JP2008305157A - Deviation amount compensation program, deviation amount compensation device, and pid control output compensation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an economically advantageous PID feedback control system, for enhancing easily responsiveness and robustness. <P>SOLUTION: The PID feedback control system provided with a control function 110, a subtraction function 112, and a target value setting function 114, as shown in Fig.1, is provided with a deviation compensation program for acquiring a target value and a controlled variable, and for regulating a deviation by a function of outputting a signal indicating whether the controlled variable is following the ramped target value or not, a function for outputting the signal in response to differentiation of the controlled variable, and the like. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a PID feedback control system having a PID control function having each element of a proportional, integral, and differential function.

  As shown in FIG. 1, the conventional PID feedback control system has a basic configuration including a proportional / integral / differential (hereinafter referred to as PID) control function 110, a subtraction function 112, and a target value setting function 114. . In this configuration, a difference 659 (hereinafter referred to as a deviation amount) between the target value 141 set by the target setting function 114 and the control amount 150 of the controlled object 116 is calculated by the subtraction function 112, and this deviation amount 659 is calculated by the PID control function 110. And the operation amount of the control object 116 is generated by the PID control function 110.

  In the following description, the control system shown in FIG. 1 is referred to as a conventional basic PID feedback control system.

  In this conventional basic PID feedback control system, various proposals have been made for improving the responsiveness of the controlled variable with respect to the target value and improving the robustness to maintain the responsiveness even if the characteristics of the controlled object change. Has been.

  As a typical method, the dead time compensation method of the Smith method effective for improving the responsiveness for a control target having a large dead time and two degrees of freedom effective for improving the responsiveness as in the configuration example shown in FIG. There is a PID feedback control system.

Furthermore, methods for improving responsiveness and robustness by methods such as modern control theory have been proposed. For example, various systems having an adjustment function using a norm model, a PID control parameter detector, a process information observer, and the like as shown in Patent Documents 1 to 5 have been proposed.
JP 2005-339004 A JP 2003-307273 A JP 2003-195905 A JP 2000-514217 A JP-A-9-85407 JP-A-5-340443 "Practical application and application of process control system", Measurement and control, March 2004, Vol. 43, No. 3 "Applied pattern for PI controller learning", Ishikawajima-Harima Technical Report, 1997, Volume 37

  The conventional basic PID feedback control system as shown in FIG. 1 is practical because it does not require a high level of knowledge in system design, and is relatively simple and economically advantageous. It is used in all directions in small to large control systems such as products and industrial equipment. On the other hand, it is not possible to improve the responsiveness of both the stationary control corresponding to the disturbance and the additional value control corresponding to the target value. In addition, there is a disadvantage that the robustness is poor with respect to the characteristic change of the controlled object.

Various methods have been proposed for improving these disadvantages of the conventional basic PID feedback control system.
As these main methods,
First method: Adjust the target value.
Second method: adjusting the deviation amount,
Third method: Adjust the proportional, integral and derivative gains of the PID control function.
Fourth method: Adjust the output of PID control function (control target input),
There is.

  As a representative method according to the second method, there is a Smith method as a dead time compensation method. This method requires an approximate model of the controlled object, so if the characteristics of the controlled object do not change, the responsiveness improves, but if the controlled object characteristic changes, the responsiveness decreases. Because it is difficult to use in practical use, it is not used except for special control objects.

  As a typical method according to the first method and the second method, there is a two-degree-of-freedom PID feedback control system shown in FIG.

  This two-degree-of-freedom PID feedback control system is provided with a preceding differential function 221 that has an effect of improving responsiveness to stationary control in the conventional basic PID feedback control system, and has an effect of improving responsiveness to additional value control. A target value filter 220 having a certain differential element is provided. Both stationary control and additional value control are more responsive than the conventional basic PID feedback control system, but the proportional gain, integral gain, and differential gain of the conventional basic PID feedback control system need to be readjusted, and the preceding differential function 221 and the target Since there are many adjustment elements of the value filter 220 and adjustment is complicated, it is difficult to use practically due to poor robustness such as readjustment depending on the characteristics of the controlled object.

  On the other hand, methods based on modern control theory and the like exemplified in Patent Documents 1 to 6 are various methods related to the first, second, third, and fourth methods. These have the advantage that the response and robustness of stationary control and value-added control are improved compared to the conventional basic PID feedback control system of FIG. 1, but in the system design, mathematical planning, neural network, fuzzy, genetic It requires complex expertise such as genetic algorithm and chaos, is difficult to handle and expensive, so it is difficult to use practically, so it is not used except for special control objects.

The present invention has been made in view of the above points, and has as its first object to improve the responsiveness of both stationary control corresponding to disturbance and additional value control corresponding to a target value,
The second objective is to improve robustness that can maintain good responsiveness even if the characteristics of the controlled object change,
A third object of the present invention is to provide a PID feedback control system that can easily achieve the first and second objects without re-adjusting the conventional basic PID feedback control system of FIG. Objective.

In order to solve the above-described problems, the first invention of the present application provides each element of a subtraction function that outputs in accordance with a difference between a target value and a controlled variable, and a proportional / integral / differential function to which the output of the subtraction function is input. Is a deviation amount compensation program for compensating for the deviation amount of the output of the subtraction function in a PID feedback control system configured by a computer having a PID control function having at least:
An additional value control compensation function for obtaining a target value and the control amount, and outputting a signal indicating whether or not additional value control is being performed to cause the control amount to follow the target value that changes in a ramp shape;
A signal conversion function for outputting a signal corresponding to the signal output by the target value, the control amount, and the additional value control compensation function as a signal to be added to the deviation amount is realized. According to a second invention, in the first invention,
The additional value control compensation function is
A first subtraction function that receives the target value and the control amount as input and outputs them according to a difference between the target value and the control amount;
A first absolute value conversion function for converting an output of the first subtraction function into an absolute value;
A dead time / delay time conversion function for outputting a conversion including a dead time element and a delay time element according to a change in the control amount;
A second subtraction function that outputs in accordance with the difference between the target value and the output of the dead time / delay time conversion function;
A second absolute value conversion function for converting the output of the second subtraction function into an absolute value;
A third subtraction function that outputs in accordance with a difference between an output of the first absolute value conversion function and an output of the second absolute value conversion function;
A differential / absolute value conversion function for outputting a conversion including a differential element and an absolute value conversion function according to the change in the target value;
And a signal conversion function for outputting in accordance with a change in output of the third subtraction function and a change in output of the differential / absolute value conversion function.

The third invention is the first or second invention, wherein
The signal conversion function is
A fourth subtraction function that outputs a signal output by the target value, the control amount, and the additional value control compensation function according to a difference between the target value and the control amount;
A first signal conversion function that outputs in response to a change in the output of the fourth subtraction function;
A differentiation function for differentiating the controlled variable output;
A second signal conversion function that outputs in response to a change in the output of the differentiation function;
A signal corresponding to a change in the output of the fourth subtraction function, a change in the output of the first signal conversion function, a change in the output of the second signal conversion function, and a change in the output of the additional control compensation program; And a third signal conversion function for outputting as a signal to be added to the deviation amount.

Moreover, 4th invention is either 1st-3rd invention,
In the computer,
A third absolute value conversion function for converting the output of the subtraction function to be output according to the difference between the target value and the control amount into an absolute value;
A fourth absolute value conversion function for converting an output of a correction function for correcting an output of the subtraction function that is output in accordance with a difference between the target value and the control amount with an output of the deviation amount compensation program into an absolute value;
A fifth subtraction function that outputs in accordance with a difference between an output of the third absolute value conversion function and an output of the fourth absolute value conversion function;
An integration function with reset having an integration function for converting the output of the fifth subtraction function into an absolute value and integrating, and a function for resetting the integration value with an external input signal;
And a control improvement detection function having a display function for displaying the output of the integration function with reset.

In addition, a fifth invention is any one of the first to fourth inventions,
In the computer,
Obtain the target value and the control amount,
A control instability detection function for detecting a phenomenon in which the difference between the target value and the control amount is increased due to a change in the target value and a characteristic of the control target and the control is unstable;
A signal conversion function for outputting a signal corresponding to a signal output by a difference signal between the target value and the control amount, the control instability detection function and an external input signal as a signal to be added to the deviation amount; The control stabilization function having the above is further realized.

  According to the present invention, an easy method can be achieved without re-adjusting the PID gain of the conventional basic PID feedback control system used in all fields in small to large-scale control systems such as home appliances and industrial equipment. Thus, a PID feedback control system with improved responsiveness and improved robustness can be provided.

  The present invention is the second method for improving the disadvantages of the conventional basic PID feedback control system described above, and FIG. 3 shows a configuration according to an embodiment of the present invention. As shown in these drawings, the PID feedback control system of the present embodiment (hereinafter referred to as a proposed PID feedback control system) includes a PID control function 310 and a subtraction function that are components of the conventional basic PID feedback control system shown in FIG. 312 and the target value setting function 314, an addition function that adds the deviation compensation program 400 with the target value 141 and the control amount 350 as inputs, and adds the output 657 of the subtraction function 312 and the output 656 of the deviation amount compensation program 400. The output 658 of 311 is used as the input of the PID control function 310.

  The deviation compensation program 400 is composed of an additional value control compensation program 500 and a signal conversion program 600 as shown in FIG.

  FIG. 3A is an embodiment in which a control improvement detection program 360 is added to the proposed PID feedback control system of FIG.

FIG. 3B shows a configuration that is one embodiment of the control improvement detection program 360.
As shown in the figure, the absolute value conversion function 362 that converts the output of the subtraction function 312 into an absolute value, the absolute value conversion function 361 that converts the output of the addition function 311 into an absolute value, and the output of the absolute value conversion function 361 Output of a subtracting function 363 that outputs in accordance with the output difference of the absolute value converting function 362, an integrating function that integrates the output of the subtracting function 363, and a function that resets the integrated value by an external input signal. 364 and a display function 365 for displaying the output of the output 364 of the integration function with reset.

  FIG. 4 shows a configuration that is one embodiment of the deviation compensation program 400. As shown in the figure, the deviation compensation program 400 includes an additional value control compensation program 500 and a signal conversion program 600.

  FIG. 5 shows a configuration that is one embodiment of the additional value control compensation program 500. As shown in the figure, the follow-up control compensation program 500 includes a subtraction function 510 that outputs in accordance with the difference between the target value and the control amount, an absolute value conversion function 520 that converts the output of the subtraction function 510 into an absolute value, According to the difference between the output of the dead time / delay time conversion function 530 that outputs the conversion including the dead time element and the delay time element according to the change in the control amount, and the output of the target value and the dead time / delay time conversion function 530 A subtraction function 540 for output, an absolute value conversion function 550 for converting the output of the subtraction function 540 into an absolute value, and a subtraction function 570 for output according to the difference between the output of the absolute value conversion function 520 and the output of the absolute value conversion function 550 A differential / absolute value conversion function 560 that outputs a conversion including a differential element and an absolute value conversion function according to a change in the target value, and a change in the output of the subtraction function 570 and the differential / absolute value conversion function 5 It consists of signal conversion function 580 for output according to change in the output of zero.

FIG. 6 shows a configuration as one embodiment of the differential / absolute value conversion function 560 of FIG. As shown in the figure, the differential / absolute value conversion function 560 includes an amplification function 561 that amplifies the target value, a differentiation function 562 that differentiates the output of the amplification function 561, and an output of the differentiation function 562 into an absolute value. An absolute value conversion function 563 and a signal limiting function 564 for limiting the output of the absolute value conversion function 563 are configured.
Note that the calculation order of the amplification function 561, the differentiation function 562, and the absolute value conversion function 563 may be interchanged.

FIG. 7 shows a configuration as one embodiment of the signal conversion function 580 of FIG.
As shown in the figure, a multiplication function 581 for multiplying the output of the subtraction function 570 and the output of the differentiation / absolute value conversion function 560, a signal limiting function 582 for limiting the output of the multiplication function 581, and any setting or externally An additional value control gain setting function 583 that is output in response to the input signal, and a multiplication function 584 that multiplies the output of the signal limit function 582 and the output of the additional value control gain setting function 583.

FIG. 7A shows a configuration that is one embodiment of the signal conversion function 530 of FIG.
As shown in the figure, a dead time function 531 for giving a dead time to the control amount and a delay time function 532 for giving a delay time to the output of the dead time function 531 are configured.

FIG. 8 shows a configuration that is one embodiment of the signal conversion program 600.
As shown in the figure, a subtraction function 610 that outputs in accordance with the difference between the target value and the controlled variable, a signal conversion function 620 that outputs in accordance with a change in the output of the subtracting function 610, and a differential output of the controlled variable are output. Differentiation function 630, signal conversion function 640 that outputs in response to changes in the output of differentiation function 630, changes in the output of subtraction function 610, changes in the output of signal conversion function 620, and changes in the output of signal conversion function 640 The signal control function 650 is output in accordance with a change in the output of the value control compensation program 500.

FIG. 9 shows a configuration as one embodiment of the signal conversion function 620 of FIG.
As shown in the figure, a deviation amount gain setter function 621 that outputs an arbitrary setting or an external input signal, and a multiplication function that multiplies the output of the subtraction function 610 and the output of the deviation amount gain setter function 621. 623.

FIG. 10 shows a configuration of one embodiment of the signal conversion function 640 of FIG.
As shown in the figure, a leading differential gain setting function 644 that outputs an arbitrary setting or an external input signal, and a multiplication function that multiplies the output of the differentiation function 630 and the output of the leading differential gain setting function 641. 643.

FIG. 11 shows a configuration of one embodiment of the signal conversion function 650 of FIG.
As shown in the figure, a deviation amount distribution setting function 710 having a setting function for changing the ratio of the output 656 of the deviation amount compensation program 400 and the output 657 of the subtractor 312 in FIG. 3, and the signal conversion from the output of the signal conversion function 620 An addition / subtraction function 651 that subtracts the output of the function 640 and the output of the additional value control compensation program 500, a multiplication function 711 that multiplies the output of the deviation amount distribution setting function 710 and the output of the addition / subtraction function 651, and the deviation amount distribution setting function 710 A multiplication function 712 that multiplies the output and the output of the subtraction function 610, and a subtraction function subtraction function 713 that outputs in accordance with the difference between the output of the multiplication function 711 and the output of the multiplication function 712.

12 shows a deformation deviation compensation program 900 in which the deviation amount distribution function is provided outside the deviation compensation program 400 (the deformation deviation compensation program 900 is an addition / subtraction function 651 in FIG. 11 of the embodiment of the deviation compensation program 400). 1 shows a configuration that is an embodiment of a proposed PID feedback control system with a configuration of output.
As shown in the figure, the deviation distribution setting function 880 has a function of outputting a first output u (u is a value between 0 and 1) and a second output 1-u, and a deformation deviation amount. The output of the compensation program 900 is multiplied by u by the multiplication function 811, the output of the subtraction function 815 is multiplied by 1-u by the multiplication function 812, and the output of the multiplication function 811 and the output of the multiplication function 812 are added by the addition function 813. The added output is used as an input of the PID control function 810. This embodiment also has exactly the same function as the proposed PID feedback control system of FIG.

  Also, the output of the multiplication function 811 is input to the first PID control function, the output of the multiplication function 812 is input to the second PID control function having the same function as the function of the first PID control function, and the first Even if the output of the first PID control function and the output of the second PID control function are added together as an input to be controlled, the same function as in the proposed PID feedback control system of FIG. 3 is obtained.

  In FIG. 3, even if an addition function is added to the subtraction function 312 and the output 656 of the deviation compensation program 400 is input to the subtraction function 312 and added, the same function as the proposed PID feedback control system of FIG. It becomes.

  Further, the subtraction function 510 of the embodiment of the additional value control compensation program 500 of FIG. 5 is taken out of the additional value control compensation program 500, and the subtraction function 610 of the embodiment of the signal conversion program 600 of FIG. Even if the additional value control compensation program 500 and the signal conversion program 600 are configured according to this change, the same function as the proposed PID feedback control system of FIG. 3 is obtained. .

  Further, the subtraction function 510 of the embodiment of the additional value control compensation program 500 of FIG. 5 and the subtraction function 610 of the embodiment of the signal conversion program 600 of FIG. 8 are omitted, and the subtraction of the proposed PID feedback control system of FIG. Even if the output 657 of the function 312 is input to the deviation compensation program 400 and replaced with the functions of the subtraction function 510 and the subtraction function 610, the function is exactly the same as the proposed PID feedback control system of FIG.

FIG. 4A shows a configuration according to an embodiment in which a control stabilization program 1100 is added to the deviation amount compensation program 400 of the proposed PID feedback control system of FIG.
The control stabilization program 1100 includes a control instability program 1200 and a signal conversion program 1300 as shown in FIG.

FIG. 4C shows a configuration that is one embodiment of the control instability program 1200.
As shown in the figure, a subtraction function 1201 that outputs in accordance with the difference between the target value and the control amount, an absolute value conversion function 1202 that converts the output of the subtraction function 1201 into an absolute value, and waste according to changes in the control amount A dead time / delay time conversion function 1203 that outputs a conversion including a time element and a delay time element, a subtraction function 1204 that outputs according to the difference between the target value and the output of the dead time / delay time conversion function 1203, and subtraction An absolute value conversion function 1205 that converts the output of the function 1204 into an absolute value, a subtraction function 1206 that outputs according to the difference between the absolute value conversion function 1202 and the absolute value conversion function 1205, and a change in the output of the subtraction function 1206 The output signal conversion function 1207 is configured.

FIG. 4D shows a configuration that is an embodiment of the signal conversion program 1300.
As shown in the figure, when the output 1210 of the control instability program 1200 falls within the specified value range, a signal is output and the signal set function for holding this signal at a constant value and the input signal 1104 from the outside, If the output 1210 of the control unstable program 1200 is out of the specified value range, the set / reset function 1301 having a signal reset function for releasing the signal held at the constant value, and the output 1211 of the control unstable program 1200 A signal conversion function 1303 that outputs in response to changes in the output of the signal, a signal setting function 1304 that can set an arbitrary signal,
A signal switching function 1302 for switching and outputting the output 1107 of the signal conversion function 1303 and the output 1105 of the signal setting function 1304 according to the output of the set / reset function 1301.

  The output 1106 of the control unstable program 1200 is input to the signal conversion program 600 of FIG. 8, and the output 670 of the addition / subtraction function 651 of FIG. 11 is subtracted.

The relationship between the code | symbol and name of a response signal in the control system concerning this embodiment shown in FIGS. 13-30 is as follows.
141 Target value 150 of conventional basic PID feedback control system of FIG. 1 and proposed PID feedback control system of FIG. 3 Control amount 350 of conventional basic PID feedback control system of FIG. 1 Control amount 581 of proposed PID feedback control system of FIG. Output 622 of the additional value control compensation program of the proposed PID feedback control system of FIG. 3 Output 642 of the signal conversion function 620 of FIG. 11 of the proposed PID feedback control system of FIG. 3 Signal conversion function 640 of FIG. 11 of the proposed PID feedback control system of FIG. Output 656 Output 670 of deviation compensation program 400 of proposed PID feedback control system of FIG. 3 Output 657 of subtraction function 651 of FIG. 11 of proposed PID feedback control system of FIG. 3 Proposed PID feedback control of FIG. Output 658 of System Subtraction Function 312 Output 659 of Addition Function 311 of Proposed PID Feedback Control System of FIG. 3 Output 1000 of Subtraction Function 112 of Conventional Basic PID Feedback Control System of FIG. 1 Deviation of Conventional Basic PID Feedback Control System of FIG. 659 and a value obtained by resetting the integrated value of the absolute value difference of the corrected deviation 658 of the proposed PID feedback control system of FIG. 3 every 100 seconds 2000. Deviation 657 and corrected deviation 658 of the proposed PID feedback control system of FIG. The value obtained by resetting the integrated value of the absolute value difference every 100 seconds

The operation of the present invention will be described using the conventional basic PID feedback control system of FIG. 1 and the proposed PID feedback control system of FIG. The relationship between the code | symbol and name of a response signal in the control system concerning this embodiment shown in FIGS. 13-13 is as follows.
141 Target value 150 of conventional basic PID feedback control system of FIG. 1 and proposed PID feedback control system of FIG. 3 Control amount 350 of conventional basic PID feedback control system of FIG. 1 Control amount 581 of proposed PID feedback control system of FIG. Output 622 of the additional value control compensation program of the proposed PID feedback control system of FIG. 3 Output 642 of the signal conversion function 620 of FIG. 11 of the proposed PID feedback control system of FIG. 3 Signal conversion function 640 of FIG. 11 of the proposed PID feedback control system of FIG. Output 656 Output 670 of deviation compensation program 400 of proposed PID feedback control system of FIG. 3 Output 657 of subtraction function 651 of FIG. 11 of proposed PID feedback control system of FIG. 3 Proposed PID feedback control of FIG. Output 658 of System Subtraction Function 312 Output 659 of Addition Function 311 of Proposed PID Feedback Control System of FIG. 3 Output 1000 of Subtraction Function 112 of Conventional Basic PID Feedback Control System of FIG. 1 Deviation of Conventional Basic PID Feedback Control System of FIG. 659 and a value obtained by resetting the integrated value of the absolute value difference of the corrected deviation 658 of the proposed PID feedback control system of FIG. 3 every 100 seconds 2000. Deviation 657 and corrected deviation 658 of the proposed PID feedback control system of FIG. The value obtained by resetting the integrated value of the absolute value difference every 100 seconds

The characteristics of the PID function and the controlled object in FIGS. 1 and 3 are as follows.
In the form of a transfer function, using the symbols in FIG.
The PID function
u (s) = e (P + I / s + D * s)
Here, P is a proportional gain constant, I is an integral gain constant, and D is a differential gain constant.

The characteristics of the controlled object are
G * e− ^LS / (1 + T1s) (1 + T2s)
However, G is a gain constant to be controlled, L is a dead time, and T1 and T2 are primary delay times.

  The configuration of the additional value control compensation program 500 of the deviation amount compensation program 400 of FIG. 3 is the configuration example of FIG. 5, FIG. 6, FIG. 7, and 7A, and the configuration of the signal conversion program 600 is FIG. 10 and the configuration example of FIG.

  Control object is gain constant G = 1 of control object, dead time L = 1 second, first order lag time is T1 = 10 seconds, T2 = 0 second, proportional gain constant P = 2.7 of PID control function, integral gain constant I = 0.7 and differential gain constant D = 0 are the same values in the conventional basic PID feedback control system of FIG. 1 and the proposed PID feedback control system of FIG.

    The output u of the deviation amount distribution setting function 710 in FIG. 11 is set to 0.5, the output G of the deviation amount gain setting function 621 in FIG. 9 is G = 2, and the output S of the preceding differential gain setting function 644 in FIG. If the deviation amount is set larger than 0 and the deviation amount is made relatively larger than the preceding differential amount, the control responds quickly, but the response to the target value is over-controlled and overshoots as shown in FIG. Response is improved. On the other hand, when the output G of the deviation amount gain setting function 621 is set to G = 0 and the output S = 2 of the preceding derivative amount gain setting function S = 641 is set to make the preceding derivative amount relatively larger than the deviation amount, as shown in FIG. Therefore, the control is insufficient (the effect of preventing excessive control). When G = 2 and S = 2, as shown in FIG. 15, the objectives of both the constant value control corresponding to the disturbance and the step response of the target value can be achieved, but both the quick response control and the prevention of the excessive control can be achieved. Insufficient control of additional value control of the lamp response to. The reason for this is that the deviation during the follow-up control is relatively smaller than an appropriate value and the under-control is performed as compared with the constant value control and the step response of the target value.

  In order to improve this shortage control, the additional value control compensation program 500 outputs a signal during the additional value control, and is different from a signal that outputs a signal during the additional value control except during the additional value control. By the function of outputting a signal, the output of the additional value control compensation program 500 is input to the signal conversion function 650 of FIG. 8, and the deviation amount during the additional value control is adjusted.

  FIG. 16 shows that during the follow-up control in which the control amount 350 responds in a ramp shape as the target value 141 changes in a ramp shape, the signal of the output 581 of the follow-up control compensation program has a negative value of −0.05. The output signal 581 of the additional value control compensation program is an example in which the output signal is a zero output signal except during the additional value control.

  By adjusting the output value 581 of the additional value control compensation program so that the deviation amount during the additional value control is increased, the control shortage during the additional value control can be improved. FIG. 17 shows that the responsiveness of both stationary control corresponding to disturbance and additional value control corresponding to the target value, which are the first problem of the present invention, is improved.

FIG. 17A shows a case where a random disturbance signal having a gain of about ± 0.1 is given to the control target, and similarly shows a good response.
18, 19 and 20 show the operation of adjusting the deviation amount of the main function of the signal conversion program 600 in the case of the control response shown in FIG.
FIG. 18 shows an input 622, an input 642, and an input 581 of the addition / subtraction function 651 for adjusting the deviation amount of FIG.
FIG. 19 shows the output 670 of the addition / subtraction function 651 and the output 656 of the subtraction function 713 for adjusting the deviation amount of FIG.
FIG. 20 shows the output 656 of the deviation amount compensation program 400 of FIG. 3, the output 657 of the subtraction function 312, and the output 658 of the addition function 311.

FIG. 21 shows a deviation 659 from the conventional basic PID feedback control system of FIG. 1 and a deviation 658 of the proposed PID feedback control system of FIG. The operation of the deviation 658 of the proposed PID feedback control system moves with a large change rate with a phase advanced compared to the operation of the deviation 659 with the conventional basic PID feedback control system.
This difference in the operation of the deviation amount improves the responsiveness of both the stationary control corresponding to the disturbance that is the first problem of the present invention and the additional value control corresponding to the target value, and the control object that is the second problem. The robustness is improved so that good responsiveness can be maintained even if the characteristics change.

22, 23, and 24 show control responses for improving robustness that can maintain good responsiveness even if the characteristics of the controlled object change, which is the second problem.
FIG. 22 shows the operation of the gain constant G = 1 to be controlled, the dead time L = 0 seconds, the first-order lag time is T1 = 5 seconds, and T2 = 0 seconds.
FIG. 23 shows an operation in which the gain constant G = 1 to be controlled, the dead time L = 2 seconds, the primary delay time is T1 = 15 seconds, and T2 = 0 seconds.
FIG. 24 shows the operation of the gain constant G = 1 to be controlled, the dead time L = 1 second, the primary delay time is T1 = 7 seconds, and T2 = 1 second.
FIG. 25 shows the operation of the gain constant G = 1 to be controlled, the dead time L = 4 seconds, the primary delay time is T1 = 10 seconds, and T2 = 0 seconds.
22, 23, and 24 show that the responsiveness of the proposed PID feedback control system of FIG. 3 is better than that of the conventional basic PID feedback control system of FIG. 1, and the robustness is improved. It shows that you are doing.

  Also, in FIG. 25, when the characteristics of the controlled object change greatly, the response of the conventional basic PID feedback control system of FIG. 1 becomes unstable and the control is diverged. In this case, in the practical system, the device to be controlled is urgently stopped. On the other hand, the proposed PID feedback control system of FIG. 3 shows that the instability prevention function in the deviation amount compensation program operates to stabilize the control. In this case, in the practical system, since the operation of the device to be controlled can be continued, it is possible to prevent damage to the device and loss due to the emergency stop of the device. This function is also an improvement in robustness.

Next, by changing the characteristics of the controlled object under the same conditions as the above-described example, the proportional gain constant P = 0.7, the integral gain constant I = 0.24, and the differential gain constant D = 0 are given to the controlled object characteristics. An example of improving the response of the case and improving the robustness will be described.
FIG. 26 shows a response example in the case where the characteristics of the controlled object are the controlled object gain constant G = 1, the dead time L = 1 second, the first-order lag time, T1 = 5 seconds, and T2 = 1 second.
FIG. 27 shows that the gain of the control target is about ± 0.1 when the gain constant G = 1, the dead time L = 1 second, the first-order delay time, T1 = 5 seconds, and T2 = 1 second. The response when a random disturbance signal is given to the control target is shown.
FIG. 28 shows responses when the gain constant G = 1 to be controlled, the dead time L = 1.5 seconds, the first-order delay time, T1 = 6 seconds, and T2 = 2 seconds.

  26, 27, and 28, in any case, the proposed PID feedback control system of FIG. 3 has improved responsiveness and robustness than the response of the conventional basic PID feedback control system of FIG. It is shown that.

  As described above, the present invention can provide a PID feedback control system with improved responsiveness and improved robustness for a wide range of control targets.

  The third problem is a PID feedback control system that can easily solve the first problem and the second problem without re-adjusting the conventional basic PID feedback control system of FIG. PID feedback control system).

This third problem will be described.
The first feature is that the deviation amount compensation program 400 has two inputs of the same target value and control amount as the conventional basic PID feedback control system, and the output is as simple as one output. To change to the embodiment of the proposed three PID feedback control system, the addition function 311 for adding the deviation 657 and the output 656 of the deviation amount compensation program 400 is added, which is easy.

  The second feature is that the proportional, integral, and differential gain constants (hereinafter referred to as PID gain constants) of the conventional basic PID feedback control system do not need to be changed, and are adjustment elements of the deviation amount compensation program 400. FIG. Output u = 0.5 of deviation amount distribution setting function 710, output G = 2 of deviation amount gain setting function 621 in FIG. 9, output S = 2 of preceding differential gain setting function 644 in FIG. 10, and additional value control compensation The signal -0.05 of the output 581 of the program is easy to adjust because it hardly needs to be changed except that the controlled object changes greatly.

  It is not easy to change a large-scale control system such as a power plant or an oil plant that is configured by a number of conventional basic PID feedback control systems that are already in operation. In particular, readjustment of the PID gain constant is difficult.

  In addition, the PID gain constant of the newly installed PID control system is often the initial setting of the PID gain constant obtained from empirical rules, and it is advantageous in this respect that it is not necessary to change the PID gain constant of the conventional basic PID system. It is. For this reason, it is very important to add a new function that it is not necessary to change the PID gain constant of the conventional basic PID feedback control system.

  The third feature is that the embodiment of the conventional basic PID feedback control system of FIG. 1 and the proposed PID feedback control system of FIG. 3 includes a target value function, a deviation amount calculation function, and a PID control function. Therefore, the cascade control, feedforward control, etc. employed in the conventional basic PID feedback control system of FIG. 1 can be used with exactly the same configuration.

The fifth feature is that it has a function of confirming responsiveness and robustness, enabling efficient work.
11 is provided, and if this output u = 0, the output 656 of the deviation compensation program 400 becomes 0, which is the same response as the conventional basic PID feedback control system. If u = 1, the deviation 657 of the conventional basic PID feedback control system is 0, and the control response at the output 656 of the deviation compensation program 400 is obtained.
This is because the value of u is set to 0 as an initial value, and u can be increased while confirming improvement in controllability by the display function 365 of the control improvement detection program 360 in the configuration example of FIG.

The setting value of the output G of the deviation gain setting function 621 in FIG. 9 and the output S of the preceding differential gain setting function 641 in FIG. 10 and the ratio of G to S are determined depending on which of responsiveness and robustness is important. However, the set values for G and S are values near 2.0, and the ratio of G to S is about 1.0 when the response and robustness are equally important.
Regarding the setting of G and S and the ratio of G to S, the difference in controllability can be confirmed by the display function 365 of the control improvement detection program 360 in the configuration example of FIG.

  Accumulated value 1000 represents the difference between the absolute values of deviation 659 of the conventional basic PID feedback control system of FIG. 1 and corrected deviation 658 of the proposed PID feedback control system of FIG. The integrated value 2000 of the difference between the absolute value of the integrated value 1000 and the deviation 657 of the proposed PID feedback control system in FIG. 3 and the corrected deviation 658 is well approximate, and the integrated value 2000 can grasp the effect of responsiveness. I can do it. If the integrated value 2000 is in the positive direction, the responsiveness is improved, and if it is in the negative direction, the responsiveness is deteriorated.

  FIG. 29 is a display example when the display function for improving response in the case of FIG. 17 is reset every 100 seconds by the integration function with 365 reset. FIG. 30 shows that in the case of FIG. 14, the responsiveness of the proposed PID feedback control system of FIG. 3 is worse than the response of the conventional basic PID feedback control system of FIG.

  As described above, the conventional basic PID feedback control system, which is currently used in all fields in small-scale to large-scale control systems such as home appliances and industrial equipment, has improved responsiveness as in the present invention. PID control system with improved robustness and prevention of equipment stoppage with control instability prevention function can be easily improved at low cost for improved production efficiency, quality improvement, energy saving, environmental conservation, etc. Make a great contribution.

It is a figure which shows a well-known PID feedback control system. It is a figure which shows a well-known 2 degree-of-freedom PID feedback control system. It is a figure which shows the PID feedback control system concerning this embodiment. It is a figure which shows the PID feedback control system concerning this embodiment. It is a figure which shows the structure of the control improvement detection program concerning this embodiment. It is a figure which shows the structure of the deviation compensation program concerning this embodiment. It is a figure which shows the structure which added the control stabilization program to the deviation amount compensation program concerning this embodiment. It is a figure which shows the structure of the control stabilization program concerning this embodiment. It is a figure which shows the structure of the control instability detection program concerning this embodiment. It is a figure which shows the structure of the signal conversion program in the control stabilization program concerning this embodiment. It is a figure which shows the structure of the additional value control compensation program concerning this embodiment. It is a figure which shows the structure of the differential / absolute value conversion function in the additional value control compensation program concerning this embodiment. It is a figure which shows the structure of the dead time / delay time conversion function in the additional value control compensation program concerning this embodiment. It is a figure which shows the structure of the signal conversion function in the additional value control compensation program concerning this embodiment. It is a figure which shows the structure of the signal conversion function in the deviation amount compensation program concerning this embodiment. It is a figure which shows the structure of the deviation amount gain setting function in the signal conversion function in the deviation amount compensation program concerning this embodiment. It is a figure which shows the structure of the prior | preceding differential gain setting function in the signal conversion function in the deviation amount compensation program concerning this embodiment. It is a figure which shows the structure of the signal conversion function in the signal conversion function in the deviation amount compensation program concerning this embodiment. It is a figure which shows the PID feedback control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment. It is a figure which shows the response signal in the control system concerning this embodiment.

Explanation of symbols

110, 210, 310, 810 PID control function 112, 212, 213, 312, 363 Subtraction function 510, 540, 570, 610, 651 Subtraction function 713, 815, 1201, 1204, 1206 Subtraction function 114, 214, 314, 814 Target value setting function 116, 216, 316, 816 Control target 220 Target value filter function 221 Pre-differentiation function 311, 813 Addition function 360 Control improvement detection program 361, 362, 520, 550, 563, 1202, 1205 Absolute value conversion function 364 Integration function with reset 365 Display function 400 Deviation compensation program 500 Additional value control compensation program 530 Dead time / delay time conversion function 531 Dead time function 532 Delay time function 560 Differentiation / absolute value conversion function 561 Amplification function 562, 630 Differentiator 564, 582 Signal limiting function 580, 620, 640, 650, 1207, 1303 Signal conversion function 583 Additional value control gain setting function 581, 584, 623, 643, 711, 712, 811, 812 Multiplication function 600, 1300 Signal conversion program 621 Deviation amount gain setting function 644 Leading differential gain setting function 710, 880 Deviation amount distribution setting function 900 Deformation deviation compensation program 1200 Control instability detection program 1203 Dead time / delay time function 1301 Set / reset function 1302 Signal switching function 1304 Signal setting function

Claims (28)

PID feedback control configured by a computer having a subtraction function that outputs according to a difference between a target value and a controlled variable, and a PID control function that has at least each element of a proportional, integral, and differential function to which the output of the subtraction function is input A deviation amount compensation program for compensating for the deviation amount of the output of the subtraction function in the system, the computer,
An additional value control compensation function for acquiring a target value and the control amount, and outputting a signal indicating whether or not additional value control is being performed to cause the control amount to follow the target value that changes in a ramp shape;
A deviation that realizes a signal conversion function that outputs a signal corresponding to the signal output by the target value, the control amount, and the additional value control compensation function as a signal for correcting the deviation amount. Quantity compensation program. A deviation amount compensation program according to claim 1,
The additional value control compensation function is
A first subtraction function that outputs in accordance with a difference between the target value and the control amount;
A first absolute value conversion function for converting an output of the first subtraction function into an absolute value;
A dead time / delay time conversion function for outputting a conversion including a dead time element and a delay time element according to a change in the control amount;
A second subtraction function that outputs in accordance with the difference between the target value and the output of the dead time / delay time conversion function;
A second absolute value conversion function for converting the output of the second subtraction function into an absolute value;
A third subtraction function that outputs in accordance with a difference between an output of the first absolute value conversion function and an output of the second absolute value conversion function;
A differential / absolute value conversion function for outputting a conversion including a differential element and an absolute value conversion function according to the change in the target value;
A deviation amount compensation program comprising: a change in output of the third subtraction function; and a signal conversion function that outputs in accordance with a change in output of the differential / absolute value conversion function. A deviation compensation program according to claim 1 or claim 2, wherein
The signal conversion function is
A fourth subtraction function that outputs a signal output by the target value, the control amount, and the additional value control compensation function according to a difference between the target value and the control amount;
A first signal conversion function that outputs in response to a change in the output of the fourth subtraction function;
A differentiation function for differentiating the controlled variable output;
A second signal conversion function that outputs in response to a change in the output of the differentiation function;
A signal corresponding to a change in the output of the fourth subtraction function, a change in the output of the first signal conversion function, a change in the output of the second signal conversion function, and a change in the output of the additional control compensation program; And a third signal conversion function for outputting a signal to be added to the deviation amount. The deviation compensation program according to any one of claims 1 to 3, wherein the computer includes:
A third absolute value conversion function for converting the output of the subtraction function to be output according to the difference between the target value and the control amount into an absolute value;
A fourth absolute value conversion function for converting an output of a correction function for correcting an output of the subtraction function that is output in accordance with a difference between the target value and the control amount with an output of the deviation amount compensation program into an absolute value;
A fifth subtraction function that outputs in accordance with a difference between an output of the third absolute value conversion function and an output of the fourth absolute value conversion function;
An integration function with reset having an integration function for converting the output of the fifth subtraction function into an absolute value and integrating, and a function for resetting the integration value with an external input signal;
A deviation improvement compensation program for further realizing a control improvement detection function having a display function for displaying the output of the integration function with reset The deviation amount compensation program according to claim 3, wherein the first signal conversion function of the signal conversion function is:
Deviation amount gain setting function to output according to any setting or external input signal,
A deviation compensation program comprising: a multiplication function that multiplies the output of the fourth subtraction function that is output according to the difference between the target value and the control amount, and the output of the deviation amount gain setting function.   The deviation amount compensation program according to claim 5, wherein the first signal conversion function of the signal conversion function uses an input signal from the outside to the deviation amount gain setting function as the target value. , A deviation compensation function program characterized by being converted into a signal correlated with at least one of the control amount, the output of the PID control function, and the output signal of the fourth subtraction function. The deviation amount compensation program according to claim 3, wherein the second signal conversion function of the signal conversion function is:
A leading differential gain setting function that outputs in accordance with any setting or external input signal,
A deviation compensation function program comprising: a multiplication function for multiplying the output of the differentiation function for differentiating the output of the control amount and the output of the preceding differentiation gain setting function.   The deviation amount compensation program according to claim 7, wherein the second signal conversion function of the signal conversion function uses an input signal from the outside to the preceding differential gain setting function as the target value, A deviation compensation function program characterized by having a signal correlated with at least one of the control amount, the output of the PID control function, and the output signal of the fourth subtraction function. The deviation amount compensation program according to claim 3, wherein the third signal conversion function of the signal conversion function is:
An addition / subtraction function for adding or subtracting the output of the first signal conversion function, the output of the second signal conversion function, and the output of the additional value control compensation program;
Deviation amount distribution setting function to output according to any setting or external input signal,
A first multiplication function for multiplying the output of the addition / subtraction function and the output of the deviation amount distribution setting function;
A second multiplication function for multiplying the output of the fourth subtraction function and the output of the deviation amount distribution setting function;
A deviation compensation function program, comprising: a fifth subtraction function that outputs in accordance with a difference between an output of the first multiplication function and an output of the second multiplication function. The deviation amount compensation program according to claim 5, wherein the first signal conversion function of the signal conversion function is:
The output of the deviation amount gain setting function that is output according to an arbitrary setting or an input signal from the outside is that the output of the fourth subtraction function is 1 to 5 times the output,
Feature deviation compensation function program.   The deviation amount compensation program according to claim 7, wherein the second signal conversion function of the signal conversion function is configured to output an output of the preceding differential gain setting function to 1 to 1 of an output of the differentiation function. A deviation compensation function program characterized by a five-fold output. A deviation amount compensation program according to claim 3, wherein:
The first signal conversion function included in the signal conversion function outputs a deviation amount gain setting function that outputs in accordance with an arbitrary setting or an input signal from the outside, and a difference between the target value and the control amount. A multiplication function that multiplies the output of the fourth subtraction function and the output of the deviation amount gain setting function;
The second signal conversion function of the signal conversion function includes an arbitrary setting or a preceding differential gain setting function that outputs in response to an input signal from the outside, and an output of the differentiation function that differentiates the control amount. And a multiplication function for multiplying the output of the preceding differential gain setting function,
A deviation compensation function program characterized in that the ratio of the output of the deviation amount gain setting function and the output of the preceding differential gain setting function is 1: 1 to 5: 1. The deviation amount compensation program according to claim 9, wherein the deviation amount distribution setting function in the third signal conversion function of the signal conversion function outputs a value of 0 to 1.
Feature deviation compensation function program. The deviation amount compensation program according to claim 9, wherein the output of the deviation amount distribution setting function in the third signal conversion function of the signal conversion function is an arbitrary input or an input signal from the outside Output according to
Feature deviation compensation function program.   15. The deviation amount compensation program according to claim 14, wherein an input signal from the outside of the output of the deviation amount distribution setting function in the third signal conversion function of the signal conversion function is the target value. A deviation compensation function program characterized by having a signal correlated with at least one of the control amount, the output of the PID control function, and the output of the subtraction function. The deviation amount compensation program according to claim 2, wherein the additional value control compensation function has the signal conversion function,
A third multiplication function for multiplying the output of the third subtraction function and the output of the differential / absolute value conversion function;
A signal limiting function for limiting the output of the third multiplication function;
Additional value control gain setting function to output according to any setting or external input signal,
A deviation compensation function program comprising: a fourth multiplication function for multiplying the output of the signal limiting function and the output of the additional control gain setting function. The deviation compensation program according to any one of claims 1 to 4, wherein the computer includes:
A control instability detection function for detecting a phenomenon in which the difference between the target value and the control amount is increased due to the change in the target value and the characteristic of the control target, and the control is unstable;
A signal conversion function for outputting a signal corresponding to the difference between the target value and the control amount, the control instability detection function, and an input signal from the outside as a signal to compensate for the deviation amount; Deviation compensation program characterized by further realizing control stabilization function having A deviation compensation program according to claim 17, comprising:
The control instability detection function is
A sixth subtraction function for outputting in accordance with a difference between the target value and the control amount;
A fifth absolute value conversion function for converting the output of the sixth subtraction function into an absolute value;
A first dead time / delay time conversion function for outputting a conversion including a dead time element and a delay time element according to the change in the control amount;
A seventh subtracting function that outputs in accordance with a difference between the target value and the output of the first dead time / delay time conversion function;
A sixth absolute value conversion function for converting the output of the seventh subtraction function into an absolute value;
An eighth subtraction function that outputs in accordance with a difference between an output of the fifth absolute value conversion function and an output of the sixth absolute value conversion function;
A deviation conversion program characterized by having a signal conversion function for outputting in accordance with a change in output of the eighth subtraction function A deviation compensation program according to claim 17, comprising:
The signal conversion function is
Using the output of the sixth subtraction function, the output of the control instability detection function, and the external input signal as inputs,
When the output of the control instability detection program falls within a specified value range, the control instability function is output by a signal set function that outputs a predetermined signal and holds this signal at a constant value, and an external input signal. A set / reset function having a signal reset function for canceling a signal held at a constant value if the output is out of the range of the specified value;
A signal conversion function for outputting in accordance with a change in the output of the sixth subtraction function;
A signal setting function that can set any signal,
A signal that is output by switching between the output of the signal conversion function that is output in response to a change in the output of the sixth subtraction function and the output of the signal setting function that can set an arbitrary signal by the output of the set / reset function Deviation compensation program characterized by having a switching function The deviation compensation program according to any one of claims 1 to 16, wherein the computer includes:
The output of the target value, the control amount, and the output of the subtraction function is acquired, and a signal indicating whether or not the additional value control for causing the control amount to follow the target value changing in a ramp shape is output. Value control compensation function,
A deviation amount that realizes a signal conversion function for outputting a signal corresponding to the signal output by the target value, the control amount, and the additional value control compensation function as a signal to be added to the deviation amount. Compensation program PID feedback control configured by a computer having a subtraction function that outputs according to a difference between a target value and a controlled variable, and a PID control function that has at least each element of a proportional, integral, and differential function to which the output of the subtraction function is input A deviation amount compensation program for compensating for the deviation amount of the output of the subtraction function in the system, the computer,
An additional value control compensation function for obtaining a target value and the control amount, and outputting a signal indicating whether or not additional value control is being performed to cause the control amount to follow the target value that changes in a ramp shape;
A signal conversion function for outputting a signal corresponding to a signal output by the target value, the control amount, and the additional value control compensation function as a signal for correcting the deviation amount;
Deviation amount distribution setting function for performing the first output and the second output according to an arbitrary setting or an input signal from the outside,
A multiplication function for multiplying the output of the signal conversion function by the first output of the deviation amount distribution setting function;
A multiplication function for multiplying the output of the subtraction function and the second output of the deviation amount distribution setting function;
The output of the multiplication function that multiplies the output of the signal conversion function and the first output of the deviation amount distribution setting function, the output of the multiplication function that multiplies the output of the subtraction function and the second output of the deviation amount distribution setting function. Deviation compensation program characterized by realizing an addition function for adding PID feedback control configured by a computer having a subtraction function that outputs according to a difference between a target value and a controlled variable, and a PID control function that has at least each element of a proportional, integral, and differential function to which the output of the subtraction function is input A deviation amount compensation program for compensating for the deviation amount of the output of the subtraction function in the system, the computer,
An additional value control compensation function for obtaining a target value and the control amount, and outputting a signal indicating whether or not additional value control is being performed to cause the control amount to follow the target value that changes in a ramp shape;
A signal conversion function for outputting a signal corresponding to a signal output by the target value, the control amount, and the additional value control compensation function as a signal for correcting the deviation amount;
Deviation amount distribution setting function for performing the first output and the second output according to an arbitrary setting or an input signal from the outside,
A multiplication function for multiplying the output of the signal conversion function by the first output of the deviation amount distribution setting function;
A multiplication function that multiplies the output of the subtraction function that is output according to the difference between the target value and the control amount, and the second output of the deviation amount distribution setting function;
A first PID control function that receives an output of a multiplication function that multiplies an output of the signal conversion function and a first output of the deviation amount distribution setting function;
A second PID control function that receives an output of a multiplication function that multiplies an output of the subtraction function and a second output of the deviation amount distribution setting function;
A PID control output compensation program characterized by realizing an addition function for adding the output of the first PID control function and the output of the second PID control function The subtracting unit in the PID feedback system includes a subtracting unit that outputs in accordance with the difference between the target value and the controlled variable, and a PID control unit that has at least each element of a proportional / integral / differential function to which the output of the subtracting unit is input. A deviation amount compensation device for compensating for an output deviation amount,
An additional value control compensator that obtains the target value and the control amount, and outputs a signal indicating whether or not additional value control is being performed to cause the control amount to follow the target value that changes in a ramp shape;
A deviation amount comprising: a signal conversion unit that outputs a signal corresponding to the signal output from the target value, the control amount, and the additional value control compensation unit as a signal to compensate for the deviation amount Compensation device. The deviation amount compensating apparatus according to claim 23, wherein:
The additional value control compensator is
A first subtraction unit that receives the target value and the control amount as input and outputs the first value according to a difference between the target value and the control amount;
A first absolute value changing unit that converts an output of the first subtracting unit into an absolute value;
A dead time / delay time conversion unit for outputting a conversion including a dead time element and a delay time element according to the change in the control amount;
A second subtracting unit that outputs in accordance with a difference between the target value and the output of the dead time / delay time conversion unit;
A second absolute value converter that converts the output of the second subtractor into an absolute value;
A third subtraction unit that outputs a difference according to a difference between an output of the first absolute value conversion unit and an output of the second absolute value conversion unit;
A differential / absolute value converter that outputs a conversion including a differential element and an absolute value converter according to the change in the target value;
A deviation amount compensating apparatus comprising: a signal conversion unit that outputs a change in output of the third subtraction unit and a change in the output of the differential / absolute value conversion unit The deviation compensating apparatus according to claim 23 or 24, wherein:
The signal converter is
A fourth subtraction unit that outputs the target value, the control amount, and a signal output from the additional value control compensation unit as input, according to a difference between the target value and the control amount;
A first signal converter that outputs in response to a change in the output of the fourth subtractor;
A differentiating unit for outputting a differentiated output of the controlled variable;
A second signal conversion unit that outputs in response to a change in the output of the differentiation unit;
A signal corresponding to a change in the output of the fourth subtraction unit, a change in the output of the first signal conversion unit, a change in the output of the second signal conversion unit, and a change in the output of the additional value control compensation unit And a third signal converter that outputs a signal to be added to the deviation amount. The subtracting unit in the PID feedback system includes a subtracting unit that outputs in accordance with the difference between the target value and the controlled variable, and a PID control unit that has at least each element of a proportional / integral / differential function to which the output of the subtracting unit is input. A deviation amount compensation device for compensating for an output deviation amount,
The target value, the control amount, and the output of the subtracting unit are acquired, and a signal indicating whether or not additional value control for causing the control amount to follow the target value changing in a ramp shape is output. A value control compensator;
A deviation amount comprising: a signal conversion unit that outputs a signal corresponding to the signal output from the target value, the control amount, and the additional value control compensation unit as a signal to compensate for the deviation amount Compensation device The subtracting unit in the PID feedback system includes a subtracting unit that outputs in accordance with the difference between the target value and the controlled variable, and a PID control unit that has at least each element of a proportional / integral / differential function to which the output of the subtracting unit is input. A deviation amount compensation device for compensating for an output deviation amount,
An additional value control compensator that obtains the target value and the control amount, and outputs a signal indicating whether or not additional value control is being performed to cause the control amount to follow the target value that changes in a ramp shape;
A signal conversion unit that outputs a signal according to the target value, the control amount, and a signal output by the additional value control compensation unit as a signal for correcting the deviation amount;
A deviation amount distribution setting unit for performing a first output and a second output in accordance with an arbitrary setting or an external input signal;
A multiplier for multiplying the output of the signal converter by the first output of the deviation amount distribution setting unit;
A multiplication unit that multiplies the output of the subtraction unit and the second output of the deviation amount distribution setting unit;
The output of the multiplication unit that multiplies the output of the signal conversion unit by the first output of the deviation amount distribution setting unit, the output of the subtraction unit, and the output of the multiplication unit that multiplies the second output of the deviation amount distribution setting unit. And an addition unit for adding The PID control in a PID feedback control system comprising: a subtraction unit that outputs in accordance with a difference between a target value and a control amount; and a PID control unit that has at least each element of a proportional / integral / differential function to which the output of the subtraction unit is input A PID control output compensation device for compensating the output of the unit,
An additional value control compensator that obtains the target value and the control amount, and outputs a signal indicating whether or not additional value control is being performed to cause the control amount to follow the target value that changes in a ramp shape;
A signal conversion unit that outputs a signal according to the target value, the control amount, and a signal output by the additional value control compensation unit as a signal for correcting the deviation amount;
A deviation amount distribution setting unit for performing a first output and a second output in accordance with an arbitrary setting or an external input signal;
A multiplier for multiplying the output of the signal converter by the first output of the deviation amount distribution setting unit;
A multiplication unit that multiplies the output of the subtraction unit that outputs in accordance with the difference between the target value and the control amount, and the second output of the deviation amount distribution setting unit;
A first PID control unit that receives the output of the multiplication unit that multiplies the output of the signal conversion unit and the first output of the deviation amount distribution setting unit;
A second PID control unit that receives as input the output of the multiplication unit that multiplies the output of the subtraction unit and the second output of the deviation amount distribution setting unit;
A PID control output compensation apparatus comprising: an adder that adds the output of the first PID controller and the output of the second PID controller.

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