JP2010079378A - Control device and control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the limit of control while maintaining the total sum of manipulated variables to a value which is equal or more than the lower limit value of the total sum of the manipulated variables. <P>SOLUTION: A control device includes: PID arithmetic parts 22-1 and 22-2 for calculating manipulated variables MV1 and MV2 on the basis of a deviation between controlled variables PV1 and PV2 and set values SP1 and SP2 of each control loop; manipulated variable total sum calculation parts 31-1 and 31-2 for calculating the total sum MV_all of the manipulated variables MV1 and MV2; and lower limit value distribution parts 32-1 and 32-2 for, when the settling status of control of a preliminarily specified zone among a plurality of zones Z1 and Z2 is detected, distributing preliminarily specified manipulated variable total sum lower limit values OL_all to each zone according to the rate of the manipulated variables MV1 and MV2 of the respective zones Z1 and Z2 in settling to the manipulated variable total sum MV_all in settling, and for setting the distributed values to the manipulated variable lower limit values OL1 and OL2 of each zone. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a control device and a control method for a multi-loop control system including a plurality of control loops that respectively control a plurality of zones obtained by spatially dividing a control target.

  Some air conditioning systems for large or medium-scale spaces control the temperature (room temperature) of each zone by dividing the space into multiple zones and controlling the amount of air sent to each zone. . In the control system of each zone, the control amount PV is controlled as a state quantity (temperature) to be controlled, the set value SP is set as a target value for the state quantity (temperature), and the control amount PV is controlled to the set value SP. The operation amount MV is processed by the controller of each zone as a control command (air volume or valve opening that determines air volume, damper opening). As a control method at this time, a linear control method (for example, PID) is widely used.

  Due to the necessity of ventilation, the total amount of air sent to the air-conditioned space is limited to the minimum required amount. In order to secure the lower limit value (substantially, the lower limit value of the sum of the operation amounts MV) OL_all of the total air volume, the operation amount lower limit value OL of each zone is fixed to a numerical value larger than zero. For example, a mode is conceivable in which the lower limit value OL of the operation amount MV output from each controller of a plurality of divided zones is fixed uniformly at 20.0%. In this way, when the lower limit value OL of the operation amount MV is uniformly fixed at 20.0%, the operation amount MV is reduced even if it is desired to make the operation amount MV smaller than 20.0% for convenience of temperature control. Since it cannot be made smaller than the lower limit value OL, the control amount PV cannot be controlled to the set value SP. That is, as a result, the controllable temperature range is restricted.

  Conventionally, a control device disclosed in Patent Document 1 has been proposed as a technique for maintaining the controllability of each controller while limiting the sum of the operation amounts MV of a plurality of control systems. This control device can obtain good controllability for the priority controller while maintaining the sum of the operation amounts MV of the plurality of control systems below a predetermined value, and can also be applied to the non-priority controller. In this way, controllability can be maintained.

JP 2002-49401 A

  As described above, in the conventional air conditioning system, in order to secure the lower limit value OL_all of the total amount of air sent to the air-conditioning target space, when the operation amount lower limit value OL of each zone is fixed uniformly, the operation amount MV is set to the lower limit value. Since it cannot be made smaller than OL, there is a problem that a controllable temperature range is limited.

  The control device disclosed in Patent Document 1 operates an upper limit value of the operation amount MV in order to maintain the sum of the operation amounts MV of a plurality of control systems below a predetermined value, and the lower limit value of the operation amount MV. The above-mentioned problem in the conventional air conditioning system cannot be solved.

  The present invention has been made to solve the above-described problem, and controls the operation amount in each zone by being constrained by the operation amount lower limit value while maintaining the operation amount sum at a value equal to or higher than the operation amount total lower limit value. An object of the present invention is to provide a control device and a control method capable of improving the limit of the above.

  The present invention relates to a control device for a multi-loop control system having a plurality of control loops for controlling a plurality of zones obtained by spatially dividing a control target, and a control amount PV for each control loop and each control loop corresponding thereto. A plurality of control calculation means for calculating the manipulated variable for each control loop based on the deviation from the set value SP, and when the settling state of the control of a predetermined zone among the plurality of zones is detected. And lower limit value distribution means for determining an operation amount lower limit value used by the control calculation means of each zone based on the operation amount of each zone at the time.

Further, one configuration example of the control device of the present invention further includes an operation amount total calculating unit that calculates a sum of a plurality of operation amounts calculated by the control calculating unit, and the lower limit value distributing unit includes the control calculation unit According to the ratio of the operation amount of each zone at the settling time calculated by the means and the operation amount summation at the settling time calculated by the operation amount total calculation means, a predetermined operation amount total lower limit value is assigned to each zone. The distributed value is used as the operation amount lower limit value of each zone.
In addition, one configuration example of the control device of the present invention further includes an operation amount total calculation unit that calculates a sum of a plurality of operation amounts calculated by the control operation unit, and the lower limit value distribution unit includes the operation amount The margin for the preliminarily specified operation amount total lower limit value of the operation amount total at the time of settling calculated by the sum calculation means is evenly distributed to each zone, and only the value allocated to each zone is calculated by the control calculation means. The value obtained by subtracting the operation amount of each zone at the time of settling is set as the operation amount lower limit value of each zone.
Further, in one configuration example of the control device of the present invention, the operation amount total calculation unit adds a damping processing unit that performs a damping process to each of the plurality of operation amounts, and a plurality of operation amounts after the damping process. And adding means for calculating the total operation amount.

  Further, the control device of the present invention includes a plurality of control calculation means for calculating the operation amount for each control loop based on the deviation between the control amount PV of each control loop and the corresponding set value SP of each control loop, When the margin between the operation amount calculated by the control calculation means of the zone other than the control target zone and the predetermined operation amount lower limit value of the other zone is larger than 0, the control target Lower limit margin distribution means for performing for each zone a value obtained by subtracting a value based on the margin amount from a predetermined manipulation amount lower limit value of the zone as an operation amount lower limit value used by the control calculation means of the zone to be controlled Are provided.

Further, in one configuration example of the control device of the present invention, the lower limit margin distribution unit is calculated by a control calculation unit in a zone other than the control target zone when the control target is spatially divided into two. When the margin between the manipulated variable and a predetermined manipulated variable lower limit value of the other zone is greater than 0, the control target is only the value obtained by dividing the margin by m (m ≧ 1.0). Characterized in that it comprises lower limit margin distribution means for performing, for each zone, a value obtained by subtracting a value subtracted from a predetermined operation amount lower limit value of the zone as an operation amount lower limit value used by the control calculation means of the zone to be controlled. To do.
Further, in one configuration example of the control device of the present invention, the lower limit margin distribution unit is calculated by a control calculation unit in a zone other than the control target zone when the control target is spatially divided into two. When a margin amount between the manipulated variable and a predefined manipulated variable lower limit value of the other zone is larger than 0, the control target is multiplied by a value obtained by multiplying the margin amount by α (0 ≦ α ≦ 1). Characterized in that it comprises lower limit margin distribution means for performing, for each zone, a value obtained by subtracting a value subtracted from a predetermined operation amount lower limit value of the zone as an operation amount lower limit value used by the control calculation means of the zone to be controlled. To do.

Further, in one configuration example of the control device of the present invention, the lower limit margin distribution unit is calculated by a control calculation unit of a zone other than the control target zone when the control target is spatially divided into two or more. A value obtained by dividing the margin amount by m (m ≧ 1.0) when the margin amount between the total sum of the manipulated amounts and the sum of the predetermined manipulation amount lower limit values of the other zones is greater than zero. And a lower limit margin distribution means for performing, for each zone, a value obtained by subtracting a value obtained by subtracting a predetermined operation amount lower limit value of the control target zone from the control operation means of the control target zone. It is characterized by comprising.
Further, in one configuration example of the control device of the present invention, the lower limit margin distribution unit is calculated by a control calculation unit of a zone other than the control target zone when the control target is spatially divided into two or more. A value obtained by multiplying the margin amount by α (0 ≦ α ≦ 1) when the margin amount between the total sum of the manipulated amounts and the sum of the predetermined manipulation amount lower limit values of the other zones is greater than zero. And a lower limit margin distribution means for performing, for each zone, a value obtained by subtracting a value obtained by subtracting a predetermined operation amount lower limit value of the control target zone from the control operation means of the control target zone. It is characterized by comprising.

Further, the present invention provides a control method for a multi-loop control system including a plurality of control loops for controlling a plurality of zones obtained by spatially dividing a control target, and a control amount PV of each control loop and each of the control amounts PV corresponding thereto. When the control calculation procedure for calculating the operation amount for each control loop based on the deviation from the set value SP of the control loop and the control settling state of a predetermined zone among the plurality of zones are detected, this settling is performed. And a lower limit value distribution procedure for determining an operation amount lower limit value used in the control calculation procedure of each zone based on the operation amount of each zone at that time.
The control method of the present invention includes a control calculation procedure for calculating an operation amount for each control loop based on a deviation between a control amount PV of each control loop and a corresponding set value SP of each control loop, When the margin between the operation amount calculated by the control calculation procedure of the other zone other than the zone and the predetermined operation amount lower limit value of the other zone is larger than 0, the control target zone A lower limit margin allocation procedure for performing, for each zone, a value obtained by subtracting a value based on the margin amount from a predetermined manipulation amount lower limit value as an operation amount lower limit value used in a control calculation procedure of the control target zone; It is characterized by comprising.

  According to the present invention, the operation amount lower limit value used by the control calculation means of each zone based on the operation amount of each zone at the time of settling when the settling state of the control of a predetermined zone among a plurality of zones is detected. By determining the operation amount total, the restriction on the operation amount lower limit value of each zone can be relaxed while maintaining the operation amount sum above the operation amount total lower limit value, and the operation amount of each zone depends on the operation amount lower limit value. It is possible to improve the limit of control due to being constrained.

  Further, according to the present invention, the margin between the operation amount calculated by the control calculation means of the zone other than the control target zone and the predetermined operation amount lower limit value of the other zone is less than zero. For each zone, a value obtained by subtracting a value based on a margin amount from a predetermined operation amount lower limit value of a zone to be controlled is set as an operation amount lower limit value used by the control calculation means of the control target zone when it is larger. By doing so, it is possible to relax the restriction of the operation amount lower limit value of each zone while maintaining the operation amount sum at a value equal to or higher than the operation amount sum lower limit value, and the operation amount of each zone is restricted by the operation amount lower limit value. Can improve the control limit.

[Principle of Invention 1]
In an air conditioning system that controls the temperature of each zone by dividing the space into a plurality of zones and controlling the amount of air sent to each zone, in order to secure the lower limit value OL_all of the sum of the air volumes (sum of the manipulated variables MV) It is not necessary to fix in advance the lower limit value OL of the operation amount MV output from each controller for each zone. That is, by monitoring the control state of each zone and determining the operation amount lower limit value OL based on each operation amount MV_s (setting operation amount) in the settling state, the operation amount lower limit value OL is uniformly determined. The inventor noticed that the control limit could be improved rather than the above.

  FIG. 1 is a flowchart for explaining the principle 1 of the present invention. A state is detected in which the sum of the air volumes (the sum of the manipulated variables MV) has settled without reaching the lower limit value OL_all (step S1 in FIG. 1). When such a settling state is detected, an operation amount lower limit value OL for each zone is automatically set based on the settling state so that the total air volume (total operation amount MV) does not fall below the lower limit value OL_all ( Step S2). Thereby, the control limit can be improved as compared with an inefficient method of uniformly determining the operation amount lower limit value OL of each zone.

  As a method of setting the operation amount lower limit value OL in step S2, for example, assuming that the process gain of each zone is linear and the offset component is small, the lower limit value OL_all of the sum of the air volumes (sum of the operation amounts MV) is set to the operation amount of each zone. A method of proportionally allocating to the lower limit value OL is reasonable. Alternatively, for example, a method of evenly distributing the margin up to the lower limit value OL_all of the total sum of airflows (sum of the operation amount MV) to the operation amount lower limit value OL of each zone is reasonable.

  In the case of the above principle 1, the individual lower limit operation amount MV at the lowest sum can be grasped in advance when the settling state is detected. That is, it is possible to perform fine adjustment by intervention of manual setting by the operator.

[Principle of Invention 2]
In an air conditioning system that controls the temperature of each zone by dividing the space into a plurality of zones and controlling the amount of air sent to each zone, the operation amount MV of other zones other than the specific zone is the operation of other zones. If there is a margin beyond the amount lower limit value OL, the margin is regarded as an amount by which the operation amount lower limit value OL for the specific zone can be lowered, and the operation amount lower limit value OL for the specific zone is set appropriately. The inventor noticed that the control limit could be improved rather than completely fixing the lower limit value OL.

  FIG. 2 is a flowchart for explaining the principle 2 of the present invention. The operation amount lower limit value OL_f of each zone is fixed in advance so that the total air volume (total operation amount MV) does not fall below the lower limit value OL_all (step S3 in FIG. 2). When the operation amount MV of another zone other than the specific zone has a margin beyond the operation amount lower limit value OL_f of this other zone (YES in step S4), the surplus amount is used as the operation amount lower limit of the specific zone. A value obtained by subtracting a value based on the margin amount from the operation amount lower limit value OL_f of a specific zone is regarded as an operation amount lower limit value OL ′ that is actually used by the controller of the specific zone, assuming that the value OL_f can be reduced. S5).

  In the case of the above principle 2, it is possible to reduce the deviation of the lower limit operation amount MV at the time when the sum is lowest. In other words, when the margin is reduced in every zone, it converges to the predetermined operation amount lower limit value OL_f of each zone.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 3 is a block diagram showing the configuration of the air conditioning system according to the first embodiment of the present invention. This embodiment corresponds to Principle 1 of the invention described above.
1 is a space subject to air conditioning control, Z1 and Z2 are two zones that divide space 1, 2-1 and 2-2 are controllers that perform temperature control for each of the zones Z1 and Z2, and 3 is zones Z1 and Z2. A cooperative operation calculation unit for setting the operation amount lower limit values OL1 and OL2, 4-1 and 4-2 are sensors for measuring the control amounts PV1 and PV2 in the zones Z1 and Z2, and 5 is a cool and hot air in the zones Z1 and Z2. Heat source system to be supplied, 6-1 and 6-2 are air volume regulators for adjusting the amount of cool and warm air supplied to the zones Z1 and Z2, and 7-1 and 7-2 are cool and warm air outlets of the zones Z1 and Z2. .

The heat source system 5 includes, for example, a heat source that supplies cold / hot water, a coil that cools or heats air using the cold / hot water supplied from the heat source, a blower that sends out the cooled or heated air, and the like.
In the present embodiment, the medium-sized space 1 is divided into two zones Z1 and Z2 for temperature control. In this case, a normal single loop control system is constituted by two loops.

  FIG. 4 shows a configuration of a control device used in the air conditioning system of the present embodiment. The control device includes controllers 2-1 and 2-2, which are components for configuring a single loop control system, and a cooperative operation calculation unit 3.

  For example, the controller 2-1 inputs a set value SP input unit 20-1 that inputs a set value SP1 set by a resident of the zone Z1, and a control amount PV1 of the zone Z1 measured by the sensor 4-1. An amount PV input unit 21-1, a PID operation unit 22-1 serving as a control operation unit that calculates the operation amount MV1 based on the set value SP1 and the control amount PV1, and an operation amount MV1 for the air volume adjuster 6- 1 and an operation amount MV output unit 23-1 that outputs to the cooperative operation calculation unit 3.

  Similarly, the controller 2-2 inputs the set value SP input unit 20-2 for inputting the set value SP2 set by the resident of the zone Z2, and the control amount PV2 of the zone Z2 measured by the sensor 4-2. Control amount PV input unit 21-2 to perform, PID calculation unit 22-2 serving as a control calculation means for calculating the operation amount MV2 based on the set value SP2 and the control amount PV2, and the operation amount MV2 to the air volume regulator of the zone Z2. 6-2 and an operation amount MV output unit 23-2 that outputs to the cooperative operation calculation unit 3.

  The cooperative operation calculation unit 3 includes other operation amount input units 30-1 and 30-2 that receive operation amounts of zones other than the control target zone, and an operation amount total calculation unit 31- that calculates the sum of operation amounts. 1 and 31-2, and lower limit value distribution units 32-1 and 32-2 for setting the operation amount lower limit values OL1 and OL2 of the zones Z1 and Z2 are provided for the zones Z1 and Z2, respectively.

  FIG. 5 shows a block diagram of a control system in the present embodiment. P1 is a control target of the zone Z1, P2 is a control target of the zone Z2, and a feedback control system is formed for each of the zones Z1 and Z2 together with the PID calculation units 22-1 and 22-2. That is, a feedback control system including the control target P1 and the PID calculation unit 22-1 is formed in the zone Z1, and a feedback control system including the control target P2 and the PID calculation unit 22-2 is formed in the zone Z2.

  SP1 is a set value of the zone Z1, PV1 is a control amount of the zone Z1, and both are temperatures in this embodiment. Similarly, SP2 is a set value of the zone Z2, PV2 is a control amount of the zone Z2, and both are temperatures in this embodiment. MV1 is the operation amount of zone 1 calculated by the PID calculation unit 22-1, and MV2 is the operation amount of zone 2 calculated by the PID calculation unit 22-2.

  The operation amount total calculation units 31-1 and 31-2 and the lower limit value distribution units 32-1 and 32-2 calculate the operation amount total MV_all, and when the settling state of the control is detected, the operation amount total lower limit value OL_all. The cooperative control system that calculates and updates the rational distribution of the system is configured.

FIG. 6 shows a block diagram of a suitable control system in the present embodiment. FIG. 6 shows a more preferable and detailed configuration of the control system shown in FIG.
The damping processing units 310 and 311 are components for reducing high-frequency fluctuations in the operation amounts MV1 and MV2. The damping processing units 310 and 311 may be realized by, for example, a low-pass filter having a first-order delay time delay characteristic. When the time constant of the damping process in the zone Z1 is T1, the time constant of the damping process in the zone Z2 is T2, and the Laplace operator is s, the transfer function of the damping processing unit 310 is 1 / (1 + T1s), and the transmission of the damping processing unit 311 The function is 1 / (1 + T2s).

The adder 312 calculates an operation amount total MV_all, which is the sum of the operation amounts MV1 and MV2 after the damping process, as in the following equation.
MV_all = MV1 + MV2 (1)

The lower limit value distribution units 32-1 and 32-2 detect the settling state of the control of the zones Z1 and Z2, and the sum MV_all_s of the operation amounts MV1_s and MV2_s (setting operation amounts) of the zones Z1 and Z2 at the time of detection. This is a component for determining the operation amount lower limit value OL of each controller based on MV1_s + MV2_s. Specifically, the lower limit value distribution units 32-1 and 32-2 execute a proportional distribution process such as the following equation.
OL1 ← OL_all (MV1_s / MV_all_s) (2)
OL2 ← OL_all (MV2_s / MV_all_s) (3)

In Expressions (2) and (3), OL_all is a lower limit value of the sum total of the manipulated variables MV corresponding to the minimum sum of airflows necessary for ventilation of the space 1, and is a predetermined constant value. OL1 and OL2 are operation amount lower limit values used in the controllers 2-1 and 2-2 of the zones Z1 and Z2, respectively.
Expressions (2) and (3) distribute the operation amount total lower limit value OL_all to the operation amount lower limit value OL of each zone according to the ratio of the operation amount at the time of settling of each zone and the operation amount total at the time of settling. It means to do.

In addition, the lower limit value distribution units 32-1 and 32-2 may execute an equal distribution process such as the following expression instead of executing the expressions (2) and (3).
OL1 ← MV1_s− (MV_all_s−OL_all) / 2 (4)
OL2 ← MV2_s- (MV_all_s-OL_all) / 2 (5)
Expressions (4) and (5) mean that a margin for the lower limit value OL_all of the operation amount total MV_all_s during settling is equally distributed to the operation amount lower limit value OL of each zone.

Hereinafter, the operation of the control device of the present embodiment will be described. FIG. 7 is a flowchart showing the operation of the control device.
The set value SP1 is set by, for example, a resident in the zone Z1, and is input to the PID calculation unit 22-1 via the set value SP input unit 20-1 of the controller 2-1 (step S100). The set value SP2 is set, for example, by a resident in the zone Z2, and is input to the PID calculation unit 22-2 via the set value SP input unit 20-2 of the controller 2-2 (step S101).

  The control amount PV1 is measured by the sensor 4-1, and is input to the PID calculation unit 22-1 via the control amount PV input unit 21-1 of the controller 2-1 (step S102). The control amount PV2 is measured by the sensor 4-2, and is input to the PID calculation unit 22-2 via the control amount PV input unit 21-2 of the controller 2-2 (step S103).

Based on the set value SP1 and the control amount PV1, the PID calculation unit 22-1 calculates the manipulated variable MV1 by performing a PID control calculation such as the following equation (step S104). Similarly, the PID calculation unit 22-2 Then, the operation amount MV2 is calculated based on the set value SP2 and the control amount PV2 (step S105).
MV1 = Kg1 {1+ (1 / Ti1s) + Td1s} (SP1-PV1)
... (6)
MV2 = Kg2 {1+ (1 / Ti2s) + Td2s} (SP2-PV2)
... (7)

In Expressions (6) and (7), Kg1 and Kg2 are proportional gains, Ti1 and Ti2 are integration times, and Td1 and Td2 are differentiation times.
Note that the proportional gains Kg1, Kg2 are set to negative values during cooling, and the proportional gains Kg1, Kg2 are set to positive values during heating.

Furthermore, the PID calculation unit 22-1 performs upper and lower limit processing of the operation amount MV1 as in the following expression when the operation amount MV1 is output.
IF MV1> OH1 THEN MV1 = OH1 (8)
IF MV1 <OL1 THEN MV1 = OL1 (9)
That is, when the operation amount MV1 is larger than the preset operation amount upper limit value OH1, the PID calculation unit 22-1 performs an upper limit process for outputting the operation amount MV1 = OH1, and the operation amount MV1 is the lower limit value distribution unit 32- When it is smaller than the operation amount lower limit value OL1 output from 1, the lower limit process of outputting as the operation amount MV1 = OL1 is performed.

Similarly, when outputting the operation amount MV2, the PID calculation unit 22-2 performs upper and lower limit processing of the operation amount MV2 as in the following expression.
IF MV2> OH2 THEN MV2 = OH2 (10)
IF MV2 <OL2 THEN MV2 = OL2 (11)
OH2 is a preset operation amount upper limit value, and OL2 is an operation amount lower limit value output from the lower limit value distribution unit 32-2.

  The manipulated variable MV output units 23-1 and 23-2 output the manipulated variables MV1 and MV2 output from the PID calculating units 22-1 and 22-2 to the air volume adjusters 6-1 and 6-2, respectively. This is output to the motion calculation unit 3.

  The total operation amount calculation unit 31-1 of the cooperative operation calculation unit 3 receives the operation amount MV1 output from the controller 2-1 and receives the operation amount MV2 output from the controller 2-2 from the other operation amount input unit 30. Receive via -1. The operation amount total calculation unit 31-2 receives the operation amount MV2 output from the controller 2-2 and also receives the operation amount MV1 output from the controller 2-1 via the other all operation amount input unit 30-2. .

  The damping processing units 310 and 311 in the operation amount total calculation unit 31-1 perform damping processing on the operation amounts MV1 and MV2, respectively (step S106). Similarly, the damping processing units 310 and 311 in the operation amount total calculation unit 31-2. 311 performs a damping process on the operation amounts MV1 and MV2 (step S107).

  Subsequently, the adding unit 312 in the operation amount total calculation unit 31-1 calculates the operation amount total MV_all from the operation amounts MV1 and MV2 after the damping process as shown in Expression (1) (step S108), and similarly. The adding unit 312 in the operation amount total calculation unit 31-2 calculates the operation amount total MV_all (step S109).

  Next, the lower limit value distribution units 32-1 and 32-2 detect a state in which the operation amount sum MV_all is larger than the lower limit value OL_all and the control of the zones Z1 and Z2 is settled (steps S110 and S111). The lower limit value distribution units 32-1 and 32-2 determine whether or not the control of the zone Z1 is settled based on the set value SP1 and the control amount PV1, and based on the set value SP2 and the control amount PV2 Determine if control is settling. The settling determination method is disclosed in, for example, Japanese Patent Laid-Open No. 9-160604.

  When the total operation amount MV_all is larger than the lower limit value OL_all and the controls of the zones Z1 and Z2 are both set, the lower limit value distribution unit 32-1 and the operation amount total MV_all_s at the settling time are set. And the operation amount total lower limit value OL_all, the operation amount lower limit value OL1 is calculated as in equation (2) or equation (4), and this operation amount lower limit value OL1 is output to the PID calculation unit 22-1 (step S112). .

  When the total operation amount MV_all is larger than the lower limit value OL_all and the controls of the zones Z1 and Z2 are both set, the lower limit value distribution unit 32-2 and the operation amount total MV_all_s at the settling time are set. And the operation amount total lower limit value OL_all, the operation amount lower limit value OL2 is calculated as in Expression (3) or Expression (5), and this operation amount lower limit value OL2 is output to the PID calculation unit 22-2 (Step S113). .

The processes in steps S100 to S113 as described above are repeatedly executed for each control cycle until the end of control is instructed by an operator of the air conditioning system (YES in step S114), for example.
Note that if the total operation amount MV_all decreases and reaches the lower limit value OL_all, or if at least one of the controls of the zones Z1 and Z2 is not set, the determination is NO in steps S110 and S111. That is, the operation amount lower limit values OL1 and OL2 are updated only in the control cycle in which the settling state is detected.

  FIG. 8 is a diagram illustrating a numerical example during cooling of the conventional air conditioning system and the air conditioning system of the present embodiment. In each of FIGS. 8A, 8B, and 8C, it is assumed that the predetermined lower limit value OL_all of the total operation amount is 40.0%.

  FIG. 8A shows the case of a conventional air conditioning system. Here, the set value SP1 of the zone Z1 and the set value SP2 of the zone Z2 are both 25.0 ° C., and the operation amount lower limit value OL1 of the zone Z1 and the operation amount lower limit value OL2 of the zone Z2 are both 20.0%. And In order to control the control amount PV1 of the zone Z1 to 25.0 ° C., the operation amount MV1 originally necessary is 45.0%, and originally necessary to control the control amount PV2 of the zone Z2 to 25.0 ° C. Assuming that the manipulated variable MV2 is 15.0%, there is a margin of 20.0% (MV1 + MV2-OL_all = 45.0% + 15.0% -40.0%) as the total air volume (total manipulated variable MV). There will be. However, since the operation amount lower limit value OL2 for the zone Z2 is 20.0%, the operation amount MV2 is limited to 20.0%, that is, by performing cooling more than necessary, the control amount PV2 of the zone Z2 is For example, the temperature is 24.3 ° C., which is shifted from the set value SP2. Thus, in the conventional air conditioning system, the controllable temperature range is restricted.

  On the other hand, if this embodiment is applied to the situation shown in FIG. 8A, if the operation amount MV1 of the zone Z1 is 45.0% and the operation amount MV2 of the zone Z2 is 15.0%, As shown in FIG. 8B, the operation amount lower limit value OL1 of the zone Z1 is 30.0% (40.0% {45.0% / (45.0% + 15.0%)}), and the zone The manipulated variable lower limit value OL2 of Z2 becomes 10.0% (40.0% {15.0% / (45.0% + 15.0%)}). Therefore, MV1 = 45.0% and MV2 = 15.0% are output without restriction, and the control amount PV1 of the zone Z1 and the control amount PV2 of the zone Z2 are both controlled to 25.0 ° C.

  From the state of FIG. 8B, the external condition changes and the originally required operation amount decreases, for example, the originally required operation amount MV1 is 29.0%, and the originally required operation amount MV2 is 9.0%. In the situation, since the operation amount total MV_all decreases and reaches the lower limit value OL_all, it becomes a determination NO in steps S110 and S111 of FIG. 7, and the operation amount lower limit value OL1 of the zone Z1 is in the state of FIG. The determined operation amount lower limit value OL2 of the zone Z2 is fixed to 10.0% determined in the state of FIG. 8B. Therefore, the operation amount MV1 is limited to 30.0%, and the operation amount MV2 is limited to 10.0% (FIG. 8C). In this case, for example, the control amount PV1 of the zone Z1 and the control amount PV2 of the zone Z2 are both 24.9 ° C. and slightly deviate from the settings SP1 and SP2, so that the controllability is sacrificed. It can be seen that the probability that the controllability is greatly sacrificed is reduced.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. FIG. 9 is a block diagram showing a configuration of an air conditioning system according to the second embodiment of the present invention. This embodiment corresponds to Principle 1 of the invention described above.
1a is a space subject to air conditioning control, Z1 to Z6 are six zones obtained by dividing the space 1a, 2-1 to 2-6 are controllers that perform temperature control for each of the zones Z1 to Z6, 3a is a cooperative operation calculation unit, 4-1 to 4-6 are sensors for measuring the control amounts PV1 to PV6 of the zones Z1 to Z6, 5 is a heat source system for supplying the warm air to the zones Z1 to Z6, and 6-1 to 6-6 are the zones Z1 to Z6. The air volume regulators 7-1 to 7-6 for adjusting the air volume of the cool and warm air supplied to the air are outlets for the cool and warm air in the zones Z1 to Z6.

In the present embodiment, the large-scale space 1a is divided into six zones Z1 to Z6 for temperature control. In this case, a normal single-loop control system is configured with six loops.
FIG. 10 shows a configuration of a control device used in the air conditioning system of the present embodiment. The control device includes controllers 2-1 to 2-6 and a cooperative operation calculation unit 3a.

  The controllers 2-1 to 2-6 include set value SP input units 20-1 to 20-6, control amount PV input units 21-1 to 21-6, PID calculation units 22-1 to 22-6, The manipulated variable MV output units 23-1 to 23-6 are provided for the zones Z1 to Z6, respectively.

  The cooperative operation calculation unit 3a includes other operation amount input units 30a-1 to 30a-6, operation amount total calculation units 31a-1 to 31a-6, and lower limit value distribution units 32a-1 to 32a-6. It is provided for each of the zones Z1 to Z6.

  FIG. 11 shows a block diagram of a control system in the present embodiment. Similar to the first embodiment, a feedback control system including the control target P1 and the PID calculation unit 22-1 is formed in the zone Z1. The same applies to the other zones Z2 to Z6. In FIG. 11, only the control system of the zone Z1 is shown, and the description of the control systems of the other zones Z2 to Z6 is omitted.

MVe1 represents the sum of the operation amounts MV2 to MV6 of the zones Z2 to Z6 other than the zone Z1.
The operation amount total calculation unit 31a-1 and the lower limit value distribution unit 32a-1 calculate the operation amount total MV_all, and calculate and update the rational distribution of the operation amount total lower limit value OL_all when the settling state of the control is detected. The cooperative control system that performs is configured.

FIG. 12 shows a block diagram of a suitable control system in the present embodiment. FIG. 12 shows a more preferable and detailed configuration of the control system shown in FIG.
The configuration and operation of the damping processing unit 310 in the operation amount total calculation unit 31a-1 are the same as those in the first embodiment.

The addition unit 313 in the operation amount total calculation unit 31a-1 calculates another total operation amount MVe1 that is the sum of the operation amounts MV2 to MV6 of the zones Z2 to Z6 other than the zone Z1 as in the following equation.
MVe1 = MV2 + MV3 + MV4 + MV5 + MV6 (12)

  The damping processing unit 314 is a component for reducing high-frequency fluctuations of the other total operation amount sum MVe1. The damping processing unit 314 may be realized by a low-pass filter having a time delay characteristic of a first order delay, for example. When the time constant of the damping process of the other total operation amount sum MVe1 is Te1, the transfer function of the damping processing unit 314 is 1 / (1 + Te1s).

The adder 312a calculates an operation amount total MV_all, which is the sum of the operation amounts MV1 and MVe1 after the damping process, as in the following equation.
MV_all = MV1 + MVe1 (13)

  The lower limit value distribution unit 32a-1 detects the settling state of the control of the zones defined in advance among the zones Z1 to Z6, and the sum MV_all_s of the operation amounts MV1_s to MV6_s (setting operation amounts) of the zones Z1 to Z6 at the time of detection. = MV1_s + MVe1_s = MV1_s + MV2_s + MV3_s + MV4_s + MV5_s + MV6_s Based on equation (2), the operation amount lower limit value OL1 of the controller 2-1 is determined.

Further, the lower limit value distribution unit 32a-1 may execute an equal distribution process such as the following expression instead of executing the expression (2).
OL1 ← MV1_s− (MV_all_s−OL_all) / n (14)

  In Equation (14), n is the number of zones, and n = 6 in the present embodiment. Although the processing of the zone Z1 has been described so far, the same processing may be performed for other zones.

Hereinafter, the operation of the control device of the present embodiment will be described. FIG. 13 is a flowchart showing the operation of the control device. In FIG. 13, only the processing of zones Z1 and Z2 is described for easy description.
The processing of steps S200 to S205 is the same as steps S100 to S105 of the first embodiment.

The operation amount total calculation unit 31a-1 of the cooperative operation calculation unit 3a receives the operation amount MV1 output from the controller 2-1, and the operation amounts MV2 to MV6 output from the other controllers 2-2 to 2-6. Are received via the other total operation amount input unit 30a-1. The operation amount total calculation unit 31a-2 receives the operation amount MV2 output from the controller 2-2, and also operates the operation amounts MV1, MV3 to MV6 output from the other controllers 2-1, 2-3 to 2-6. Are received via the other operation amount input unit 30a-2.
The damping processing unit 310 in the operation amount total calculation units 31a-1 and 31a-2 performs damping processing on the operation amounts MV1 and MV2, respectively (steps S206 and S207).

The addition unit 313 in the operation amount total calculation unit 31a-1 calculates another total operation amount MVe1 that is the sum of the operation amounts MV2 to MV6 of the zones Z2 to Z6 other than the zone Z1 as shown in Expression (12). (Step S208). The addition unit 313 in the operation amount total calculation unit 31a-2 calculates the other total operation amount sum MVe2 that is the sum of the operation amounts MV1 and MV3 to MV6 of the zones Z1, Z3 to Z6 other than the zone Z2 as follows: (Step S209).
MVe2 = MV1 + MV3 + MV4 + MV5 + MV6 (15)

The damping processing unit 314 in the operation amount total calculation units 31a-1 and 31a-2 performs damping processing on the other total operation amount sums MVe1 and MVe2 respectively (steps S210 and S211).
The addition unit 312a in the operation amount total calculation unit 31a-1 calculates the operation amount total MV_all as shown in Expression (13) from the operation amounts MV1 and MVe1 after the damping process (step S212). The addition unit 312a in the operation amount total calculation unit 31a-2 calculates the operation amount total MV_all from the operation amounts MV2 and MVe2 after the damping process as shown in the following equation (step S213).
MV_all = MV2 + MVe2 (16)

  Next, the lower limit value distribution units 32a-1 and 32a-2 detect a state in which the total operation amount MV_all is larger than the lower limit value OL_all and the control of the zone defined in advance among the zones Z1 to Z6 is set. (Steps S214 and S215). As described in the first embodiment, whether or not a certain zone is set can be determined based on the set value SP and the control amount PV of the zone.

  When the total operation amount MV_all is larger than the lower limit value OL_all and the control of a predetermined zone is set, the lower limit value distribution unit 32a-1 and the operation amount total MV_all_s at the settling time are set. And the operation amount total lower limit value OL_all, the operation amount lower limit value OL1 is calculated as in equation (2) or equation (14), and this operation amount lower limit value OL1 is output to the PID calculation unit 22-1 (step S216). .

When the total operation amount MV_all is larger than the lower limit value OL_all and the control of the predetermined zone is set, the lower limit value distribution unit 32a-2 and the operation amount total MV_all_s at the settling time are set. And the manipulated variable total lower limit value OL_all, the manipulated variable lower limit value OL2 is calculated as shown in Equation (3) or the following Equation (17), and this manipulated variable lower limit value OL2 is output to the PID calculating unit 22-2 (Step S1). S217).
OL2 ← MV2_s- (MV_all_s-OL_all) / n (17)

The processes in steps S200 to S217 as described above are repeatedly executed at every control cycle until the end of control is instructed by an operator of the air conditioning system (YES in step S218), for example. Although the processing of the zones Z1 and Z2 has been described in FIG. 13, the same processing may be performed for other zones.
Thus, even when the space is divided into two or more zones, the same effect as in the first embodiment can be obtained.

  Note that if the total operation amount MV_all decreases and reaches the lower limit value OL_all, or if at least one of the predetermined zones is not set, the determination is NO in steps S214 and S215. That is, the operation amount lower limit values OL1 and OL2 are updated only in the control cycle in which the settling state is detected.

  In the first embodiment, the state in which the control of both the zones Z1 and Z2 is set is detected. However, as described in the present embodiment, the settling state is detected for a predetermined zone. Just do it.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. FIG. 14 is a block diagram showing a configuration of an air conditioning system according to the third embodiment of the present invention, and FIG. 15 is a block diagram showing a configuration of a control device used in the air conditioning system of the present embodiment. The same components as those in FIG. The present embodiment corresponds to the second principle of the present invention, and performs temperature control by dividing the medium-scale space 1 into two zones Z1 and Z2. In this case, a normal single loop control system is constituted by two loops.

The control device includes controllers 2b-1 and 2b-2, which are components for configuring a single loop control system, and a cooperative operation calculation unit 3b.
The controller 2b-1 includes a set value SP input unit 20-1, a control amount PV input unit 21-1, and a PID calculation unit serving as a control calculation unit that calculates the operation amount MV1 based on the set value SP1 and the control amount PV1. 22b-1 and an operation amount MV output unit 23-1.

  Similarly, the controller 2b-2 serves as a control value calculation unit that calculates the operation amount MV2 based on the set value SP input unit 20-2, the control amount PV input unit 21-2, and the set value SP2 and the control amount PV2. A PID calculation unit 22b-2 and an operation amount MV output unit 23-2 are provided.

  The cooperative operation calculation unit 3b is a lower limit margin distribution unit 33-1, 33 that performs setting processing of the other operation amount input units 30-1, 30-2 and the operation amount lower limit values OL1 ′, OL2 ′ of the zones Z1, Z2. -2 for each of the zones Z1 and Z2.

  FIG. 16 shows a block diagram of a control system in the present embodiment. Similar to the first embodiment, a feedback control system including the control target P1 and the PID calculation unit 22b-1 is formed in the zone Z1, and a feedback control system including the control target P2 and the PID calculation unit 22b-2 is provided. It is formed in zone Z2.

  The lower limit margin allocation units 33-1 and 33-2 operate the operation amount MV in a zone other than the control target zone (the operation amount MV2 when the control target is the zone Z1, and the operation amount MV1 when the control target is the zone Z2. ) And a predetermined operation amount lower limit value OL_f of another zone is regarded as an amount by which the operation amount lower limit value OL_f of the zone to be controlled can be lowered, and a cooperative control system is configured to appropriately distribute. ing.

FIG. 17 shows a block diagram of a suitable control system in the present embodiment. FIG. 17 shows a more preferable and detailed configuration of the control system shown in FIG.
The damping processing units 330 and 331 are components for reducing high-frequency fluctuations in the operation amounts MV1 and MV2. The damping processing units 330 and 331 may be realized by, for example, a low-pass filter having a first-order delay time delay characteristic. When the time constant of the damping process of the zone Z1 is T1, the time constant of the damping process of the zone Z2 is T2, and the Laplace operator is s, the transfer function of the damping processing unit 330 is 1 / (1 + T1s), and the transmission of the damping processing unit 331 The function is 1 / (1 + T2s).

The manipulated variable lower limit value determining unit 332 sets the margin between the manipulated variable MV2 after the damping process of the zone Z2 and the manipulated variable lower limit value OL2_f as an amount that can reduce the manipulated variable lower limit value OL1_f of the zone Z1. The operation amount lower limit value OL1 ′ that is actually used is determined, and the amount of margin between the operation amount MV1 after the damping process of the zone Z1 and the operation amount lower limit value OL1_f can be reduced to the operation amount lower limit value OL2_f of the zone Z2. This is a component for determining the manipulated variable lower limit value OL2 ′ that is actually used in the zone Z2. Specifically, the operation amount lower limit determination unit 332 executes the following expression.
If MV2-OL2_f> 0
The OL1 '← OL1_f- (MV2-OL2_f) / m
Else OL1 '← OL1_f (18)
If MV1-OL1_f> 0
The OL2 '← OL2_f- (MV1-OL1_f) / m
Else OL2 '← OL2_f (19)

  In the equations (18) and (19), OL1 ′ and OL2 ′ are the operation amount lower limit values actually used in the controllers 2b-1 and 2b-2 of the zones Z1 and Z2, respectively, and OL1_f and OL2_f are respectively the zones. This is a predetermined operation amount lower limit value of Z1 and Z2. For example, if OL1_f = OL2_f = 20.0%, it means that the lower limit value OL_all of the sum of the airflows (sum of the manipulated variables MV) is 40.0%, and the design is equally distributed. ing. M is a positive value of 1 or more set as appropriate, for example, m = 2.0.

  When the margin between the manipulated variable MV2 after the damping process and the manipulated variable lower limit value OL2_f is greater than 0, the formula (18) subtracts the manipulated variable lower limit value OL1_f by a value obtained by dividing this margin amount by m. This means that the value is the operation amount lower limit value OL1 ′ actually used in the controller 2b-1 in the zone Z1. When the margin between the manipulated variable MV1 after the damping process and the manipulated variable lower limit value OL1_f is greater than 0, the formula (19) reduces the manipulated variable lower limit value OL2_f by a value obtained by dividing the margin by m. This means that the value is the operation amount lower limit value OL2 ′ actually used in the controller 2b-2 in the zone Z2.

The manipulated variable lower limit determination unit 332 may perform the following processing instead of the equations (18) and (19).
If MV2-OL2_f> 0
Then OL1 '← OL1_f-α (MV2-OL2_f)
Else OL1 '← OL1_f (20)
If MV1-OL1_f> 0
The OL2 '← OL2_f-α (MV1-OL1_f)
Else OL2 '← OL2_f (21)

In Expressions (20) and (21), α is a value that is appropriately designed to be 0 or more and 1 or less, for example, α = 0.5.
In Expressions (18) and (20), the processing after “Else” is the operation amount lower limit when the margin between the operation amount MV2 after the damping process and the operation amount lower limit value OL2_f becomes 0 or less. This means that the lowering of the value OL1 ′ is canceled and the operation amount lower limit value OL1 ′ is returned to the operation amount lower limit value OL1_f. Similarly, in the expressions (19) and (21), the processing after “Else” is performed when the margin between the operation amount MV1 after the damping process and the operation amount lower limit value OL1_f becomes 0 or less. This means that the lowering of the manipulated variable lower limit value OL2 ′ is canceled and the manipulated variable lower limit value OL2 ′ is returned to the manipulated variable lower limit value OL2_f.

Hereinafter, the operation of the control device of the present embodiment will be described. FIG. 18 is a flowchart showing the operation of the control device.
The processing of steps S300 to S303 is the same as that of steps S100 to S103 of the first embodiment.

  The PID calculation unit 22b-1 calculates a manipulated variable MV1 by performing a PID control calculation as shown in Expression (6) based on the set value SP1 and the control amount PV1 (step S304), and the PID calculation unit 22b-2 Based on the set value SP2 and the control amount PV2, a PID control calculation such as Expression (7) is performed to calculate an operation amount MV2 (step S305). Similar to the first embodiment, the proportional gains Kg1, Kg2 are set to negative values during cooling, and the proportional gains Kg1, Kg2 are set to positive values during heating.

Furthermore, when outputting the operation amount MV1, the PID calculation unit 22b-1 performs an upper limit process of the operation amount MV1 as in Expression (8), and also performs a lower limit process of the operation amount MV1 as in the following expression.
IF MV1 <OL1 ′ THEN MV1 = OL1 ′ (22)
That is, when the operation amount MV1 is larger than the preset operation amount upper limit value OH1, the PID calculation unit 22b-1 outputs the operation amount MV1 = OH1 and the operation amount MV1 is output from the lower limit margin distribution unit 33-1. When the operation amount is lower than the lower limit value OL1 ′, the operation amount is output as MV1 = OL1 ′.

Similarly, when the operation amount MV2 is output, the PID calculation unit 22b-2 performs an upper limit process of the operation amount MV2 as in Expression (10), and performs a lower limit process of the operation amount MV2 as in the following expression.
IF MV2 <OL2 ′ THEN MV2 = OL2 ′ (23)
OL2 ′ is an operation amount lower limit value output from the lower limit allowance distribution unit 33-2.

  The manipulated variable MV output units 23-1 and 23-2 output the manipulated variables MV1 and MV2 output from the PID calculating units 22b-1 and 22b-2 to the air volume adjusters 6-1 and 6-2, respectively, and cooperate with each other. It outputs to the operation | movement calculating part 3b.

  The lower limit margin distribution unit 33-1 of the cooperative operation calculation unit 3b receives the operation amount MV1 output from the controller 2-1, and the operation amount MV2 output from the controller 2-2 to the other operation amount input unit 30-. Receive via 1. The lower limit margin distribution unit 33-2 receives the operation amount MV2 output from the controller 2-2 and also receives the operation amount MV1 output from the controller 2-1 via the other all operation amount input unit 30-2.

  The damping processing units 330 and 331 in the lower limit margin allocation unit 33-1 dump the manipulated variables MV1 and MV2, respectively (step S306). Similarly, the damping processing units 330 and 331 in the lower limit margin allocation unit 33-2 The operation amounts MV1 and MV2 are subjected to a damping process (step S307).

  The operation amount lower limit value determination unit 332 in the lower limit allowance distribution unit 33-1 determines whether or not the allowance amount (MV2-OL2_f) between the operation amount MV2 after the damping process and the operation amount lower limit value OL2_f is greater than zero. (Step S308). The operation amount lower limit value determination unit 332 in the lower limit allowance distribution unit 33-2 determines whether or not the allowance amount (MV1-OL1_f) between the operation amount MV1 after the damping process and the operation amount lower limit value OL1_f is greater than zero. (Step S309).

  When the margin (MV2-OL2_f) between the manipulated variable MV2 after the damping process and the manipulated variable lower limit OL2_f is greater than zero, the manipulated variable lower limit determining unit 332 in the lower limit margin allocating unit 33-1. The operation amount lower limit value OL1 ′ actually used in the controller 2b-1 is calculated as in equation (18) or equation (20), and this operation amount lower limit value OL1 ′ is output to the PID calculation unit 22b-1. (Step S310).

  When the margin (MV1-OL1_f) between the manipulated variable MV1 after the damping process and the manipulated variable lower limit OL1_f is greater than 0, the manipulated variable lower limit determining unit 332 in the lower limit margin allocating unit 33-2 is the zone Z2. The operation amount lower limit value OL2 ′ actually used in the controller 2b-2 is calculated as in equation (19) or equation (21), and this operation amount lower limit value OL2 ′ is output to the PID calculation unit 22b-2. (Step S311).

  Further, the operation amount lower limit value determination unit 332 in the lower limit allowance distribution unit 33-1 has a margin (MV2-OL2_f) between the operation amount MV2 after the damping process and the operation amount lower limit value OL2_f equal to or less than 0. The operation amount lower limit value OL1 ′ actually used in the controller 2b-1 in the zone Z1 is set as a predetermined operation amount lower limit value OL1_f, and this operation amount lower limit value OL1 ′ is output to the PID calculation unit 22b-1 (Step S1). S312).

  When the margin (MV1-OL1_f) between the manipulated variable MV1 after the damping process and the manipulated variable lower limit OL1_f is 0 or less, the manipulated variable lower limit deciding unit 332 in the lower limit margin allocating unit 33-2 is the zone Z2. The operation amount lower limit value OL2 ′ actually used in the controller 2b-2 is set as a predetermined operation amount lower limit value OL2_f, and this operation amount lower limit value OL2 ′ is output to the PID calculation unit 22b-2 (step S313). .

  The processes in steps S300 to S313 as described above are repeatedly executed for each control cycle until the end of control is instructed by an operator of the air conditioning system (YES in step S314), for example.

  FIG. 19 is a diagram illustrating numerical examples during cooling of the conventional air conditioning system and the air conditioning system of the present embodiment. FIG. 19A shows a case of a conventional air conditioning system. Here, the set value SP1 of the zone Z1 and the set value SP2 of the zone Z2 are both 25.0 ° C., and the operation amount lower limit value OL1 of the zone Z1 and the operation amount lower limit value OL2 of the zone Z2 are both 20.0%. And That is, it is assumed that the lower limit value OL_all of the operation amount sum defined in advance is 40.0%.

  In order to control the control amount PV1 of the zone Z1 to 25.0 ° C., the operation amount MV1 originally necessary is 45.0%, and originally necessary to control the control amount PV2 of the zone Z2 to 25.0 ° C. Assuming that the manipulated variable MV2 is 15.0%, there is a margin of 20.0% (MV1 + MV2-OL_all = 45.0% + 15.0% -40.0%) as the total air volume (total manipulated variable MV). There will be. However, since the operation amount lower limit value OL2 for the zone Z2 is 20.0%, the operation amount MV2 is limited to 20.0%, that is, by performing cooling more than necessary, the control amount PV2 of the zone Z2 is For example, the temperature is 24.3 ° C., which is shifted from the set value SP2. Thus, in the conventional air conditioning system, the controllable temperature range is restricted.

  On the other hand, when this embodiment is applied to the situation shown in FIG. 19A, if the operation amount MV1 of the zone Z1 is 45.0% and the operation amount lower limit value OL1_f is 20.0%, a margin amount is obtained. Therefore, when m = 2.0, 12.5%, which is half of the margin, is set as the amount by which the operation amount lower limit value OL2_f can be lowered, and the operation amount lower limit value OL2 ′ is set to 7.5%. To do. Accordingly, as shown in FIG. 19B, the manipulated variable MV2 can be output at 15.0%, which is lower than 20.0% of the initial manipulated variable lower limit value OL2_f. And the control amount PV2 of the zone Z2 are both controlled to 25.0 ° C.

  From the state shown in FIG. 19B, the externally operating condition changes and the originally required operation amount decreases. For example, the originally required operation amount MV1 is 19.0% and the originally required operation amount MV2 is 13.0%. In the situation, the margin (MV1-OL1_f) between the manipulated variable MV1 and the manipulated variable lower limit value OL1_f is 0 or less, and the margin (MV2-OL2_f) between the manipulated variable MV2 and the manipulated variable lower limit value OL2_f. Therefore, as shown in FIG. 19C, OL1 ′ = OL1_f = 20.0% and OL2 ′ = OL2_f = 20.0%. That is, when the operation amount MV is controlled in a direction in which all the zones are lower than the predetermined operation amount lower limit value OL_f, the operation amount MV of each zone at the lowest sum is the predetermined operation amount lower limit value OL_f. Converge to. In this case, for example, the control amount PV1 of the zone Z1 and the control amount PV2 of the zone Z2 are both less than 25.0 ° C., but the controllability is sacrificed except when such a state occurs. Therefore, the controllability is improved as a whole.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described. FIG. 20 is a block diagram showing a configuration of an air conditioning system according to the fourth embodiment of the present invention, and FIG. 21 is a block diagram showing a configuration of a control device used in the air conditioning system of the present embodiment. The same components as those in FIG. This embodiment corresponds to the second principle of the present invention, and performs temperature control by dividing a large-scale space 1a into six zones Z1 to Z6. In this case, a normal single-loop control system is configured with six loops.

The control device includes controllers 2b-1 to 2b-6, which are components for configuring a single loop control system, and a cooperative operation calculation unit 3c.
The controllers 2b-1 to 2b-6 include set value SP input units 20-1 to 20-6, control amount PV input units 21-1 to 21-6, PID calculation units 22b-1 to 22b-6, The manipulated variable MV output units 23-1 to 23-6 are provided for the zones Z1 to Z6, respectively.
The cooperative operation calculation unit 3c includes other all operation amount input units 30c-1 to 30c-6 and lower limit margin distribution units 33c-1 to 33c-6 for the zones Z1 to Z6, respectively.

  FIG. 22 shows a block diagram of a control system in the present embodiment. Similar to the first embodiment, a feedback control system including the control target P1 and the PID calculation unit 22-1 is formed in the zone Z1. The same applies to the other zones Z2 to Z6. In FIG. 22, only the control system of the zone Z1 is shown, and the description of the control systems of the other zones Z2 to Z6 is omitted.

MVe1 represents the sum of the operation amounts MV2 to MV6 of the zones Z2 to Z6 other than the zone Z1.
The lower limit margin allocation unit 33c-1 calculates the margin amount between the other total operation amount sum MVe1 and the total sum OLe1 of the predetermined operation amount lower limit values of the zones Z2 to Z6 other than the zone Z1 in the operation of the zone Z1. The cooperative control system is configured so that the amount lower limit value OL1_f can be lowered.

FIG. 23 shows a block diagram of a suitable control system in the present embodiment. FIG. 23 shows a more preferable and detailed configuration of the control system shown in FIG.
The adding unit 333 in the lower limit margin distributing unit 33c-1 calculates another total operation amount MVe1 which is the sum of the operation amounts MV2 to MV6 of the zones Z2 to Z6 other than the zone Z1 as in the following equation.
MVe1 = MV2 + MV3 + MV4 + MV5 + MV6 (24)

  Note that the operation amount MV1 of the zone Z1 is not used in the lower limit allowance distribution unit 33c-1, and the other total operation amount sums MVe2 to MVe6 in the lower limit allowance distribution units 33c-2 to 33c-6 of the other zones Z2 to Z6. Used for calculation.

  The damping processing unit 334 is a component for reducing high-frequency fluctuations in the other total operation amount sum MVe1. The damping processing unit 334 may be realized by a low-pass filter having a time delay characteristic of a first order delay, for example. When the time constant of the damping process of the other total operation amount sum MVe1 is Te1, the transfer function of the damping processing unit 334 is 1 / (1 + Te1s).

The operation amount lower limit value determination unit 332c determines the margin between the other operation amount sum MVe1 after the damping process and the total operation amount OLe1 of the predetermined operation amount lower limit values of the other zones Z2 to Z6 as the operation of the zone Z1. The manipulated variable lower limit value OL1 ′ that is actually used in the zone Z1 is determined as an amount by which the lower limit value OL1_f can be lowered. Specifically, the operation amount lower limit determination unit 332c executes the following expression.
If MVe1-OLe1> 0
Then OL1 '← OL1_f- (MVe1-OLe1) / m
Else OL1 '← OL1_f (25)

  In the equation (25), OL1 'is an operation amount lower limit value actually used in the controller 2b-1 of the zone Z1, and OL1_f is an operation amount lower limit value defined in advance for the zone Z1. For example, if OL1_f = 20.0%, it means that some distribution related to the lower limit value OL_all of the sum of the airflows (sum of the manipulated variables MV) is designed in advance. M is a positive value of 1 or more set as appropriate, for example, m = 2.0.

The sum OLe1 of the predetermined manipulated variable lower limit values of the other zones Z2 to Z6 is expressed by the following equation.
OLe1 = OL2_f + OL3_f + OL4_f + OL5_f + OL6_f
... (26)
Here, OL2_f to OL6_f are predetermined operation amount lower limit values of the zones Z2 to Z6. The total sum of the operation amount lower limit values OL1_f to OL6_f is OL_all.

  Equation (25) is obtained when the margin between the other total manipulated variable MVe1 after the damping process and the total manipulated variable lower limit OLe1 of the other zones Z2 to Z6 is greater than zero. The value obtained by subtracting the operation amount lower limit value OL1_f by the value obtained by dividing the amount by m means that the operation amount lower limit value OL1 ′ actually used in the controller 2b-1 in the zone Z1.

The manipulated variable lower limit determination unit 332c may perform the following processing instead of the equation (25).
If MVe1-OLe1> 0
Then OL1 '← OL1_f-α (MVe1-OLe1)
Else OL1 '← OL1_f (27)

In Expression (27), α is a value that is appropriately designed to be 0 or more and 1 or less, for example, α = 0.5.
In Expressions (25) and (27), the processing after “Else” is performed between the other total operation amount sum MVe1 after the damping processing and the total sum OLe1 of the predetermined operation amount lower limit values of the other zones Z2 to Z6. This means that the operation amount lower limit value OL1 ′ is released from lowering and the operation amount lower limit value OL1 ′ is returned to the operation amount lower limit value OL1_f when the surplus amount between them becomes 0 or less.

Hereinafter, the operation of the control device of the present embodiment will be described. FIG. 23 is a flowchart showing the operation of the control device.
The processing of steps S400 to S405 is the same as steps S300 to S305 of the third embodiment.

  The lower limit margin distribution unit 33c-1 of the cooperative operation calculation unit 3c receives the operation amount MV1 output from the controller 2b-1, and receives the operation amounts MV2 to MV6 output from the other controllers 2b-2 to 2b-6. It is received via the other total operation amount input unit 30c-1. The lower limit margin distribution unit 33c-2 receives the operation amount MV2 output from the controller 2b-2 and receives the operation amounts MV1, MV3 to MV6 output from the other controllers 2b-1, 2b-3 to 2b-6. This is received via the other operation amount input unit 30c-2.

The addition unit 333 in the lower limit margin distribution unit 33c-1 calculates another total operation amount sum MVe1 that is the sum of the operation amounts MV2 to MV6 of the zones Z2 to Z6 other than the zone Z1 as shown in Expression (24). (Step S406). The adding unit 333 in the lower limit margin distributing unit 33c-2 calculates the other total operation amount sum MVe2 that is the sum of the operation amounts MV1 and MV3 to MV6 of the zones Z1, Z3 to Z6 other than the zone Z2 as in the following equation. Calculate (step S407).
MVe2 = MV1 + MV3 + MV4 + MV5 + MV6 (28)

  The damping processing unit 334 in the lower limit margin distribution units 33c-1 and 33c-2 performs damping processing on the other total operation amount sums MVe1 and MVe2 (steps S408 and S409).

  The operation amount lower limit value determination unit 332c in the lower limit allowance distribution unit 33c-1 is the sum of the other operation amount sum MVe1 after the damping process and the predetermined operation amount lower limit values of the zones Z2 to Z6 other than the zone Z1. It is determined whether the margin (MVe1-OLe1) with respect to OLe1 is greater than 0 (step S410).

The operation amount lower limit determination unit 332c in the lower limit allowance distribution unit 33c-2 is a predetermined operation amount lower limit value of the other total operation amount MVe2 after the damping process and the zones Z1, Z3 to Z6 other than the zone Z2. Whether the margin (MVe2-OLe2) with respect to the total sum OLe2 is greater than 0 is determined (step S411). The total sum OLe2 of the operation amount lower limit values defined in advance in the zones Z1, Z3 to Z6 other than the zone Z2 is expressed by the following equation.
OLe2 = OL1_f + OL3_f + OL4_f + OL5_f + OL6_f
... (29)

  The operation amount lower limit value determination unit 332c in the lower limit allowance distribution unit 33c-1 is the sum of the other operation amount sum MVe1 after the damping process and the predetermined operation amount lower limit values of the zones Z2 to Z6 other than the zone Z1. When the margin (MVe1-OLe1) with respect to OLe1 is larger than 0, the operation amount lower limit value OL1 ′ actually used in the controller 2b-1 in the zone Z1 is expressed by the equation (25) or the equation (27). The operation amount lower limit value OL1 ′ is calculated and output to the PID calculation unit 22b-1 (step S412).

The operation amount lower limit determination unit 332c in the lower limit allowance distribution unit 33c-2 is a predetermined operation amount lower limit value of the other total operation amount MVe2 after the damping process and the zones Z1, Z3 to Z6 other than the zone Z2. When the margin (MVe2-OLe2) with respect to the total sum OLe2 is greater than 0, the operation amount lower limit value OL2 ′ actually used in the controller 2b-2 in the zone Z2 is calculated as follows, and this operation is performed. The quantity lower limit value OL2 ′ is output to the PID calculation unit 22b-2 (step S413).
If MVe2-OLe2> 0
Then OL2 '← OL2_f- (MVe2-OLe2) / m
Else OL2 '← OL2_f (30)

The manipulated variable lower limit value determination unit 332c in the lower limit allowance distribution unit 33c-2 may perform the following processing instead of the equation (30).
If MVe2-OLe2> 0
The OL2 '← OL2_f-α (MVe2-OLe2)
Else OL2 '← OL2_f (31)

  Further, the operation amount lower limit value determination unit 332c in the lower limit allowance distribution unit 33c-1 is a predetermined operation amount lower limit value of the other total operation amount sum MVe1 after the damping process and the zones Z2 to Z6 other than the zone Z1. When the margin (MVe1-OLe1) with respect to the total sum OLe1 is 0 or less, the operation amount lower limit value OL1 ′ actually used in the controller 2b-1 in the zone Z1 is set as a predetermined operation amount lower limit value OL1_f. The operation amount lower limit value OL1 ′ is output to the PID calculation unit 22b-1 (step S414).

  The operation amount lower limit determination unit 332c in the lower limit allowance distribution unit 33c-2 is a predetermined operation amount lower limit value of the other total operation amount MVe2 after the damping process and the zones Z1, Z3 to Z6 other than the zone Z2. When the margin (MVe2-OLe2) with respect to the total sum OLe2 is 0 or less, the operation amount lower limit value OL2 ′ actually used in the controller 2b-2 of the zone Z2 is set as a predetermined operation amount lower limit value OL2_f. The operation amount lower limit value OL2 ′ is output to the PID calculation unit 22b-2 (step S415).

The processes in steps S400 to S415 as described above are repeatedly executed for each control cycle until the end of control is instructed by an operator of the air conditioning system (YES in step S416), for example. In FIG. 24, the processing of the zones Z1 and Z2 has been described, but the same processing may be performed for other zones.
Thus, even when the space is divided into two or more zones, the same effect as that of the third embodiment can be obtained.

  In the first to fourth embodiments, the most widely used PID is practically suitable as the controller control algorithm, but IMC (Internal Model Control) or SAC (Simple Adaptive Control) is practically preferable. It may be.

  In addition, the controllers 2-1 to 2-6, 2b-1 to 2b-6 and the cooperative operation calculation units 3, 3a, 3b, and 3c described in the first to fourth embodiments include a CPU, a storage device, and an interface. And a program for controlling these hardware resources. The CPU executes the processes described in the first to fourth embodiments in accordance with a program stored in the storage device.

  The present invention can be applied to a multi-loop control device.

It is a flowchart for demonstrating the principle 1 of this invention. It is a flowchart for demonstrating the principle 2 of this invention. It is a block diagram which shows the structure of the air conditioning system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the control apparatus used with the air conditioning system which concerns on the 1st Embodiment of this invention. It is a block diagram of the control system in the 1st Embodiment of this invention. It is a block diagram of the suitable control system in the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the control apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the numerical example at the time of air_conditioning | cooling of the conventional air conditioning system and the air conditioning system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the air conditioning system which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the control apparatus used with the air conditioning system which concerns on the 2nd Embodiment of this invention. It is a block diagram of the control system in the 2nd Embodiment of this invention. It is a block diagram of the suitable control system in the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the control apparatus which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the air conditioning system which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the structure of the control apparatus used with the air conditioning system which concerns on the 3rd Embodiment of this invention. It is a block diagram of the control system in the 3rd Embodiment of this invention. It is a block diagram of the suitable control system in the 3rd Embodiment of this invention. It is a flowchart which shows operation | movement of the control apparatus which concerns on the 3rd Embodiment of this invention. It is a figure which shows the numerical example at the time of air_conditioning | cooling of the conventional air conditioning system and the air conditioning system which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the structure of the air conditioning system which concerns on the 4th Embodiment of this invention. It is a block diagram which shows the structure of the control apparatus used with the air conditioning system which concerns on the 4th Embodiment of this invention. It is a block diagram of the control system in the 4th Embodiment of this invention. It is a block diagram of the suitable control system in the 4th Embodiment of this invention. It is a flowchart which shows operation | movement of the control apparatus which concerns on the 4th Embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1, 1a ... Space, 2-1 to 2-6, 2b-1 to 2b-6 ... Controller, 3, 3a, 3b, 3c ... Cooperation operation calculating part, 4-1 to 4-6 ... Sensor, 5 ... Heat source System, 6-1 to 6-6 ... air volume regulator, 7-1 to 7-6 ... cold / hot air outlet, 20-1 to 20-6 ... set value SP input unit, 21-1 to 21-6 ... control amount PV input unit, 22-1 to 22-6, 22 b-1 to 22 b-6... PID calculation unit, 23-1 to 23-6 ... Manipulation amount MV output unit, 30-1, 30-2, 30 a-1. 30a-6, 30c-1 to 30c-6... All other operation amount input units, 31-1, 31-2, 31a-1 to 31a-6... Operation amount total calculation units, 32-1, 32-2 and 32a -1 to 32a-6 ... lower limit value allocation unit, 33-1, 33-2, 33c-1 to 33c-6 ... lower limit margin allocation unit, 310, 311, 314, 330, 31,334 ... damping unit, 312,312a, 313,333 ... adding unit, 332 ... manipulated variable lower limit determining section, Z1 to Z6 ... zone.

Claims (18)

In a control device of a multi-loop control system including a plurality of control loops for controlling a plurality of zones obtained by spatially dividing a control target,
A plurality of control calculation means for calculating an operation amount for each control loop based on a deviation between a control amount PV of each control loop and a setting value SP of each control loop corresponding thereto;
The lower limit for determining the operation amount lower limit value used by the control calculation means of each zone based on the operation amount of each zone at the time of this settling when detecting the settling state of the control of a predetermined zone among the plurality of zones A control device comprising value distribution means. The control device according to claim 1,
Furthermore, an operation amount total calculating means for calculating a sum of a plurality of operation amounts calculated by the control operation means is provided,
The lower limit value distribution unit is defined in advance according to a ratio between the operation amount of each zone at the time of settling calculated by the control calculation unit and the operation amount summation at the time of settling calculated by the operation amount total calculation unit. A control device characterized in that the operation amount total lower limit value is distributed to each zone, and the distributed value is used as the operation amount lower limit value of each zone. The control device according to claim 1,
Furthermore, an operation amount total calculating means for calculating a sum of a plurality of operation amounts calculated by the control operation means is provided,
The lower limit value distribution means equally distributes the margin of the operation amount total at the time of settling calculated by the operation amount total calculation means with respect to a predetermined operation amount total lower limit value to each zone, and distributes to each zone. A control device characterized in that a value obtained by subtracting the operation amount of each zone at the time of settling calculated by the control calculation means by the calculated value is set as the operation amount lower limit value of each zone. The control device according to claim 2 or 3,
The operation amount total calculation means is:
A damping processing means for performing a damping process on each of the plurality of operation amounts;
And a controller for adding the plurality of operation amounts after the damping process to calculate the total operation amount. In a control device of a multi-loop control system including a plurality of control loops for controlling a plurality of zones obtained by spatially dividing a control target,
A plurality of control calculation means for calculating an operation amount for each control loop based on a deviation between a control amount PV of each control loop and a setting value SP of each control loop corresponding thereto;
When the margin between the operation amount calculated by the control calculation means of the zone other than the control target zone and the predetermined operation amount lower limit value of the other zone is larger than 0, the control target Lower limit margin distribution means for performing for each zone a value obtained by subtracting a value based on the margin amount from a predetermined manipulation amount lower limit value of the zone as an operation amount lower limit value used by the control calculation means of the zone to be controlled A control device comprising: The control device according to claim 5,
When the control target is divided into two spatially, the lower limit margin distribution means is preliminarily defined by the operation amount calculated by the control calculation means of a zone other than the zone to be controlled and the other zones. When the margin between the manipulated variable lower limit value is greater than 0, the margin value is divided from the predefined manipulated variable lower limit value of the zone to be controlled by a value obtained by dividing the margin amount by m (m ≧ 1.0). A control apparatus comprising: a lower limit margin distribution unit that performs, for each zone, a value as an operation amount lower limit value used by the control calculation unit of the control target zone. The control device according to claim 5,
When the control target is divided into two spatially, the lower limit margin distribution means is preliminarily defined by the operation amount calculated by the control calculation means of a zone other than the zone to be controlled and the other zones. When the margin between the manipulated variable lower limit value is greater than 0, the margin value is multiplied by α (0 ≦ α ≦ 1), and is subtracted from the predefined manipulated variable lower limit value of the zone to be controlled. A control apparatus comprising: a lower limit margin distribution unit that performs, for each zone, a value as an operation amount lower limit value used by the control calculation unit of the control target zone. The control device according to claim 5,
When the control target is divided into two or more spatially, the lower limit margin distribution unit is configured to calculate the sum of the operation amounts calculated by the control calculation unit of other zones other than the control target zone and the other zones in advance. When a margin amount with respect to the sum of the prescribed manipulated variable lower limit values is greater than 0, a prescribed manipulated variable of the zone to be controlled is a value obtained by dividing the margin amount by m (m ≧ 1.0). A control apparatus comprising: a lower limit margin distribution unit that performs, for each zone, a value subtracted from a lower limit value as an operation amount lower limit value used by the control calculation unit of the control target zone. The control device according to claim 5,
When the control target is divided into two or more spatially, the lower limit margin distribution unit is configured to calculate the sum of the operation amounts calculated by the control calculation unit of other zones other than the control target zone and the other zones in advance. When the margin amount with respect to the sum of the prescribed manipulated variable lower limit values is greater than 0, the prescribed manipulated variable of the zone to be controlled is the value obtained by multiplying the margin amount by α (0 ≦ α ≦ 1). A control apparatus comprising: a lower limit margin distribution unit that performs, for each zone, a value subtracted from a lower limit value as an operation amount lower limit value used by the control calculation unit of the control target zone. In a control method of a multi-loop control system including a plurality of control loops for controlling a plurality of zones obtained by spatially dividing a control target,
A control calculation procedure for calculating an operation amount for each control loop based on a deviation between a control amount PV of each control loop and a corresponding set value SP of each control loop;
The lower limit for determining the operation amount lower limit value used in the control calculation procedure of each zone based on the operation amount of each zone at the time of setting when the settling state of the control of a predetermined zone among the plurality of zones is detected And a value distribution procedure. The control method according to claim 10, wherein
Furthermore, an operation amount total calculation procedure for calculating a sum of a plurality of operation amounts calculated by the control calculation procedure is provided between the control calculation procedure and the lower limit value distribution procedure,
The lower limit value allocation procedure is defined in advance according to a ratio between the operation amount of each zone at the time of settling calculated by the control calculation procedure and the operation amount summation at the time of settling calculated by the procedure of calculating the total operation amount. A control method characterized in that the operation amount total lower limit value is distributed to each zone, and the distributed value is used as the operation amount lower limit value of each zone. The control method according to claim 10, wherein
Furthermore, an operation amount total calculation procedure for calculating a sum of a plurality of operation amounts calculated by the control calculation procedure is provided between the control calculation procedure and the lower limit value distribution procedure,
In the lower limit value distribution procedure, a margin for a predetermined operation amount total lower limit value of the operation amount total at the time of settling calculated by the operation amount total calculation procedure is equally distributed to each zone, and is distributed to each zone. A control method characterized in that a value obtained by subtracting the operation amount of each zone at the time of settling calculated by the control operation procedure by the calculated value is set as the operation amount lower limit value of each zone. The control method according to claim 11 or 12,
The operation amount total calculation procedure is as follows:
A damping process procedure for performing a damping process on each of the plurality of operation amounts;
A control method comprising: an addition procedure for calculating the total operation amount by adding a plurality of operation amounts after the damping process. In a control method of a multi-loop control system including a plurality of control loops for controlling a plurality of zones obtained by spatially dividing a control target,
A control calculation procedure for calculating an operation amount for each control loop based on a deviation between a control amount PV of each control loop and a corresponding set value SP of each control loop;
When the margin between the operation amount calculated by the control calculation procedure of the zone other than the control target zone and the predetermined operation amount lower limit value of the other zone is larger than 0, the control target Lower limit margin distribution procedure for each zone to set a value obtained by subtracting a value based on the margin amount from a predetermined manipulation amount lower limit value of the zone as a manipulation amount lower limit value used in the control calculation procedure of the zone to be controlled. And a control method comprising: The control method according to claim 14, wherein
In the lower limit margin allocation procedure, when the control object is spatially divided into two, the operation amount calculated by the control calculation procedure of the zone other than the control target zone and the other zones are defined in advance. When the margin between the manipulated variable lower limit value is greater than 0, the margin value is divided from the predefined manipulated variable lower limit value of the zone to be controlled by a value obtained by dividing the margin amount by m (m ≧ 1.0). A control method, comprising: a lower limit margin distribution procedure for performing, for each zone, a value as an operation amount lower limit value used in a control calculation procedure of the control target zone. The control method according to claim 14, wherein
In the lower limit margin allocation procedure, when the control object is spatially divided into two, the operation amount calculated by the control calculation procedure of the zone other than the control target zone and the other zones are defined in advance. When the margin between the manipulated variable lower limit value is greater than 0, the margin value is multiplied by α (0 ≦ α ≦ 1), and is subtracted from the predefined manipulated variable lower limit value of the zone to be controlled. A control method, comprising: a lower limit margin distribution procedure for performing, for each zone, a value as an operation amount lower limit value used in a control calculation procedure of the control target zone. The control method according to claim 14, wherein
When the control target is divided into two or more spatially, the lower limit margin allocation procedure is performed by adding the total operation amount calculated by the control calculation procedure of a zone other than the control target zone and the other zones in advance. When a margin amount with respect to the sum of the prescribed manipulated variable lower limit values is greater than 0, a prescribed manipulated variable of the zone to be controlled is a value obtained by dividing the margin amount by m (m ≧ 1.0). A control method comprising: a lower limit margin distribution procedure for performing, for each zone, a value subtracted from a lower limit value as an operation amount lower limit value used in a control calculation procedure of the control target zone. The control method according to claim 14, wherein
When the control target is divided into two or more spatially, the lower limit margin allocation procedure is performed by adding the total operation amount calculated by the control calculation procedure of a zone other than the control target zone and the other zones in advance. When the margin amount with respect to the sum of the prescribed manipulated variable lower limit values is greater than 0, the prescribed manipulated variable of the zone to be controlled is the value obtained by multiplying the margin amount by α (0 ≦ α ≦ 1). A control method comprising: a lower limit margin distribution procedure for performing, for each zone, a value subtracted from a lower limit value as an operation amount lower limit value used in a control calculation procedure of the control target zone.

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