DE2640861A1 - Plant performance control system - has proportional-integral controller using quotient of control error rate of change and control error - Google Patents

Plant performance control system - has proportional-integral controller using quotient of control error rate of change and control error

Info

Publication number
DE2640861A1
DE2640861A1 DE19762640861 DE2640861A DE2640861A1 DE 2640861 A1 DE2640861 A1 DE 2640861A1 DE 19762640861 DE19762640861 DE 19762640861 DE 2640861 A DE2640861 A DE 2640861A DE 2640861 A1 DE2640861 A1 DE 2640861A1
Authority
DE
Germany
Prior art keywords
proportional
control
integral
control error
quotient
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE19762640861
Other languages
German (de)
Inventor
Kurt Ing Grad Ewe
Edmund Dipl Ing Linzenkirchner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to DE19762640861 priority Critical patent/DE2640861A1/en
Priority to JP10868677A priority patent/JPS5344774A/en
Publication of DE2640861A1 publication Critical patent/DE2640861A1/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

A control device with a proportional-integral controller provides greater control efficiency than conventional proportional-integral and proportional-integral-differential controllers, in partic. as used in charging process systems. In such applications variations in input rate or material clogging can impair the control efficiency of conventional regulators with linear parameters, integral and rate time constants adjusted to ideal system performance. A processing circuit forms the quotient of the control error rate of change and the control error and adds it to the input or output signal of the proportional-integral controller.

Description

RegeleinrichtungControl device

Die Erfindung bezieht sich auf eine Regeleinrichtung mit proportional-integral wirkendem Regler.The invention relates to a control device with proportional-integral acting controller.

Die zur Regelung bei Regelstrecken höherer Ordnung eingesetzten, proportional-integral wirkenden Regler oder proportional-integral wirkender Regler mit Vorhalt, kurz PI- oder PID-Regler genannt, werden üblicherweise durch Einstellung der Reglerparameter Proportionalbereich, Nachstellzeit und gegebenenfalls Vorhaltzeit an die Regelstrecke angepaßt.The proportional-integral used for the control of higher-order controlled systems acting controller or proportional-integral acting controller with lead, PI- or called PID controllers, are usually set by setting the controller parameters Proportional range, reset time and, if necessary, lead time to the controlled system customized.

Bei Änderung des Zeitverhaltens der Regelstrecke ist die Anpassung nicht mehr optimal.If the time behavior of the controlled system changes, the adjustment is no longer optimal.

Bei Chargenprozessen z. B. kann sich das Zeitverhalten durch unterschiedliche Einsatzmengen oder Chargenzusammensetzungen ändern.In batch processes e.g. B. the time behavior can be different Change input quantities or batch compositions.

Bei Verwendung von heute üblichen PI- oder PID-Reglern mit fest eingestellten Parametern ist die Regelgüte bei Chargenprozessen oder bei anderen Prozessen mit veränderlichem Zeitverhalten nicht immer zufriedenstellend.When using today's common PI or PID controllers with fixed settings Parameters is the control quality for batch processes or other processes with changing time behavior is not always satisfactory.

Es besteht demgemäB die Aufgabe, eine Regeleinrichtung zu schaffen, mit der eine Verbesserung der Regelgüte gegenüber den bekannten PI- bzw. PID-Reglern möglich ist.Accordingly, the task is to create a control system with which an improvement in the control quality compared to the known PI or PID controllers is possible.

Eine Lösung der Aufgabe wird in einer Regeleinrichtung mit proportional-integral wirkendem Regler gesehen, die dadurch gekennzeichnet ist, daß ein in einer Rechenschaltung gebildeter und gewichteter Quotient aus der Änderungsgeschwindigkeit der Regeldifferenz und dem Betrag der Regeldifferenz dem Eingangs- oder Ausgangssignal des PI-Reglers additiv aufgeschaltet ist.One solution to the problem is in a control device with proportional-integral seen acting regulator, which is characterized in that a in a computing circuit educated and weighted Quotient from the rate of change the control difference and the amount of the control difference to the input or output signal of the PI controller is added.

Mit Hilfe dieser, mit einfachen Mitteln aufzubauenden Regeleinrichtung lassen sich bei einmal getroffener Einstellung von Proportionalbereich, Nachstellzeit und Gewichtsfaktor des-Quotienten auch bei großen Änderungen des Zeitverhaltens der Regelstrecke Verbesserungen des Regelverhaltens gegenüber bekannten Regeleinrichtungen erzielen.With the help of this control device, which can be set up with simple means can be set once the proportional range, reset time and weight factor of the quotient even with large changes in the time behavior of the controlled system Improvements in the control behavior compared to known control devices achieve.

Zur Erläuterung der Erfindung sind in den Figuren 1 und 2 schaltungsmäßige Ausführungsbeispiele einer Regeleinrichtung schematisch dargestellt und im folgenden beschrieben.In order to explain the invention, FIGS. 1 and 2 are circuit-like Embodiments of a control device shown schematically and in the following described.

Ein in Figur 1 dargestellter PI-Regler enthält die Vergleichsstelle 1, in welcher. aus der Regelgröße x und der Führungsgröße w die Regeldifferenz xD gebildet und dem Eingang eines Proportionalglieds P zugeführt wird, an welchem der Proportionalbereich einstellbar ist. Das Ausgangssignal des Proportionalglieds P ist der Verknüpfungsstelle 2 zugeführt und dort mit dem Ausgangssignal des-Integralglieds I mit einstellbarer Nachstellzeit additiv verknüpft.A PI controller shown in FIG. 1 contains the reference junction 1, in which. the control difference xD from the controlled variable x and the reference variable w is formed and fed to the input of a proportional element P, at which the Proportional range is adjustable. The output signal of the proportional element P is fed to the junction point 2 and there with the output signal of the integral element I additively linked with an adjustable reset time.

Das nach der Vergleichs stelle 1 abgenommene und der Regeldifferenz xD entsprechende Signal wird einer Rechenschaltung 3 zugeführt, in welcher in einem Differenzierglied D der der Änderungsgeschwindigkeit der Regeldifferenz entsprechende Differentialquotient *D gebildet und dem ersten Eingang eines Verhältnisbildners V zugeführt wird.The accepted after comparison point 1 and the control difference xD corresponding signal is fed to a computing circuit 3, in which in a Differentiator D corresponding to the rate of change of the control difference Differential quotient * D formed and the first input of a ratio generator V is supplied.

In einem weiteren Rechenbaustein B wird ein dem Betrag der jeweiligen Regeldifferenz xD entsprechendes Signal erzeugt und dem zweiten Eingang des Verhältnisbildners V zugeführt, dessen Ausgang über einen einstellbaren Proportionalbaustein GF zur Einstellung des Gewichtfaktors der Verknüpfungsstelle 2 additiv aufgeschaltet ist.In a further computation module B, the amount of the respective Control difference xD generated corresponding signal and the second input of the ratio generator V supplied, the output of which via an adjustable proportional module GF to Setting of the weight factor of the connection point 2 is switched on additively.

Die in Figur 2 gezeigte Schaltungsvariante entspricht der in Figur 1 gezeigten Schaltung mit dem Unterschied, daß das Verhältnis D/.IXDI bereits vor dem Proportionalglied P in der VerknUp- fungsstelle 4 mit der Regeldifferenz xD additiv verknüpft und die Summe als Eingangssignal dem Proportionalglied P aufgeschaltet wird.The circuit variant shown in FIG. 2 corresponds to that in FIG 1 with the difference that the ratio D / .IXDI already exists the proportional term P in the point 4 with the control difference xD additively linked and the sum is applied to the proportional element P as an input signal will.

2 Patentansprüche 2 Figuren2 claims 2 figures

Claims (2)

Patentansprtlche 1. Regeleinrichtung mit proportional-integral wirkendem Regler, dadurch gekennzeichnet, daß ein in einer Rechenschaltung (3) gebildeter und gewichteter Quotient aus der Änderungsgeschwindigkeit der Regeldifferenz und dem Betrag der Regeldifferenz (*D/IxDl) dem Ausgangssignal des PI-Reglers additiv aufgeschaltet ist.Patent claim 1. Control device with proportional-integral acting Regulator, characterized in that one formed in a computing circuit (3) and weighted quotient from the rate of change of the control difference and the amount of the control difference (* D / IxDl) additive to the output signal of the PI controller is activated. 2. Regeleinrichtung mit proportional-integral wirkendem Regler, dadurch gekennzeichnet, daß ein in einer Rechenschaltung (3) gebildeter und gewichteter Quotient aus der Änderungsgeschwindigkeit der Regeldifferenz und dem Betrag der Regeldifferenz t*D/lXDI) dem Eingangssignal des PI-Reglers additiv aufgeschaltet ist.2. Control device with proportional-integral acting controller, thereby characterized in that one formed and weighted in a computing circuit (3) Quotient from the rate of change of the control difference and the amount of the Control difference t * D / lXDI) added to the input signal of the PI controller is.
DE19762640861 1976-09-10 1976-09-10 Plant performance control system - has proportional-integral controller using quotient of control error rate of change and control error Pending DE2640861A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE19762640861 DE2640861A1 (en) 1976-09-10 1976-09-10 Plant performance control system - has proportional-integral controller using quotient of control error rate of change and control error
JP10868677A JPS5344774A (en) 1976-09-10 1977-09-09 Control apparatus having pi operation regulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19762640861 DE2640861A1 (en) 1976-09-10 1976-09-10 Plant performance control system - has proportional-integral controller using quotient of control error rate of change and control error

Publications (1)

Publication Number Publication Date
DE2640861A1 true DE2640861A1 (en) 1978-03-16

Family

ID=5987655

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19762640861 Pending DE2640861A1 (en) 1976-09-10 1976-09-10 Plant performance control system - has proportional-integral controller using quotient of control error rate of change and control error

Country Status (2)

Country Link
JP (1) JPS5344774A (en)
DE (1) DE2640861A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0260138A2 (en) * 1986-09-10 1988-03-16 Fujitsu Limited Servo control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0260138A2 (en) * 1986-09-10 1988-03-16 Fujitsu Limited Servo control system
EP0260138A3 (en) * 1986-09-10 1989-05-31 Fujitsu Limited Servo control system

Also Published As

Publication number Publication date
JPS5344774A (en) 1978-04-21

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