step desired value is provided, be set to dead time and the rise time T of step response to the elapsed time arriving overshoot summit
1, and with rise time T
1equal convergence time converges on step desired value from overshoot vertex―straight line; With
There is provided instruction to feedforward controll block, coefficient is imposed to the step desired value inputting feedforward control block as control objectives be set to export
first-order lag after signal, hands-off tuning feedforward control block.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010119489A JP5408035B2 (en) | 2010-05-25 | 2010-05-25 | Auto-tuning method and apparatus for feedforward term for overshoot suppression during step following |
| JP2010-119489 | 2010-05-25 | ||
| PCT/JP2011/061722 WO2011148882A1 (en) | 2010-05-25 | 2011-05-23 | Auto-tuning method and device of overshoot suppression-use feed forward term for step-following time |
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| CN102893226A CN102893226A (en) | 2013-01-23 |
| CN102893226B true CN102893226B (en) | 2015-04-01 |
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| JP (1) | JP5408035B2 (en) |
| CN (1) | CN102893226B (en) |
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| CN101004592A (en) * | 2007-01-25 | 2007-07-25 | 上海交通大学 | Control method of feed forward, feedback control system for interferential and time delayed stable system |
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| RU2304298C2 (en) * | 2005-10-05 | 2007-08-10 | Закрытое акционерное общество "ЭлеСи" | Mode of self-adjustment of the system for control over an object and an arrangement for its realization |
| JP2010086395A (en) * | 2008-10-01 | 2010-04-15 | Yaskawa Electric Corp | Two-degree-of-freedom digital controller |
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| CN1081519A (en) * | 1992-05-20 | 1994-02-02 | 国际自动化控制信贷股份有限公司 | Method and device in order to procurement process characteristic in self-tuning controller |
| CN101004592A (en) * | 2007-01-25 | 2007-07-25 | 上海交通大学 | Control method of feed forward, feedback control system for interferential and time delayed stable system |
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| CN102893226A (en) | 2013-01-23 |
| JP5408035B2 (en) | 2014-02-05 |
| RU2012156202A (en) | 2014-06-27 |
| JP2011248518A (en) | 2011-12-08 |
| MX2012012629A (en) | 2013-05-30 |
| BR112012027508A2 (en) | 2016-07-26 |
| WO2011148882A1 (en) | 2011-12-01 |
| RU2522033C1 (en) | 2014-07-10 |
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