JP2008219512A - Wireless control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power supply controller of a wireless device which maintains control performance for control target processes and extends a power supply life of the wireless device. <P>SOLUTION: A wireless controller 1A has a sensor device 4 which measures the state of a control target process 2 as the amount of control, a controller device 3A which calculates the amount of operations of the control target process 2 based on the amount of control, and an actuator device 5 which controls the control target process 2 corresponding to the amount of operations. The controller device 3 has a control calculation part 12 which calculates the amount of operations of the control target process 2 based on control rules and the received amount of control, a control state calculator 21 which acquires control parameters for the whole of a control system based on the amount of control and the amount of operations, a communication period instruction value calculator 22 which calculates a wireless communication period instruction value based on the calculation result of the control state calculator 21, and a communication period transmitter 15 which transmits the calculation result of the communication period instruction value calculator 22 to a wireless communication terminal device. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a control system using a sensor and a controller, and in particular, a power management apparatus or method for a wireless device that manages the power supply of a control system using wireless technology, and a wireless sensor, wireless controller, and wireless using the same The present invention relates to an actuator, a sensor network system, and a wireless control system including them.

In recent years, wireless technology has made tremendous progress, using communication devices, sensor networks that transmit and receive information between wireless devices built in sensors and controllers, and micro wireless devices (ID tags and wireless tags). such as RFID (R adio F requency Id entification ) identifying and managing people and goods, it is widely used in many industrial equipment or home appliances.

  FIG. 12 is a schematic diagram schematically showing a configuration of an example of a conventional sensor network. A conventional sensor network will be outlined below with reference to FIG.

  In the sensor network system 100, a wireless base station 101 as a master unit is wirelessly connected to a plurality of sensor wireless terminals 102 as slave units having a sensor function and a plurality of controller wireless terminals 103 as slave units having a controller function. It is configured to be able to communicate.

  In the sensor network system 100, the sensor wireless terminal 102 measures, for example, building temperature, humidity, illuminance, plant temperature, flow rate, pressure, equipment vibration, etc., and transmits the measured data via wireless communication at a specified cycle. It transmits to the radio base station 101 as a machine.

  When receiving the measurement data from the sensor wireless terminal 102, the wireless base station 101 serving as the master unit transmits the measurement data to the controller wireless terminal 103.

  The controller wireless terminal 103 receives the measurement data from the wireless base station 101 as a master unit at a specified cycle, for example, an air conditioning control device for a building, a lighting control device, a temperature / flow rate / pressure control device for a plant, A control signal for controlling the control target is generated for a control target such as a mechanical control device, and the control signal is output to the control target.

  Since these wireless terminals do not require the installation of a power cable or communication cable, they are easy to install later in existing buildings and social infrastructure, the installation cost is low, and only for a limited period such as a temporary period There are advantages such as temporary use such as relocation after the installation period has elapsed, and the need for wiring work that opens holes in the walls of buildings and equipment during installation.

  On the other hand, these wireless terminals do not install a power cable, but perform communication, sensing, and computation and conversion of the sensed data using the power supply provided in the terminal, increasing the amount of communication and reducing the communication distance. Increasing the output radio wave to extend the power increases the power consumption, shortens the power supply replacement period, and increases the labor and cost for maintenance.

  As a method of managing the power supply of this wireless terminal, (1) a power supply method (RFID etc.) for supplying energy such as radio waves and light from the outside without contact, (2) solar power supply, temperature difference power generation, power generation by vibration, etc. There is a self-power generation method that obtains energy by the self-power generation function, and (3) a power management method that reduces power consumption and extends the life of the power supply by means of communication.

  Non-Patent Document 1 describes that ZigBee, which is a wireless communication standard for sensors, considers standardization of power management related to (3) above.

  Patent Documents 1 and 2 also describe (3) the technology relating to the power management method.

  Patent Document 1 describes a technique related to a radio label that operates in a sleep mode when a reception mode for periodically searching for a modulated carrier signal is entered and no modulated carrier signal is detected.

Further, Patent Document 2 discloses that in a communication device that performs remote operation, a communication is possible only by transitioning to a bound state when data is generated, and when there is no data to be communicated, a transition is made to an unbound state to reduce power consumption. A technique for extending the life of the transmitting / receiving element by suppressing the transmission / reception element is described.
Japanese Patent No. 3226784 Japanese Patent No. 3533419 EDN Japan 2006 July pp.42-51

  However, in the techniques of Patent Document 1 and Patent Document 2, the timing at which communication is performed after transition from the sleep state (unbound state) to the wake-up state (bound state) takes into account the influence on the state of the process to be controlled. Therefore, when these techniques are used, there is a problem that proper control may not be performed on the process to be controlled.

  For example, when the process to be controlled is in a transient state, in order to perform appropriate control, it is necessary to measure data with sensors at a precise timing and control various devices with a controller. However, if the number of communications is reduced, the control performance deteriorates, and there is a problem that accurate control cannot be performed quickly.

  The present invention relates to a power management device or method for a wireless device that manages the power of a wireless control system such as a wireless sensor or a wireless controller, a wireless sensor, a wireless controller, a wireless actuator, a sensor network system using the same, and them In the wireless control system configured by the wireless control system, a wireless control system capable of extending the power source life of the wireless device while maintaining the control performance of the process to be controlled, and the control thereof. It aims to provide a method.

  In order to solve the above-described problem, a wireless control system according to the present invention performs a control operation of a control target process based on a sensor device that measures the state of the control target process as a control amount and a measurement value of the sensor device. A controller device, and an actuator device that operates the equipment of the process to be controlled according to the operation amount calculated by the controller device, and communication between the controller device and at least one of the sensor device and the actuator device is performed. In a wireless control system that is wireless communication, and wherein at least one of the sensor device and the actuator device is a wireless communication terminal device configured with a secondary battery as at least a part of a power source, the controller device includes a control law and Based on the received control amount, the operation of the control target process And a control operation unit for calculating various control parameters relating to the state of the entire control system including the control target process, the sensor device, the controller device, and the actuator device, based on the control amount and the operation amount A state calculation unit, a communication cycle command value calculation unit that calculates a sleep time of the power source of the wireless communication terminal device as a communication cycle command value based on a result calculated by the control state calculation unit, and the control state calculation unit calculates A control parameter calculation unit that calculates the parameter adjustment command value based on the result, and a communication cycle transmission unit that transmits the communication cycle command value calculated by the communication cycle command value calculation unit to the wireless communication terminal device. It is characterized by that.

  That is, in the wireless control system, the wireless terminal has a power management function, and the wireless terminal is set in the sleep mode in accordance with the communication cycle command value received from the wireless base station that is the controller device, thereby minimizing power consumption. In addition, the wireless base station side that is the controller device has a wireless control management function, and estimates the state of the process to be controlled based on the control amount received through the sensor device and the operation amount transmitted to the actuator device. In response to this, a communication cycle command value for controlling the power state of the wireless terminal is transmitted. As a result, the control cycle changes from moment to moment, and in order to appropriately maintain the state, stability, control performance, etc. of the control system, the control operation function itself of the controller device needs to be supported. Therefore, as a countermeasure, the parameters related to the control calculation are adjusted simultaneously with the communication cycle command value. As a result, both the communication cycle considering the power management for extending the battery life of the wireless terminal and the control parameter considering the control performance of the control system can be maintained appropriately, in cooperation or simultaneously, This is a feature of the wireless control system of the present invention.

  According to the wireless control system of the present invention, it is possible to control a communication cycle in at least part of wireless communication between the sensor device, the controller device, and the actuator device according to the state of the process to be controlled. Power supply life can be extended. Moreover, since the parameter regarding control calculation can also be adjusted according to a communication period, the control performance to a process to be controlled can be maintained. Therefore, by simultaneously optimizing or adjusting the communication cycle and the control parameters, it is possible to provide a wireless control system and a wireless control method that can simultaneously maintain control performance and extend the power source life of the wireless terminal.

  Hereinafter, a wireless control system according to the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram schematically showing a basic system configuration of a wireless control system 1 according to the present invention. That is, the wireless system 1 shown in FIG. 1 has a basic system configuration common to the embodiments described below.

  According to FIG. 1, the wireless control system 1 measures the control amount of the process 2 to be controlled and feeds it back to the controller device 3, and the control amount measured by the sensor device 4. Based on the controller device 3 having a control calculation function for calculating an operation amount for controlling the control target to a desired state, and an actuator device that applies an operation to the control target process 2 based on the operation amount calculated by the controller device 3 5 is configured.

  The control target process 2 is the entire control target controlled by the controller device 3. For example, a building air conditioning control device, a lighting control device, a plant temperature / flow rate / pressure control device, a mechanical control device of equipment, and a state quantity controlled by these devices are applicable.

  The controller device 3 corresponds to a wireless base station (master device), performs wireless communication with a wireless terminal device (slave device), and transmits and receives information necessary for control of the process 2 to be controlled. The sensor device 4 and the actuator device 5 correspond to a wireless terminal device (slave device), perform wireless communication with a wireless base station (master device), and transmit / receive information necessary for control of the process 2 to be controlled.

  The sensor device 4 has a sensor function, and measures state quantities to be controlled such as temperature, humidity, and pressure. Then, the measured state quantity, that is, the control quantity is transmitted to the controller device 3.

  The actuator device 5 receives, for example, a rotational speed command value like a fan rotational speed controller in an air conditioner, and adjusts the inverter frequency so that the actual fan rotational speed follows the command value. It has a function (actuator function) that is integrated with the process 2 to be controlled, such as a valve opening controller in the plant, and operates it. The actuator device 5 operates the control target process 2 based on the command value of the operation amount received from the controller device 3.

  Here, in the wireless control system 1, at least one of the control amount and the operation amount is assumed to be transmitted by wireless communication, and each wireless terminal device (slave device) has at least a part of its drive power supply. It shall be driven by a secondary battery.

  Also, in this specification, in order to perform control, a variable that is to be set to a desired value by control with a state quantity related to the process to be controlled is a “control quantity”, and a prediction of a future behavior / response of the control quantity is a “predictive response”. A signal output from the controller device 3 as an operation command value to the equipment / device side such as an air conditioner is referred to as an “operation amount”.

  In the following description of each embodiment, it is assumed that both the sensor device 4 and the actuator device 5 are wireless terminal devices (slave devices). However, in the wireless control system 1, the sensor device 4 and Both actuator devices 5 do not have to be wireless terminal devices, and at least one of them may be a wireless terminal device.

[First Embodiment]
FIG. 2 is a schematic diagram schematically showing the configuration of the wireless control system 1A according to the first embodiment of the present invention.

  According to FIG. 2, the wireless control system 1A includes a controller device 3A as a wireless base station (master device), and a sensor device 4 and an actuator device 5 as wireless terminal devices (slave devices).

  The controller device 3A includes a data reception unit 11 having a data reception function, a control calculation unit 12 having a control calculation function, a data transmission unit 13 having a data transmission function, a system management unit 14A having a system management function, and a communication And a communication cycle transmission unit 15 having a cycle command value transmission function.

  The data receiving unit 11 has a data receiving function, and receives the measurement data measured by the sensor device 4, that is, the control amount y (k) at the measurement time k. The received measurement data is sent from the data receiving unit 11 to the control calculation unit 12 and the system management unit 14A.

  The control calculation unit 12 has a function (control calculation function) for calculating an operation amount for controlling the controlled process 2 to a desired state. The control calculation unit 12 has mathematical formulas or program information (hereinafter referred to as control laws) representing control procedures, and the control target process 2 is determined based on the control law and the control amount received by the data receiving unit 11. An operation amount for controlling to a desired state is calculated. That is, the control calculation unit 12 is a component that bears the control function of the controller device 3 (3A) that generates and transmits information necessary for control of the control target process 2. The result (operation amount u (k)) calculated by the control calculation unit 12 is sent from the control calculation unit 12 to the data transmission unit 13 and the system management unit 14A.

  The data transmission unit 13 receives an operation amount from the control calculation unit 12 using the data transmission function, and transmits it to the actuator device 5.

  The system management unit 14A adjusts and manages the communication cycle and control parameters in order to manage the entire system. More specifically, various control parameters relating to the state of the entire control system including the control target process 2, the sensor device 4, the controller device 3, and the actuator device 5 are obtained (acquired or calculated) based on the control amount and the operation amount. Control state calculation unit 21, communication cycle command value calculation unit 22 that calculates a communication cycle command value based on the control state calculation result calculated by control state calculation unit 21, and control parameter calculation based on the control state calculation result And a control parameter calculation unit 23 for calculating an adjustment command value.

  In the system management unit 14A, each component of the control state calculation unit 21, the communication cycle command value calculation unit 22, and the control parameter calculation unit 23 executes predetermined processing to manage the wireless control system 1A. An outline of system management performed by the system management unit 14A will be described later with reference to FIG.

  The communication cycle transmission unit 15 transmits the communication cycle command value transmitted from the system management unit 14 </ b> A to the sensor device 4 and the actuator device 5 using the communication cycle command value transmission function.

  The sensor device 4 includes a sensor unit 25 having a sensor function, a signal processing unit 26 having a function (signal processing function) for performing desired signal processing on a received signal (sensor signal), and data having a data transmission function. Transmitter 27, communication cycle receiver 28 that receives a communication cycle command value from controller device 3A, timer set unit 29 having a timer set function, and sleep timer that has a timer function and manages the sleep time of sensor device 4 And a power management unit 31 having a function (power management function) for managing the power of the sensor unit 25, the signal processing unit 26, and the data transmission unit 27.

  The sensor unit 25 of the sensor device 4 measures a state quantity (control quantity y (t)) related to the control of the control target process 2. A sensor signal as a measurement result, that is, a control amount y (k) at time t = k is sent from the sensor unit 25 to the signal processing unit 26. The signal processing unit 26 uses the signal processing function to perform signal processing such as correction, range adjustment, unit conversion, filtering, noise processing, abnormal data check, and data loss interpolation on the sensor signal received from the sensor unit 25. I do. The signal processing result is sent to the data transmission unit 27. The data transmission unit 27 transmits a sensor signal, which is a signal processing result, to the controller device 3A as a control amount y (k) using a data transmission function.

  The communication cycle receiving unit 28 receives a communication cycle command value from the controller device 3 </ b> A and sends it to the timer setting unit 29. The timer setting unit 29 sets the sleep time of the sensor device 4 based on the received communication cycle command value, and transmits information on the set sleep time to the sleep timer unit 30 (timer setting function).

  The sleep timer unit 30 receives sleep time information and sets a timer based on the information. Then, based on the set timer, the time of the sleep state (function stop state) in which the activity is sleeping and the awake state (function activation state) in which the activity is performed is managed (timer function). In addition, the sleep timer unit 30 transmits time information of the sleep state and the awake state to the power management unit 31. Based on the time information received from the sleep timer unit 30, the power management unit 31 manages the power of the sensor unit 25, the signal processing unit 26, and the data transmission unit 27 by individually switching on and off.

  Further, since the sensor device 4 includes the communication cycle receiving unit 28, the timer setting unit 29, the sleep timer unit 30, and the power management unit 31, it is possible to realize a sampling function for sampling the state quantity sensed by the sensor unit 25. .

  The actuator device 5 includes a data receiving unit 33 having a data receiving function, a signal processing unit 34 for performing desired signal processing on the received signal, an operation unit 35, a communication cycle receiving unit 28, a timer setting unit 29, A sleep timer unit 30 and a power management unit 31 are provided. In addition, since the actuator device 5 includes the communication cycle receiving unit 28, the timer setting unit 29, the sleep timer unit 30, and the power management unit 31, the operation amount that is a discrete signal is held until the next discrete signal is input. A hold function can be realized.

  The data receiving unit 33 has a data receiving function, and receives data transmitted from the controller device 3A, that is, an operation amount u (k) related to the control target process 2. Then, the received operation amount u (k) is sent to the signal processing unit 34.

  The signal processing unit 34 is not substantially different from the signal processing unit 26 except that the received signal is not a sensor signal but an operation amount signal indicating the operation amount u (k). That is, the signal processing unit 34 performs necessary signal processing on the received operation amount signal using the signal processing function. The operation amount signal after the signal processing is sent to the operation unit 35. The manipulated variable signal after signal processing is sent as a continuous signal u (t) by the hold function.

  The operation unit 35 operates the control target process 2 based on the operation amount obtained from the operation amount signal after signal processing received from the signal processing unit 34.

  Next, an outline of system management performed by the wireless control system 1A (more specifically, the system management unit 14A) will be described with reference to FIG.

  FIG. 3 is an explanatory diagram for explaining an outline of system management of the wireless control system 1A, and is a diagram representing the wireless control system 1A in a block diagram.

  In FIG. 3, a holder 38 is a component that realizes a hold function, and more specifically, a communication cycle receiving unit 28, a timer setting unit 29, a sleep timer unit 30 of the actuator device 5 shown in FIG. The power management unit 31 substantially corresponds. A sampler 39 is a component that realizes the sampling function, and more specifically, the communication period receiving unit 28, the timer setting unit 29, the sleep timer unit 30 and the power source of the sensor device 4 shown in FIG. The management unit 31 substantially corresponds.

According to FIG. 3, in the wireless control system 1A, the system management unit 14A has a control cycle adjustment command value (communication cycle command value) and a parameter (control law adjustment command value) related to control calculation according to the control deviation e (k). ) Is a closed loop control system configured to change at least one of More specifically, in the wireless control system 1A, the target value r (k) (the value of the target value r (t) at t = k) and the sampling value (discrete value) of the control amount y (t). A control deviation signal indicating a control deviation e (k) that is a deviation of the controlled variable series y (k) is input to the control calculation unit 12 and the system management unit 14A. The control deviation e (k) is expressed by the following formula 1. [Equation 1]
Control deviation e (k) = target value r (k) −control amount sequence y (k)

  Although not shown in the description of FIG. 2, the system management unit 14A has an area for storing electronic data, and the control period indicating the relationship between the absolute value | e | of the control deviation and the control period in the area. A system management database 43 having an adjustment table 41 and a control constant adjustment table 42 indicating the relationship between the absolute value | e | of the control deviation and the control constant is stored in a readable manner.

  The system management unit 14A (the control state calculation unit 21, the communication cycle command value calculation unit 22, and the control parameter calculation unit 23) calculates a control law adjustment command and a control cycle adjustment command value with reference to these pieces of information.

  Here, the control law adjustment command refers to a command for adjusting at least one of control parameters in a mathematical expression representing a control procedure or a program (control law). As control parameters, for example, in the case of PID control, Kp (proportional gain), Ti (integral time), Td (differential time), σ (integral value of control deviation), δ (differential value of control deviation), etc. Applicable.

  In the system management unit 14A, the communication cycle command value calculation unit 22 refers to the control cycle adjustment table 41 and uses the control cycle τ corresponding to the control deviation e (k) at each discrete time k as the communication cycle command value. To the communication cycle transmitter 15 shown in FIG. Further, the control parameter calculation unit 23 refers to the control constant adjustment table 42, reads the control parameters Kp, Ti, Td corresponding to the control deviation e (k) at each discrete time k, and transmits it to the control calculation unit 12. .

When the control deviation e (k) is input, the control calculation unit 12 performs, for example, PID calculation, and calculates an operation amount (hereinafter referred to as an operation amount series) u (k) obtained as a discrete time signal. . The PID calculation is as shown in Equation 2 below.
[Equation 2]
σ (k) = σ (k−1) + e (k) × τ (k−1)
δ (k) = (e (k) −e (k−1)) / τ (k−1)
u (k) = Kp (k) × (e (k) + σ (k) / Ti (k) + Td (k) × δ (k))
Here, σ (k), δ (k), Kp (k), Ti (k), and Td (k) are control parameters for PID control (the above control example) calculated at time k. Further, e (k) is a control deviation (Equation 1) calculated at time k, and τ (k) is a control cycle calculated at time k. The subscript k−1 is various quantities in the previous control calculation (time k−1).

  The manipulated variable series u (k) output from the control calculation unit 12 is converted into a manipulated variable u (t) that is a continuous signal continuous by the holder 38, and finally, as shown in FIG. Output to the target process 2. Further, the control amount y (t) output from the controlled process 2 is fed back and sampled at a predetermined cycle by the sampler 39. The sampling cycle (control cycle) is a cycle corresponding to a communication cycle with the sensor device 4 or the actuator device 5.

  The relationship between the control deviation | e | and the control cycle τ indicated by the control cycle adjustment table 41 is such that the greater the control deviation, the smaller the control cycle τ. Further, the relationship between the control deviation | e | indicated by the control constant adjustment table 42 and the control parameters Kp, Ti, Td is determined according to the control period τ and the characteristics of the process 2 to be controlled.

  As a result, the larger the control deviation | e |, the smaller the proportional gain Kp, the larger the integration time Td, and the smaller the derivative time Td. Therefore, in a transient state where the control deviation | e | In the steady state where the control deviation | e | is small, the control operation becomes large and coarse, and the wireless terminal (the sensor device 4 and the actuator device 5) is controlled. ) Can extend the life of battery power.

  Next, the operation (sequence) of the wireless control system 1A according to the first embodiment of the present invention will be described.

  FIG. 4 is a sequence chart explaining the sequence of the wireless control system 1A according to the first embodiment of the present invention.

  According to FIG. 4, the sequence of the wireless control system 1 </ b> A is such that after the wireless control system 1 </ b> A is turned on, the controller device 3 </ b> A first shifts to a reception standby state waiting for data reception, and the sensor device 4 is in a sleep state. The reception standby state is maintained until the state shifts to the awake state (step S0). Then, when the controller device 3A in the reception standby state receives the control amount as the measurement result (step S5), the control operation is executed (step S6), and the operation amount calculated as the operation result is sent to the actuator device 5 (step S6). Step S7).

  In addition, after the completion of the control calculation, the controller device 3A calculates the control state (step S12) and calculates the control parameter according to the control state calculation result (step S13) in parallel with the step of transmitting the operation amount (step S7). ) And calculation of a communication cycle command value according to the control state calculation result (step S14). Then, the calculated communication cycle command value is transmitted to the sensor device 4 and the actuator device 5 (step S15). When the processing step of step S15 is completed, the process returns to step S0. That is, the controller device 3A shifts to a reception standby state in which data reception is waited, and executes processing steps after step S0.

  On the other hand, the sensor device 4 first measures the sleep time using a timer function based on the previous communication cycle command value (step S1). Thereafter, when the sleep state ends (step S2), the sensor device 4 performs measurement (sensing) on the state amount of the process 2 to be controlled (step S3), and transmits the measurement result to the controller device 3A as a control amount (step S3). S4).

  After step S4, the process shifts to a reception standby state where the communication cycle command value is received. When the communication cycle command value is received, the newly received communication cycle command value is set as the next sleep time and the sleep state is entered again (step S16). After step S16, the process returns to step S1, and the sensor device 4 executes the processing steps after step S1.

  On the other hand, the actuator device 5 measures the sleep time using the timer function based on the previous communication cycle command value as in the sensor device 4 (step S8). Then, after the sleep state is finished (step S9) and the awake state is entered, the operation amount transmitted from the controller device 3A is received (step S10), and control (operation) of the control target process 2 is performed based on the received operation amount. ) Is executed (step S11).

  After step S11, the process shifts to a reception standby state where the reception of the communication cycle command value is waited. When the communication cycle command value is received, the newly received communication cycle command value is set as the next sleep time and the sleep state is entered again (step S17). After step S17, the process returns to step S8, and the actuator device 5 executes the processing steps after step S8.

  That is, in the wireless control system 1A, as shown in FIG. 3, when the power is turned on (ON state), the controller device 3A repeats the processing steps of Step S0, Step S5 to Step S7, and Step S12 to Step S15. The sensor device 4 repeats the processing steps of Steps S1 to S4 and Step S16, and the actuator device 5 repeatedly executes Steps 8 to S11 and Step S17.

  According to the wireless control system 1A, the system management unit 14A of the controller device 3A (master device) determines a communication cycle command value according to the state of the process 2 to be controlled, and the sensor device 4 and the actuator device 5 (slave device). ), The sleep time of the power supply unit can be controlled to be as long as possible within a safe range in which the sensor device 4 and the actuator device 5 do not interfere with the control performance. Accordingly, it is possible to provide the wireless control system 1A that further extends the power supply life compared to the conventional one.

  Further, since the system management unit 14A adjusts the control parameter based on the determined communication cycle command value, the control calculation can be adjusted to be suitable for the communication cycle, that is, the control cycle. As a result, in the wireless control system 1A, it is possible to appropriately maintain the control performance and stability of the control target process 2 or the entire control system.

  Further, in the wireless control system 1A, when the control deviation is large, the control cycle τ is finely set and the control parameter is set to high gain to maintain the control performance. When the control deviation is small, the control cycle τ is lengthened, By making the loop gain low, it is possible to maintain the stability of the control system while extending the life of the battery power source by extending the communication cycle with the wireless terminal (the sensor device 4 and the actuator device 5).

  Furthermore, the proportional gain Kp, the integration time Ti, and the differentiation time Td as control parameters become a feedback operation with a weak loop gain when the control period τ is long, and can maintain stability even with a long sampling period. When the period τ is short, the loop gain is a feedback operation with a strong loop gain. Therefore, for a large control deviation, the control deviation can be quickly corrected by high gain feedback to maintain the control performance.

[Second Embodiment]
The wireless control system 1B according to the second embodiment of the present invention predicts the future response of the control amount y (t) of the control target process 2 obtained using the response prediction model, and predicts the control amount. The system is configured to generate a control law adjustment command and a control cycle adjustment command based on y (t).

  Specifically, the wireless control system 1B is substantially the same as the wireless control system 1A shown in FIG. 2 except that a system management unit 14B is provided instead of the system management unit 14A. That is, the wireless control system 1B is not substantially different from the system management unit 14A in FIG. 2 replaced with the system management unit 14B. Therefore, the system management unit 14B, which is a substantial difference, will be described, and the other components will be denoted by the same reference numerals and description thereof will be omitted.

FIG. 5 is an explanatory diagram for explaining an overview of system management of the system management unit 14B and the wireless control system 1B in the wireless control system 1B according to the second embodiment of the present invention. 1B is a block diagram representation of 1B. Here, y _r , y _U , y _L and τ shown in FIG. 5 are the control (response) target value, the upper limit constraint value of the control amount, the lower limit constraint value of the control amount, and the optimization control cycle (control), respectively. (Calculation result of the period determining unit 50).

  The system management unit 14B predicts the future response of the control amount y (t) of the control target process 2, and generates and outputs a control law adjustment command and a control cycle adjustment command based on the predicted control amount y (t). As a result, the sampling period of the control calculation unit 12 and the sampler 39 is controlled.

  More specifically, the system management unit 14B, in addition to the components of the system management unit 14A (not shown in FIG. 5), a control response prediction function that predicts a future response of the control amount y (t) of the control target process 2 A prediction response estimation unit 48 having a response, a response prediction data table 49 in which parameters (prediction response parameters) necessary for the prediction response estimation unit 48 to estimate a prediction response of the control amount y (t) are recorded, and prediction A control cycle determining unit 50 having a function of determining an optimal control cycle τ from the predicted response estimated by the response estimating unit 48, and at least a target value and a constraint condition regarding the predicted response of the control amount y (t) of the controlled process 2 A parameter setting unit 51 having a function of setting one of them. In the system management unit 14B configured as described above, at least one of the communication cycle command value and the control parameter can be changed based on the predicted response and the target value or constraint condition related thereto.

The prediction response estimation unit 48 has information of the following Equation 3 corresponding to a response prediction model, and performs an operation to calculate a future prediction response of the control amount.
[Equation 3]
y ^* (k) = C · X (k−1) (1)
X (k) = A.X (k-1) + B.u (k) + K (y (k) -y ^* (k)) (2)
^{X (k + i) = A} i · X (k) + [A i-1 B + A i-2 B + ··· + B] u (k) ··· (3)
y ^* (k + i) = C · X (k + i) (4)
(I = 1, 2,..., Np)

Expressions (1) and (2) in Expression 3 are estimation expressions called a state observer, an observer, or a Kalman filter for estimating the state quantity vector X (k) of the process 2 to be controlled. Here, y ^* (k) is a control amount estimated value estimated at time k, and X (k) is a state quantity vector estimated at time k. The matrices A, B, and C are a system matrix, a control matrix, and an observation matrix, respectively, when the control target process is expressed in a state space. Furthermore, K is a modified gain matrix called Kalman gain.

Also, Equations (3) and (4) in Equation 3 are prediction equations for estimating the control amount prediction response, and X (k + i) and y ^* (k + i) are the state amount vectors of the future control target process only at time iτ, respectively. The predicted value and the controlled variable predicted value.

As a result, the control amount prediction response is expressed by Equation 4 below.
[Equation 4]
[Y ^* (k + 1), y ^* (k + 2),..., Y ^* (k + Np)]

  The response prediction data table 49 is stored in advance in a storage area (not shown in FIG. 5) of the system management unit 14B so as to be readable, and is a matrix A, B, C, which is a control parameter used in Expression 3 corresponding to the control cycle τ. K is recorded. Those parameters corresponding to the previous control cycle τ (k−1) are read out and used in the above-described Expression 3.

The control cycle calculation unit 50 determines an optimal control calculation cycle τ from the control amount prediction response calculated by Equation 3. Further, a target value or a constraint condition relating to a predicted response of the control amount y (t) of the controlled process 2 required for calculation is given from the parameter setting unit 51. The control calculation cycle τ is calculated (determined) by calculating the minimum future prediction time i in which any one of the later-described formula 6 is satisfied in the relational formula of the later-described formula 5, and the maximum control cycle in which these conditions are not satisfied. (I-1) τ is calculated as an optimal control cycle, that is, a wireless communication cycle command value.
[Equation 5]
Future control target value y _r (k + i), (i = 1, 2,..., Np)
Upper limit constraint value of control amount y _U (k + i), (i = 1, 2,..., Np)
Lower limit constraint value y _L (k + i), (i = 1, 2,..., Np)
Control amount prediction response y ^* (k + i), (i = 1, 2,..., Np)
[Equation 6]
| Y _r (k + i) −y ^* (k + i) | ≧ ε (1)
y ^* (k + i) ≧ y _U (k + i) (2)
y ^* (k + i) ≦ y _L (k + i) (3)
Here, Expression (1) in Expression 6 is an expression for determining a time point when the control deviation exceeds the maximum allowable deviation threshold ε, and Expression (2) and Expression (3) indicate that the control amount future value is the upper / lower limit constraint value. This is an expression for determining a time point where y _U (k + i) and y _L (k + i) are exceeded. That is, the control cycle calculation unit 50 calculates and determines the longest control cycle τ that can be taken within a range that satisfies all the conditions of Equation 6, that is, satisfies the specifications required as the control performance of the control system. To do.

  The parameter setting unit 51 receives an input of a control target value and a constraint condition necessary for the control cycle calculation unit 50 to calculate the control cycle τ, and gives the target value, the constraint condition, and the like to the control cycle calculation unit 50 .

  Based on the control cycle τ thus determined, the control parameter calculation unit 23 (not shown in FIG. 5) determines an appropriate control parameter. The control cycle calculation unit 50 transmits the control parameter value (control law adjustment command value) determined as the control law adjustment command to the control calculation unit 12 and the control cycle (communication cycle command value) determined as the control cycle adjustment command. τ is transmitted to the sampler 39.

  For the operation (sequence) of the wireless control system 1B according to the second embodiment of the present invention, there are detailed processing contents and methods in the processing steps such as the contents of the control calculation and the control parameters. Although different, it is substantially the same as the sequence chart of the wireless control system 1A shown in FIG. Therefore, the operation (sequence) of the wireless control system 1B will be omitted in the description of the sequence of the wireless control system 1A.

  According to the wireless control system 1B, the longest control cycle considering the deviation from the target value that is the requested control performance and the upper and lower limit constraint values is selected in consideration of the future predicted response of the process to be controlled. The longest wireless communication cycle command value can be calculated while maintaining the control performance, and as a result, the life of the battery power source of the wireless terminal (sensor device 4 and actuator device 5) can be extended.

[Third Embodiment]
The wireless control system 1C according to the third embodiment of the present invention is substantially the same as the wireless control system 1A shown in FIG. 2 except that a system management unit 14C is provided instead of the system management unit 14A. There is no difference. That is, the wireless control system 1C is not substantially different from the system control unit 14A in FIG. 2 replaced with the system management unit 14C. Therefore, the system management unit 14C, which is a substantial difference, will be described, and the other components will be denoted by the same reference numerals and description thereof will be omitted.

  FIG. 6 is an explanatory diagram for explaining an overview of system management of the system management unit 14C and the wireless control system 1C in the wireless control system 1C according to the second embodiment of the present invention. 1C is a block diagram representing 1C.

  The system management unit 14C has a function of determining the control performance from the behavior of the control amount of the process 2 to be controlled and changing at least one of the communication cycle command value and the control parameter (control law adjustment command value) based on the determination result. It also has a function of setting an index for control performance evaluation.

  The system management unit 14C, in addition to the components of the system management unit 14A (omitted in FIG. 6), a function (control performance evaluation function) that evaluates control performance based on control amounts and operation amounts from the past to the present and control performance A control performance evaluation unit 55 having a function of setting an evaluation index is configured. In the storage area of the system management unit 14C, a response database 56 that stores information on past control amounts and operation amounts, and control performance evaluation A system management database 58 having a control law and a control cycle adjustment data table 57 in which the relationship between the index, the control cycle, and the control parameter is recorded is readable and stored.

  The system management unit 14C, based on the evaluation result of the control performance evaluation index evaluated by the control performance evaluation unit 55 and the databases 56 and 58, the control law adjustment command value and the control cycle adjustment command value, that is, the optimal control cycle τ, the control Parameters Kp, Ti, Td can be determined. The optimal control period τ and control parameters Kp, Ti, Td are transmitted to the arithmetic control unit 12 and the sampler 39, respectively.

If each part of system management part 14C is explained more concretely, control performance evaluation part 55 will give the control performance constant and control stability constant which are an example of the control performance evaluation index from the control amount from the past to the present, and the manipulated variable below. The control performance is evaluated by calculating based on Equation (7).
[Equation 7]
Control performance constant = Max (e (k), e (k−1),..., E (k−Np))
Control stability constant = MAX (Δy (k), Δy (k−1),..., Δy (k−Np)) + MAX (Δu (k), Δu (k−1),. k-Np))
here,
e (ki) = r (ki) -y (ki)
Δy (ki) = y (ki) -y (ki-1) / τ (ki-1)
Δu (ki) = u (ki) -u (ki-1) / τ (ki-1)

  Moreover, the control performance evaluation part 55 can set the index of these control performance evaluation as needed. That is, the index of control performance evaluation can be arbitrarily set by the user other than the above example.

  In the response database 56, the control amount and the operation amount acquired by the system management unit 14C are sequentially stored (stored). The control law and control cycle adjustment data table 57 is a data table that represents the relationship between the control cycle τ and the control parameters Kp, Ti, and Td with respect to the control performance constant and the control stability constant shown in Equation 7 above. The control law and control cycle adjustment data table 57 is stored in the system management database 58, for example.

  Based on the evaluation result of the control performance evaluation unit 55, the system management unit 14C (the communication cycle command value calculation unit 22 and the control parameter calculation unit 23) determines the control cycle and the control cycle at each discrete time k from the control law and the control cycle adjustment data table 57. The control parameter is read, and the read control cycle τ is transmitted to the sampler 39 as a control cycle adjustment command value, while the read control parameter is transmitted to the control calculation unit 12 as a control law adjustment command value.

  In the control calculation unit 12, for example, the control calculation is performed according to the PID calculation [Equation 2] exemplified in the first embodiment.

  The operation (sequence) of the wireless control system 1C according to the third embodiment of the present invention includes, for example, detailed processing contents and methods in the processing steps such as the contents of control calculations and the contents of control parameters. Although different, it is substantially the same as the sequence chart of the wireless control system 1A shown in FIG. Accordingly, the operation (sequence) of the wireless control system 1C will be omitted in the description of the sequence of the wireless control system 1A.

  According to the wireless control system 1C, the control performance is controlled according to the control performance constant and the control stability constant, which are parameters related to the control performance, taking into account the response behavior of the control system from the past to the present of the process 2 to be controlled. The longest control cycle within a range that is not impaired is selected, and the longest wireless communication cycle command value can be calculated while maintaining the control performance. Therefore, the life of the battery power source of the wireless terminal can be extended.

[Fourth Embodiment]
FIG. 7 is an explanatory diagram for explaining the control principle of the wireless control system 1D according to the fourth embodiment of the present invention.

  As shown in FIG. 7, the wireless control system 1D employs a control method based on a model predictive control method. Here, the model predictive control method is to estimate a predicted response sequence from the input / output data of the control target process 2 using a response prediction model, and based on the estimation result, a future manipulated variable sequence is determined as a response target value, This is a control method in which an evaluation function that optimizes a constraint condition expression such as a lower limit value is optimized and used for the operation of the process 2 to be controlled.

  The wireless control system 1D is substantially the same as the wireless control system 1B shown in FIG. 5 except that a system management unit 14D is provided instead of the system management unit 14B. That is, the wireless control system 1D is not substantially different from that obtained by replacing the system management unit 14B with the system management unit 14D in FIG. Therefore, the system management unit 14D, which is a substantial difference, will be described, and the other components will be denoted by the same reference numerals and description thereof will be omitted.

  FIG. 8 is an explanatory diagram for explaining an overview of system management of the system management unit 14D and the wireless control system 1D in the wireless control system 1D according to the fourth embodiment of the present invention. It is the figure which expressed 1D like a block diagram.

  Similarly to the system management unit 14B, the system management unit 14D includes the prediction response estimation unit 48, the response prediction data table 49, and the prediction response estimation unit 48 in addition to the components of the system management unit 14A (not shown in FIG. 8). A control period determining unit 60 that determines a control period in consideration of an estimation result, a constraint condition, and an evaluation function to be described later, and a function for setting a target value or a constraint condition regarding a predicted response of the control amount y (t) of the controlled process 2 And a parameter setting unit 61 further having a function of setting an evaluation function.

The prediction response estimation unit 48 is common to the system management unit 14B in that it has formula information corresponding to the response prediction model, but as a result of adopting a control method based on the model prediction control method in the wireless control system 1D, The mathematical formula information corresponding to the response prediction model of the prediction response estimation unit 48 is different. Specifically, it has information on prediction formulas from 1 to Np steps ahead shown in the following formula 8.

  The control cycle determination unit 60 determines an optimal control calculation cycle τ from the control amount prediction response calculated by the prediction response estimation unit 48. Further, the control cycle determination unit 60 performs optimization (minimization) calculation of the evaluation function J set by the parameter setting unit 61 and plays a role as an evaluation function calculation unit. At that time, the control cycle determination unit 60 performs calculations using quadratic programming (Quadratic Programming) and mixed integer programming, and information (including programs) necessary for execution of these calculations is previously managed by the system. It is stored in the storage area (not shown in FIG. 8) of the unit 14D. Here, the determined control calculation cycle τ is used for calculation of control parameters and optimization of the operation amount.

The parameter setting unit 61 as the evaluation function setting unit can input and set the evaluation function J. In the wireless control system 1D, an evaluation function J1 for evaluating control performance and an evaluation function J2 for evaluating power consumption energy required for wireless communication are introduced as the evaluation function J. The evaluation function J1 is, for example, a general control performance evaluation function expressed in a quadratic form.

Next, the evaluation function J2 is the power consumption energy required for the wireless communication. In order to define the power consumption energy required for the wireless communication, τ is the basic control cycle and [0, τ, . . . , (Nu−1) τ], and an integer variable string represented by the following Equation 10 is assumed.
[Equation 10]
μ = [μ ₁ ,. . . , Μ _Nu-1 ]
μi is an integer independent variable that determines whether the manipulated variable at future time (i−1) τ is output (μ = 1) or not output (μ = 0)

Assuming the integer variable sequence μ shown in Equation 10, the communication cost coefficient per communication in the communication at the timing of the future j-th step is used as a penalty coefficient related to the power consumption energy required for wireless communication. If defined as C _j , the power consumption energy required at the time of wireless communication can be expressed by Equation 11 below. This expression is defined as an evaluation function J2.

  Next, processing contents of the wireless control system 1D that optimizes the operation amount will be described. The above-described evaluation function (or constraint condition expression described later) includes a penalty term relating to the control deviation, the manipulated variable change amount, and the communication count. Under a predetermined constraint condition expression, for example, the evaluation function expression is optimized (minimized) using a mixed integer programming, and finally, a manipulated variable sequence described later is obtained.

In general, a model predictive control method considering a constraint condition is formulated by a real-time optimization type control law. Here, it is assumed that the control target process 2 is described by dynamics represented by the following Expression 12.
[Equation 12]
y (k) = g (z-1) u (k)
y (k) = y (1), y (2),...
u (k) = u (1), u (2),.
g (z-1) is a discrete time transfer function expressed by a function of the time delay operator Z- ^1.

Further, the future target value is given by the following Equation 13.
[Equation 13]
y ^* = [y ^* (k + 1), y ^* (k + 2),..., y ^* (k + Np)] ^T

Further, it is assumed that the parameter setting unit 61 is given an evaluation function J1 expressed by the mathematical formula 9 and J2 expressed by the mathematical formula 11 as an example of the evaluation function, and minimization thereof is assumed. In this case, the linear optimal control law is shown in the following Expression 14.

On the other hand, when considering the constraint conditions, upper and lower limit constraints, change rate constraints, and the like are set for the future control response and the operation amount, and the optimum operation amount is sequentially solved, as shown in the following Expression 15. For example, quadratic programming is used as a method for solving the optimum operation amount.

  Here, considering the maximization of the control cycle, the following three optimization techniques can be realized as a method for extending the constraint condition for optimization and the evaluation function J. All of these optimization problems can obtain an optimal solution efficiently by using mixed integer programming.

First, as a first method, the evaluation function expressed by the mathematical formula 9 under the constraint condition of the power consumption energy (numerical formula 11) related to the wireless communication expressed by the following mathematical formula 16 and the constraint condition of the mathematical formula 13 is given. Minimize J1 (control performance penalty). In addition, C1 shown in Formula 16 is an upper limit value of the power consumption energy value that is arbitrarily set.

Next, as a second method, an evaluation function J2 (power consumption energy required for wireless communication) is obtained under the constraint condition of the control performance penalty (Formula 9) expressed by the following Formula 17 and the constraint condition of the Formula 13. ). Note that C2 shown in Expression 17 is an arbitrarily set value.

Next, as a third method, the evaluation function J3 represented by the following Expression 18 is minimized under the constraint condition of the Expression 13. Here, the evaluation function J3 is the sum of the evaluation function J1 (control performance penalty) and the evaluation function J2 (power consumption energy related to wireless communication).

Further, in the above first to third methods, from the viewpoint of ensuring feedback operation of the control system by communication of N _μ times or more for feedback of sensor information at least in the future time interval, It is also possible to add a new constraint condition represented by Expression 19.

By the third method described above, the manipulated variable sequence represented by the following Expression 20 is obtained. This is sequentially output to the control calculation unit 12. Alternatively, only the first term is output and the above optimization calculation is repeated again. As a result, an optimized manipulated variable sequence can be obtained.

  The evaluation function J2 (Equation 11) takes into consideration the power consumption cost by communication, and selects a control law that makes μ = 0 as much as possible. As a result, communication and control calculation of sensor information is executed only at the timing when μ = 1, and the power consumption of the wireless terminal is minimized and the battery life is extended while maintaining the predetermined control performance. be able to.

  That is, the system management unit 14D configured as described above sets an evaluation function expression and / or a constraint condition expression relating to the control performance of the process 2 to be controlled and the power consumption of the wireless communication terminal device, and under the set condition expression Optimize the evaluation function expression with. Then, at least one of the communication period command value and the control law adjustment command value can be changed based on the optimized evaluation function.

  The operation (sequence) of the wireless control system 1D according to the fourth embodiment of the present invention includes, for example, detailed processing contents and methods in the processing steps such as the contents of control calculations and the contents of control parameters. Although different, it is substantially the same as the sequence chart of the wireless control system 1A shown in FIG. Accordingly, the operation (sequence) of the wireless control system 1D will be omitted in the description of the sequence of the wireless control system 1A.

  According to the wireless control system 1D, the future behavior of the process to be controlled can be considered, and the loss due to the decrease in control performance and the loss due to the power consumption of the wireless terminal can be considered simultaneously. The communication cycle command value can be calculated, and as a result, the life of the battery power source of the wireless terminal can be extended. Further, by using the mixed integer programming for the optimization calculation in the control calculation, the optimum solution can be efficiently obtained within a limited time in real time.

[Fifth Embodiment]
The wireless control system 1E according to the fifth embodiment of the present invention is substantially the same as the wireless control system 1C shown in FIG. 6 except that a system management unit 14E is provided instead of the system management unit 14C. There is no difference. That is, the wireless control system 1E is not substantially different from that obtained by replacing the system management unit 14C with the system management unit 14E in FIG. Therefore, the system management unit 14E, which is a substantial difference, will be described, and the other components will be denoted by the same reference numerals and description thereof will be omitted.

  The wireless control system management unit 14E causes the wireless control system management unit 14C to learn a relational expression between the parameters related to the control performance of the process 2 to be controlled and the control parameters related to the communication period and the control calculation, and the relationship between them. A function of storing the information of the formula in the data table.

  In addition to the components of the system management unit 14C, the wireless control system management unit 14E reads the correspondence relationship between the control performance evaluation index, the control cycle, and the control parameters stored in the control law and the control cycle adjustment data table 57, and optimizes them. The data table optimizing unit 65 having a function of learning an appropriate association is further provided. The data table optimization unit 65 optimizes the read correspondence and reflects the result in the control law and control cycle adjustment data table 57 and stores it in the system management database 58.

  More specifically, the data table optimizing unit 65 reads the relationship between the control performance evaluation index and at least one of the control parameter (control constant) and the control cycle at that time, and uses the neural network for the most control performance. The relationship between the control parameter or the control cycle that improves the learning is learned. The results are sequentially reflected in the control law and control cycle adjustment data table 57 and stored in the system management database 58.

  The operation (sequence) of the wireless control system 1E according to the fifth embodiment of the present invention includes, for example, detailed processing contents and methods in the processing steps such as the contents of control calculations and the contents of control parameters. Although different, it is substantially the same as the sequence chart of the wireless control system 1A shown in FIG. Therefore, the operation (sequence) of the wireless control system 1E will be omitted in the description of the sequence of the wireless control system 1A.

  According to the wireless control system 1E, control for determining an optimal control cycle and control parameters from a relationship between a control cycle (communication cycle), a control parameter in the control cycle, and a control performance evaluation index for which the control performance is evaluated. Since the law and the control cycle adjustment data table 57 are automatically learned and updated, it is possible to optimize the control cycle and control parameters that are always determined.

  For example, when the characteristics of the control target process 2 change over time, or with time, external conditions, and operating conditions, the control law and the control cycle adjustment data table 57 are also stored in the control target process 2 by the learning function of the wireless control system 1E. Since the characteristic change can be followed, the control state can always be kept good. Therefore, it is possible to select a long control cycle while considering appropriate control performance, and it is possible to calculate the longest wireless communication cycle command value while maintaining the control performance. As a result, the life of the battery power source of the wireless terminal can be extended.

[Sixth Embodiment]
A wireless control system 1F according to the sixth embodiment of the present invention includes a controller device 3F including a system management unit 14F instead of the controller device 3 with respect to the wireless control system 1 shown in FIG. Except for, there is no substantial difference. Therefore, the controller device 3F (system management unit 14F), which is a substantial difference, will be described, and the other components will be denoted by the same reference numerals and description thereof will be omitted.

  The wireless control system 1F displays a control state on an external device, notifies the wireless control system 1 according to the present invention, that is, any of the wireless control systems 1A to 1E described above, and notifies an alarm. It is configured with additional functions. That is, as shown in FIG. 9, the configuration of the wireless control system 1 </ b> F is a controller device including a system management unit 14 </ b> F further having a function of displaying, notifying, and reporting an alarm state in addition to a system management function. 3F, the sensor apparatus 4, and the actuator apparatus 5 are comprised.

  The system management unit 14F receives a result of the control state calculated by the control state calculation unit 12, and generates a control state display unit 71 that generates and displays information for displaying the control state, and the control state display unit 71 generates The control state notification unit 72 that notifies (sends) the displayed information to an external device such as the operator terminal 70, and the result of the received control state is normal based on a predetermined determination criterion (for example, exceeds a set threshold value, for example) When an abnormality is determined and an abnormality is determined, an alarm transmission unit 73 is provided that notifies the operator terminal 70 (external device) as an alarm (warning) to that effect.

  Next, the operation (sequence) of the wireless control system 1F will be described. The basic operation (sequence) of the wireless control system 1F is the same as the operation of the wireless control system 1A shown in FIG. 4, but in the wireless control system 1F, the controller device 3F performs steps S13 to S15. In parallel with the processing step, the control state display information obtained in step S12 is received to generate control state display information (display information generation step), transmit the display information (display information transmission step), and control. A state abnormality determination (abnormality determination step) and a step of alarming when an abnormality occurs (alarm transmission step) are executed.

  That is, the controller device 3 receives the result of the control state calculated by the control state calculation unit, and generates and displays information for the control state display unit 71 to display the control state. The control status notification unit 72 notifies the information generated by the control status display unit 71 to the remote monitoring device via the operator terminal 70, the mobile terminal owned by the operator, a mobile phone, or the Internet, public telephone line, wireless satellite communication, etc. To do. The alarm transmission unit 73 determines whether or not there is an abnormality in the control state at any time according to the user's request, regardless of whether it is always or irregularly, and notifies the operator terminal 70 as an external device when it is determined that there is an abnormality. To do.

  The display information generation step, the display information transmission step, the abnormality presence / absence determination step, and the alarm transmission step do not require execution of all processing steps. The execution order of the display information generation step and the abnormality presence / absence determination step may be executed simultaneously (parallel processing) or may be executed after one of the steps is completed.

  According to the wireless control system 1F, based on the control state calculated by the control state calculation unit 12 for the purpose of optimizing the communication cycle command value of the wireless control system of the present invention, the control state is displayed in the control state display unit 71. It can be displayed, notified to an external device, or notified to an external device if there is an abnormality in the control status.For example, it can be used for plant operation, monitoring work support, or abnormality monitoring. The following effects can be realized.

  As described above, according to the present invention, the wireless terminal (slave unit) sets the wireless terminal to the sleep mode in accordance with the communication cycle command value received from the wireless base station (master unit), while minimizing power consumption. The wireless base station side estimates the state of the control target process 2 based on the control amount received from the sensor device 4 and the operation amount transmitted to the actuator device 5, and controls the power state of the wireless terminal according to the estimation result Since the command value is transmitted and the parameters related to the control calculation are adjusted, both the communication cycle considering the power management for extending the battery life of the wireless terminal and the control parameter considering the control performance of the control system are coordinated. Or at the same time can be kept appropriate.

  In addition, the controller device 3 stores information (control cycle adjustment table 41 and control constant adjustment table 42) representing the relationship between the control deviation of the control target process 2 and the communication cycle command value and the relationship between the control deviation and the control parameter. Therefore, it is possible to change the at least one of the communication cycle command value and the control law adjustment command value by referring to the information and determining the communication cycle command value and the control parameter based on the control deviation.

  Furthermore, the controller device 3 includes a prediction response estimation unit 48 and a control cycle determination unit 50, estimates a prediction response that predicts a future response of the controlled variable of the process 2 to be controlled, and sets a target value or a constraint condition regarding the prediction response. When the communication cycle command value is determined on the basis of and the control parameter is set based on the determined communication cycle command value, at least one of the control cycle adjustment command value and the control law adjustment command value can be changed. .

  Furthermore, the controller device 3 includes a control performance evaluation unit 55, performs a control performance evaluation in which the control performance is determined from the behavior of the control amount of the process 2 to be controlled, and sets the index of the control performance evaluation and the communication cycle command value. If there is information representing the relationship and the relationship between the evaluation performance evaluation index and the control parameter, the communication cycle command value and the control parameter can be determined based on the control performance evaluation result with reference to the information. At least one of the cycle command value and the control law adjustment command value can be changed.

  On the other hand, when the controller device 3 sets the evaluation function J regarding the control performance of the process 2 to be controlled and the power consumption of the wireless communication terminal device, and determines the optimum operation amount based on the optimization result of the evaluation function J In consideration of the future behavior of the process 2 to be controlled, it is possible to simultaneously consider a loss due to a decrease in control performance and a loss due to power consumption of the wireless terminal.

  Further, the controller device 3 includes a data table optimization unit 65, performs a control performance evaluation in which the control performance is determined from the behavior of the control amount of the process 2 to be controlled, and sets the index of the control performance evaluation and the communication cycle command value. If there is information indicating the relationship between the relationship and evaluation performance evaluation index and the control parameter, the relational expression between the parameter related to the control performance of the process 2 to be controlled, the communication period, and the parameter related to the control calculation is learned, The relationship can be stored in the data table, and at least one of the communication cycle command value and the control law adjustment command value can be changed.

  Further, when the controller device 3 includes a control state display unit 71, a control state notification unit 72, and an alarm transmission unit 73 (in the case of the controller 3F), the display of the control state based on the monitored control state, You can notify external devices or report alarms.

  As an example of the wireless control system according to the present invention, FIG. 1 shows a wireless control system 1 (wireless control systems 1A to 1F). However, this is an example, and the wireless control system according to the present invention. Is not limited to the wireless control system 1 shown in FIG. For example, in the wireless control system 1 shown in FIG. 1, there are one sensor device 4 and one actuator 5, but there may be a plurality of them.

  That is, as shown in FIG. 11, m sensor devices 4 (m is an arbitrary natural number of 2 or more), n actuator devices 5 (n is an arbitrary natural number of 2 or more), and the process 2 to be controlled However, it may be a multivariable system with n inputs and m outputs.

  In this case, the controller device 3 performs communication by wireless communication simultaneously with the slave devices that are the m sensor devices 4 or the n actuator devices 5 or sequentially with a time difference. The communication cycle command value transmitted from the controller 3 may be an individual value or a common value. Furthermore, if there is interference, causal relationship, or correlation between multiple control amounts, it is possible to realize coordinated control operation by prescribing that as a control law, while maintaining a good overall control system, As a result, the life of the battery power source of the wireless terminal can be extended.

1 is a schematic diagram schematically showing a basic configuration of a wireless control system according to an embodiment of the present invention. 1 is a schematic diagram schematically showing the configuration of a wireless control system according to a first embodiment of the present invention. Explanatory drawing explaining the outline | summary of the system management in the wireless control system which concerns on the 1st Embodiment of this invention, and the said wireless control system. The sequence chart explaining operation | movement (sequence) of the radio | wireless type control system which concerns on the 1st Embodiment of this invention. Explanatory drawing explaining the outline | summary of the system management in the wireless control system which concerns on the 2nd Embodiment of this invention, and the said wireless control system. Explanatory drawing explaining the outline | summary of the system management in the wireless control system which concerns on the 3rd Embodiment of this invention, and the said wireless control system. Explanatory drawing explaining the control principle of the radio | wireless control system which concerns on the 4th Embodiment of this invention. Explanatory drawing explaining the outline | summary of the system management in the wireless control system which concerns on the 4th Embodiment of this invention, and the said wireless control system. Explanatory drawing explaining the outline | summary of the system management in the wireless control system which concerns on the 5th Embodiment of this invention, and the said wireless control system. The schematic diagram showing roughly the composition of the radio type control system concerning a 6th embodiment of the present invention. The schematic diagram showing roughly the composition of the modification of the radio type control system concerning an embodiment of the invention. The schematic diagram showing the example of composition of the conventional wireless type control system roughly.

Explanation of symbols

1 (1A, 1B, 1C, 1D, 1E, 1F) Wireless control system 2 Process to be controlled 3, 3F Controller device 4 Sensor device 5 Actuator device 11 Data reception unit 12 Control operation unit 13 Data transmission unit 14A, 14B, 14C , 14D, 14E, 14F System management unit 15 Communication cycle transmission unit 21 Control state calculation unit 22 Communication cycle command value calculation unit 23 Control parameter calculation unit 25 Sensor unit 26 Signal processing unit 27 Data transmission unit 28 Communication cycle reception unit 29 Timer set Unit 30 Sleep timer unit 31 Power management unit 33 Data reception unit 34 Signal processing unit 35 Operation unit 38 Holder 39 Sampler 41 Control cycle adjustment table 42 Control constant adjustment table 43 System management database 48 Prediction response estimation unit 49 Response prediction data Table 50 Control cycle decision Constant unit 51 Parameter setting unit 55 Control performance evaluation unit 56 Response database 57 Control law and control cycle adjustment data table 58 System management database 60 Control cycle determination unit 61 Parameter setting unit 65 Data table optimization unit 70 Operator terminal 71 Control state display unit 72 Control state notification unit 73 Alarm transmission unit

Claims (13)

A sensor device that measures the state of the control target process as a control amount, a controller device that performs a control operation of the control target process based on a measurement value of the sensor device, and the control target according to an operation amount calculated by the controller device An actuator device for operating the equipment of the process, and communication between the controller device and at least one of the sensor device and the actuator device is wireless communication, and at least one of the sensor device and the actuator device includes two In a wireless control system which is a wireless communication terminal device configured with a secondary battery as at least a part of a power source
The controller device, based on a control law and the received control amount, a control arithmetic unit that calculates an operation amount of the control target process;
Based on the control amount and the operation amount, a control state calculation unit for obtaining various control parameters relating to the state of the entire control system including the control target process and the sensor device, the controller device, and the actuator device;
A communication cycle command value calculation unit that calculates a sleep time of the power source of the wireless communication terminal device as a communication cycle command value based on a result calculated by the control state calculation unit;
A control parameter calculation unit that calculates an adjustment command value of the control parameter based on a result calculated by the control state calculation unit;
A wireless control system comprising: a communication cycle transmitter that transmits the communication cycle command value calculated by the communication cycle command value calculator to the wireless communication terminal device. A sensor device that measures the state of the control target process as a control amount, a controller device that performs a control operation of the control target process based on a measurement value of the sensor device, and the control target according to an operation amount calculated by the controller device An actuator device for operating the equipment of the process, and communication between the controller device and at least one of the sensor device and the actuator device is wireless communication, and at least one of the sensor device and the actuator device includes two In a wireless control system which is a wireless communication terminal device configured with a secondary battery as at least a part of a power source
The wireless communication terminal device includes a communication cycle receiving unit that receives a communication cycle command value from the controller device, and a timer setting unit that sets a sleep time of the power source based on the communication cycle command value received by the communication cycle receiving unit And receiving the sleep time information set by the timer set unit based on the information, the sleep timer unit managing the time of the function stop state and the function activation state, and the wireless based on the time information managed by the sleep timer unit A wireless control system comprising a power management unit that switches power on and off of a communication terminal device. The controller device has information representing a relationship between a control deviation of the process to be controlled and the communication cycle command value and a relation between the control deviation and the control parameter, and based on the information, the control state calculation unit The wireless control system according to claim 1, wherein the control parameter is calculated, and the communication cycle command value calculation unit is configured to calculate the communication command value. The controller device reads a parameter necessary for predicting a future response of a control amount of the control target process, and predicts a response of the control amount, and a prediction response estimation unit,
3. The wireless control system according to claim 1, further comprising a control cycle determining unit that determines an optimal control cycle from the predicted response estimated by the predicted response estimating unit. 5. The wireless control system according to claim 4, further comprising a parameter setting unit having a function of setting at least one of a target value and a constraint condition relating to a predicted response of a control amount of the control target process. The controller device includes information on control amounts and manipulated variables from the past to the present, a relationship between a control performance evaluation index of the process to be controlled and the communication cycle command value, and a relationship between the control performance evaluation index and the control parameter. With information representing
A control performance evaluation unit having a function of evaluating control performance based on information on the control amount and the operation amount;
Based on the evaluation result of the control performance evaluation unit, and the control performance evaluation index of the process to be controlled and information indicating the relationship between the communication cycle command value and the control parameter, the control state calculation unit 3. The wireless control system according to claim 1, wherein a parameter is calculated, and the communication cycle command value calculation unit is configured to calculate the communication command value. 4. The wireless control system according to claim 6, wherein the control performance evaluation unit has a function of setting the control performance evaluation index. The said controller apparatus is further equipped with the data table optimization part which has a function which reads the correspondence of the said control performance evaluation parameter | index, a control period, and a control parameter, and learns optimal matching. Wireless control system. The controller device includes: an evaluation function setting unit that sets an evaluation function;
An evaluation function for evaluating the control performance set by the evaluation function setting unit and an evaluation function calculating unit for evaluating power consumption energy required for wireless communication;
Based on the result of the optimization calculation of the evaluation function performed by the evaluation function calculation unit, the control state calculation unit calculates the control parameter, and the communication cycle command value calculation unit calculates the communication command value. The wireless control system according to claim 1, wherein the wireless control system is configured as follows. The wireless control system according to claim 9, wherein the evaluation function calculation unit uses a mixed integer programming for the optimization calculation of the evaluation function. When at least one of the control amount of the control target process measured by the sensor device and the operation amount of the control target process operated by the actuator device is plural,
The control calculation unit performs multivariable control calculation including the control amount and the operation amount, and the communication cycle command value calculation unit calculates a sleep time of the power source of each of the wireless communication terminal devices as a communication cycle command value. 2. The wireless control system according to claim 1, wherein the communication cycle transmission unit is configured to individually transmit the communication cycle command value to the wireless communication terminal device. The controller device is abnormal when the result calculated by the control state calculation unit is determined to be normal or abnormal based on a predetermined criterion based on the result calculated by the control state calculation unit. The wireless control system according to claim 1, further comprising an alarm transmission unit that notifies the effect. The controller device generates information for displaying a control state based on a result calculated by the control state calculation unit, and notifies a control state display unit that displays the generated information and the generated display information to an external device. The wireless control system according to claim 1, further comprising at least one of a control state notification unit that performs the control.

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