JP2010198508A - Device, method and program for determining parameter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To adjust characteristics of control after switching controllers. <P>SOLUTION: In a system including a plurality of control units, a parameter determination device for determining a parameter to be used in a control unit for processing includes: a parameter calculation operation expression which comprises a combination of a plurality of operation expressions having different characteristics and allows change in weighting of the different characteristics, and determines a parameter to be used in the control unit by using the parameter calculation operation expression. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a parameter determination apparatus and method, and a program.

  Conventionally, for example, a traveling body such as a submersible has been provided with a plurality of controllers such as pitch control and depth control, and it is known to travel while switching these controllers. When switching the controller, it is necessary to give a predetermined initial value to the controller after switching. Conventionally, the initial value has been calculated using an arithmetic expression previously held by each controller.

JP 2003-121306 A

Conventionally, two arithmetic expressions are mainly known as arithmetic expressions for obtaining the initial value. When the initial value is set using one arithmetic expression, the switching operation can be performed smoothly, but it is known that followability is inferior, and the initial value is set using another arithmetic expression. In such a case, it is known that the followability is improved, but the switching operation cannot be performed smoothly.
Conventionally, the controller has either one of the arithmetic expressions, and since the initial value at the time of control switching is set using this arithmetic expression, the smoothness of the switching operation and the control followability are simultaneously achieved. There is a problem that an initial value that satisfies the condition cannot be given.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a parameter determination apparatus, method, and program capable of adjusting the characteristics of control after switching at the time of switching of a controller. .

  In order to solve the above problems, the present invention employs the following means.

  The present invention is a parameter determination device for determining parameters used in a controller after switching when switching a controller to perform processing in a system including a plurality of controllers, and a plurality of arithmetic expressions having different characteristics And a parameter calculation calculation formula that enables the weighting of the different features to be changed, and the parameter calculation calculation formula is used to determine parameters used in the controller after switching. A parameter determination device is provided.

  According to such a configuration, the parameter calculation calculation formula is configured by combining a plurality of calculation formulas having different features and changing the weights of the different features. Using this parameter calculation formula, a parameter (for example, initial value) used in the controller after switching is determined. Thus, since the parameter calculation calculation formula is configured by combining a plurality of calculation formulas having different characteristics, it is possible to set parameters (for example, initial values) having various characteristics. Furthermore, by adjusting the weighting of each calculation formula constituting the parameter calculation calculation formula, it is possible to adjust how each feature works, and to determine a parameter (for example, an initial value) according to the situation. Become.

  The parameter calculation calculation formula in the parameter determination device may be a combination of a plurality of calculation formulas having conflicting characteristics.

  In this manner, a wider range of characteristics can be provided by combining a plurality of arithmetic expressions having conflicting characteristics.

  The parameter calculation arithmetic expression in the parameter determination apparatus can be changed to each term of the polynomial by linearly combining the arithmetic expressions having the different features by linearly combining the arithmetic expressions having the different features. It is good also as being characterized by it being an arithmetic expression which provided the various coefficient.

  In this way, the weighting of features can be easily changed by changing the coefficient set for each term of the polynomial.

  The present invention relates to a parameter determination method for determining a parameter to be used in a controller after switching when switching a controller for processing in a system including a plurality of controllers, and a plurality of arithmetic expressions having different characteristics A parameter calculation formula that can change the weighting of the different features, and the parameter calculation formula is used in the controller after switching by using the parameter in the controller before switching. Provided is a parameter determination method for determining a parameter.

  The present invention is a parameter determination program for determining a parameter to be used in a controller after switching when switching a controller for processing in a system including a plurality of controllers, and a plurality of arithmetic expressions having different characteristics A parameter calculation formula that can change the weighting of the different features, and the parameter calculation formula is used in the controller after switching by using the parameter in the controller before switching. A parameter determination program for causing a computer to determine a parameter is provided.

  According to the present invention, it is possible to adjust the characteristics of the control after switching when switching the controller.

It is the block diagram of an example which showed the function of the controller switching system which concerns on one Embodiment of this invention. It is the block diagram which showed an example of the command value calculation part. It is the figure which showed the characteristic of the switching method at the time of setting an initial value using the method 1 and the method 2. FIG. It is the figure which showed the operation | movement flow of the controller switching system which concerns on one Embodiment of this invention. It is the figure which showed the operation | movement flow of the controller switching system which concerns on one Embodiment of this invention.

  Hereinafter, an embodiment of a parameter determination device according to the present invention will be described with reference to the drawings. In the present embodiment, a parameter determination device applied to a controller switching system that controls switching of three controllers will be described as an example. In the present embodiment, there are three controllers to be controlled by the controller switching system, but the number of controllers is not particularly limited. In the present embodiment, a controller provided in a traveling body such as a submersible will be described as an example, but the present invention is not limited to this. For example, it may be provided in a vehicle such as an automobile.

FIG. 1 is a block diagram showing a schematic configuration of a controller switching system 1 that controls switching of a plurality of controllers according to the present embodiment.
The controller switching system 1 is a system that controls switching of the three controllers A, B, and C, and includes an initial parameter setting unit 10, a data reading unit 11, a controller determination unit 12, a parameter setting device 13, and a command. A value calculation unit 14, a first previous value setting unit 15, a second previous value setting unit 16, and a calculation continuation determination unit 17 are provided.

The initial parameter setting unit 10 sets a pre-switching flag Cflag_old that indicates a controller that was used before the controller was switched (hereinafter referred to as “controller before switching”). For example, when the controller switching system 1 is initially activated, the controller has not been switched and there is no controller before switching, so the pre-switching flag Cflag_old indicates “0” indicating initial activation. Is set. In the case of initial start, the controller A, B, and the control amount of C is set to control the amount of _startup, and _{y aold = y a, y bold} = y b, y cold = y c.

The initial parameter setting unit 10 outputs Cflag_old, y _aold , y _bold , and y _cold to the data reading unit 11.

  The data reading unit 11 reads parameters in the controller before switching (hereinafter referred to as “parameters before switching”). This pre-switching parameter is required to calculate a command value for the controller after switching. Further, the information of the controller selected as the controller after switching is read and set in the flag Cflag indicating the controller after switching. The pre-switching parameter acquired by the data reading unit 11 is data input from the initial parameter setting unit 10 or the continuation determination unit 17.

Specifically, the parameter before switching required to calculate the command value is, for example, Cflag_old, the value u _{s of} the sensor that detects the operation amount in the controller selected as the controller after switching, the control amount Target value r _a , and control amounts y _aold , y _bold , y _cold, etc. of the controllers A, B, and C, respectively. In the data reading unit 11, the flag Cflag indicating the controller selected as the controller after switching is, for example, 1 for the controller A, 2 for the controller B, and the controller C. In some cases, a numerical value such as 3 is set.

  Thus, the controller pre-switch parameter and the controller flag Cflag read into the data reading unit 11 are output to the controller determination unit 12.

  The controller determination unit 12 identifies the controller selected as the controller after switching based on the controller flag Cflag. Further, the pre-switching flag Cflag_old acquired from the data reading unit 11 is compared with the selected controller flag Cflag to determine whether or not Cflag_old = Cflag is satisfied. If established, the controller is not switched, so the pre-switch parameter acquired from the data reading unit 11 is output to the command value calculation unit 14 as it is. If not established, the controller is switched, and the pre-switching parameter acquired from the data reading unit 11 and the fact that the establishment is not established are output to the command value calculation unit 14 and the parameter setting device 13.

  For example, Cflag_old = 0 because it is an initial activation, and Cflag = 1 when the selected controller is the controller A, Cflag_old ≠ Cflag. Thereby, the controller determination part 12 determines with the switching of a controller having been performed, Cflag_old = 0 and Cflag = 1 with respect to the command value calculation part 14 and the parameter setting apparatus 13, and the parameter before switching Output.

  When the parameter determination device 13 acquires from the controller determination unit 12 that Cflag_old = 0 and Cflag = 1, the controller A calculated by the command value calculation unit 14 (for example, the controller A based on Cflag = 1). The parameter used for the command value is calculated. Specifically, the parameter determination device 13 is composed of a combination of a plurality of arithmetic expressions having different features, and includes a parameter calculation arithmetic expression that enables the weighting of different features to be changed, and uses the parameter calculation arithmetic expression. Thus, the initial value used in the controller after switching is determined.

  The parameter calculation calculation formula is a combination of a plurality of calculation formulas having conflicting characteristics. For example, a parameter calculation formula is a formula in which a plurality of formulas having different characteristics are represented by polynomials, and a plurality of formulas having different characteristics are linearly combined, and a changeable coefficient is provided for each term of the polynomial. It is a formula. In the present embodiment, it is assumed that two arithmetic expressions of method 1 and method 2 are given as a plurality of arithmetic expressions having conflicting characteristics.

Hereinafter, the polynomials and characteristics of the method 1 and the method 2 included in the parameter determination device 13 will be described.
If the initial value used in the command value calculation unit 14 (details will be described later) for calculating the command value of the controller after switching is x _aold , the initial value x _aold calculated based on the method 1 is (1). It is shown as an expression. Here, in equation (1), u _s is the amount of operation of the sensor in selected control unit as the control unit after the switching, r _a is the target value, y _a control amount, e _a control target value r _a deviation between the amount _{y a, K ap1} and _{K ap2} is a proportional _{gain, K ad1} and _{K ad2} is a derivative gain.

Thus, the initial value x _Aold calculated based on the method 1, because it is calculated on the basis of the deviation e _a between the target value r _a control amount y _a, the control in consideration of the deviation e _a is performed . That is, when the command value calculation unit 14 in the _subsequent stage calculates the command value of the controller after switching based on x _aold in the equation (1), control is performed in consideration of deviation when switching is performed based on this command value. . Specifically, the switching operation is performed smoothly, but the switching operation is performed such that the followability deteriorates.

On the other hand, if the initial value calculated based on method 2 is x _aold , x _aold is expressed as in equation (5).

Using the initial value x _aold calculated based on method 2 that is the above equation (5), the command value of the controller after switching is calculated in the command value calculation unit 14 at the subsequent stage. As a result, when the controller is switched based on this command value, the switching followability is improved, but the switching operation is not smooth.

Subsequently, the parameter determination device 13 linearly combines the above-described polynomial of the method 1 and the polynomial of the method 2 and provides a changeable coefficient in each term of the polynomial. Specifically, the above equation (1) and the above equation (5) are linearly combined, a coefficient is provided for each term, and the following equation (6) is obtained. _{Here, x Aold} initial value, _{u s} is the amount of operation of the sensor in selected control unit as the control unit after the _{switching, K ap1} and _{K ap2} is a proportional _{gain, K ad1} and _{K ad2} is a derivative gain.

Further, the changeable coefficients provided in each term of the polynomial are K _ap1ini , K _ad1ini , K _ap2ini , and K _ad2ini . In the present embodiment, each coefficient is set to 0 or more and 1 or less, and may be a non-integer value. In addition, all the coefficients may be the same value or different values.

Here, r _a is the target value, y _a control amount, e _a deviation between the target value and the controlled variable, e _Aold deviation of the controlled variable of the controller A before the controller is switched to the controller A, DT is a sampling period, K _ap1 and K _ap2 are proportional gains, and K _ad1 and K _ad2 are differential gains.

Also, the coefficients K _ap1ini , K _ad1ini , K _ap2ini , and K _ad2ini provided in each term of the polynomial are set by the user from the outside via an input device, for example. When the weights of these coefficients are changed, the way of using the feature of the command value u obtained from x _aold calculated by the equation (6) is changed. For example, four coefficients _{K ap1ini, K ad1ini, K ap2ini} , by setting all the _{K Ad2ini} 1, when the the _{x Aold} equal _{x Aold} (in other words calculated by scheme 1, switching is performed based on the _{x Aold} is Is smooth, but the follow-up property is deteriorated).

_{Incidentally,} K _Ap1ini, the _{K Ad1ini} set to _0, setting K _Ap2ini, the _{K Ad2ini} to 1 and is the _{x Aold} equal _{x Aold} (in other words calculated by scheme 2, switching is performed based on the _{x Aold} is , Followability is improved, but not smooth). Further, when each coefficient is set to a non-integer value of 0 or more and 1 or less (for example, all four coefficients are set to 0.5), a feature obtained by mixing the features of the method 1 and the method 2 (that is, It is smooth to some extent and has good followability to some extent). In this way, by adjusting the weights of the coefficients K _ap1ini , K _ad1ini , K _ap2ini , and K _ad2ini given in the above equation (6), it is possible to adjust how to use the characteristics when switching the controller.

  Note that the arithmetic expressions having a plurality of features included in the parameter determination device 13 according to the present embodiment are linearly combined, and the coefficients provided in the terms of the linearly combined arithmetic expressions are set by the user. However, it is not limited to this. For example, the coefficient provided in each term may be set depending on the magnitude of a predetermined index.

As described above, the parameter determination device 13 calculates the initial value x _aold and outputs it to the command value calculation unit 14.

The command value calculation unit 14 calculates a command value u for the controller after switching. For example, the calculation of the command value as shown in FIG. 2 is shown in block diagram, the command value u is calculated from the basis of the IP-PD control with the target value r _a control amount y _a.

As shown in FIG. 2, the difference e _a between the target value r _a and the controlled variable y _a is integrated by the PID controller, given a proportional gain, and is differentiated by giving a differential gain, are respectively added . Further, from this result, _a command value u is obtained by subtracting a value obtained by giving _a proportional gain to the control amount ya and a value obtained by giving _a differential gain to the control amount ya.

More specifically, the command value u by the command value calculation unit 14 is calculated by the equation (15) based on the following equations (11) to (14).

In the above equation (15), the initial value x _aold calculated based on the above-described equation (6) is used. In this way, the command value u is calculated by the command value calculator 14 and the command value u is output to the controller A after switching. Further, the calculation result is output to the first previous value setting unit 15.

  Next, the controller switching system according to the present embodiment will be described more specifically. Here, FIG. 3 shows a case where the control in the maneuvering of the submersible craft is switched from pitch angle control (for example, controller B that performs pitch angle control) to depth control (for example, controller A that performs depth control). It explains using. For example, a case where the pitch angle is controlled to an angle of −10 degrees and the pitch angle controller is switched to the depth controller at the timing shown in FIG. 3D will be described.

When the controller is switched, the initial value x _aold of depth control (controller A), which is the controller after switching, is calculated by the above equation (6). For example, in FIG. 3, the controller is switched based on the initial value x _aold calculated by setting all the coefficients K _ap1ini , K _ad1ini , K _ap2ini , and K _ad2ini in equation (6) to “1”. and if, (6) the coefficients a is _{K Ap1ini,} "0" is set to the _{K Ad1ini,} coefficient _{K Ap2ini,} controlled on the basis of the _{K Ad2ini} set to the calculated initial value _{x Aold} to "1" The case where the device is switched will be described.

When all the coefficients in equation (6) are set to “1”, the calculation equation is the same as equation (1) above, so the graph of FIG. The coefficient _{K Ap1ini,} "0" is set to the _{K Ad1ini,} coefficient _{K Ap2ini,} if you set the "1" to the _{K Ad2ini,} since the same calculation formula as the equation (5), the graph of FIG. 3 Is shown as scheme 2 line.

  FIG. 3A shows a change in depth due to control based on the initial value calculated from method 1 and method 2. FIG. FIG. 3B shows a change in pitch angle by the control based on the initial value calculated from the method 1 and the method 2. FIG. 3C shows the steering angle change by the control based on the initial value calculated from the method 1 and the method 2.

As shown in FIGS. 3A and 3C, the method 2 line has better followability than the method 1 line, but the fluctuation of the horizontal rudder angle is large, and the switching is not smooth. FIG. 3E is a diagram showing the magnitude of the depth deviation between the method 1 line and the method 2 line in time series. As shown in FIG. 3 (e), the method 2 follows the target value faster than the method 1. In this way, the initial value x _aold can be adjusted by changing the weighting of the coefficients, so that it is possible to easily adjust how the features of each method are used according to the situation. In FIG. 3, an integer of 0 or 1 is given to the coefficient, but by setting a numerical value between 0 and 1 inclusive, the degree of advantage of the feature can be adjusted. Switching can be performed with little mixing.

The first previous value setting unit 15 sets the previous value (pre-switching parameter) when the next calculation is performed in the selected controller as the second previous time value x _aold , which is an integral value of the deviation e _aold and the deviation e _aold. Output to the value setting unit 16. For example, when the controller after switching is the controller A, e _aold which is the deviation before switching of the controller A is set to e _a for the next calculation, and the integral x _a of the deviation e _a X _aold = x _a is set as a value before switching, and is output to the second previous value setting unit 16.

The second previous value setting unit 16 sets the control amount, the pre-switching flag Cflag_old, and the pre-switching command value u _old when the next calculation is performed regardless of the selected controller. Specifically, the second previous value setting unit 16 sets y _old = y _a , y _bold = y _b , y _cold = y _c , Cflag_old = Cflag, and u _old = u, and these pre-switch parameters Is output to the calculation continuation determination unit 17.

  The calculation continuation determination unit 17 determines whether or not to continue the calculation. If the calculation is continued, the information output from the first previous value setting unit 15 and the second previous value setting unit 16 is sent to the data reading unit 11. Output. If the calculation is not continued, the process is terminated.

Next, the operation of the controller switching system 1 according to the present embodiment will be described with reference to FIG.
First, a case where the controller A is selected after the controller switching system 1 is initially activated will be described.
When the controller switching system 1 is activated, the controller A, controller B, and controller C included in the controller switching system 1 are activated, and the pre-switching flag Cflag_old is set to “0” in the initial parameter setting unit 10. Is done. In addition, the control amount y _aold = y _a of the controller A before switching is set, and y _bold = y _b and y _cold = y _c are similarly set for the controller B and the controller C (step SA1). This setting way been _{Cflag_old = 0, y aold = y} a, y bold = y b, y cold = y c is output to the data reading unit 11. In the data reading unit 11, Cflag_old = 0, y _aold , y _bold , and y _cold are acquired, the selected controller A is identified, and the controller flag Cflag is set to Cflag = 1. The pre-switching parameters of Cflag_old = 0, y _aold , y _bold , y _cold , and Cflag = 1 are output to the controller determination unit 12 (step SA2).

In the controller determination unit 12, the controller selected based on Cflag = 1 is identified as the controller A (step SA3), and if Cflag_old ≠ Cflag, a controller different from the previous one is selected. It is determined that it has been performed (step SA4). If it is determined that a different controller has been selected, the controller A uses the previous value of the controller A before switching to the controller A in the parameter calculation formula provided in the controller determination unit 12. initial value x _a to be used for the command value is determined. Further, where the calculated initial value x _a is outputted to the command value calculation unit 14 (step SA5).

In the command value calculating section 14, a command value u using the initial value x _a on the basis of a predetermined parameter calculation arithmetic expression is calculated, the command value u is outputted to the control unit A after the switch (step SA6). In the first preceding value setting unit 15, when the controller A is selected, the deviation e _a between the target value r _a and the controlled variable y _a is set to e _Aold for the next operation, x _a is set to x _aold for the next calculation (step SA7). In the second previous value setting unit 16, the control amount in each controller is set for the next calculation, and y _aold = y _a , y _bold = y _b , y _cold = y _c , Cflagold = Cflag, u _old = u is set (step SA8).

When such calculation is completed, it is determined whether or not the calculation is to be continued. If the calculation is to be continued, the previous values set by the first previous value setting unit 15 and the second previous value setting unit 16 (before switching) are determined. ) Is output to the data reading unit 11. If the calculation is to be stopped, this process is terminated (step SA9). Note that in the controller the determination unit 12, when it is determined not to be earlier different controller, the calculation of the initial value x _a is not performed, the process proceeds to the command value calculation unit 14, a command value calculating section 14 and subsequent steps Do.

Subsequently, a case where the controller is switched from the controller A to the controller B will be described with reference to FIGS. 4 and 5.
In the data reading unit 11, Cflag_old = 1, y _old = y _a , y _bold = y _b , y _cold = y _c which are parameters before switching from the controller A to the controller B are acquired. In addition, when the controller B is switched, the controller flag Cflag = 2 is identified (step SA2 in FIG. 4). When the selected controller is the controller B, the controller determination unit 12 determines whether or not the controller before switching is the controller B (step SA3 in FIG. 4 and step SA10 in FIG. 5). ). It is determined whether or not the controller is the same as the previous controller. Since Cflag_old = 1 and Cflag = 2, Cflag_old ≠ Cflag (step SA11 in FIG. 5).

When the controller before switching is a different controller, the parameter determination device 13 calculates the initial value _xb used in the controller B that is the controller after switching (step SA12 in FIG. 5). . Using the calculated initial value _xb , the command value calculation unit 14 calculates the command value u of the controller B, and outputs the command value u to the controller B after switching (step SA13 in FIG. 5). In the first previous value setting unit 15, e _bold = e _b and x _aold = x _a are set and output to the second previous value setting unit 16 (step SA14 in FIG. 5). In the second previous value setting unit 16, y _aold = y _a , y _bold = y _b , y _cold = y _c Cflagold = Cflag = 2, u _old = u are set (step SA8 in FIG. 4). Whether or not to continue the calculation is determined by the calculation continuation determination unit 17. When the calculation is continued, the previous value output from the first previous value setting unit 15 and the second previous value setting unit 16 is sent to the data reading unit 11. The process is continued after the input. If not continued, this process is terminated (step SA9 in FIG. 4).

  When the controller is switched from the controller A to the controller C, the processing from step SA10 to step SA14 is replaced with the processing from step SA15 to step SA19, and the same processing is performed. Note that step SA15 does not determine whether or not the controller C is used. This is an example in which there are three controllers A, B, and C. Since controller A is not controller A in step SA3 and controller B is not controller B in step SA10, controller C and This is because it is judged.

As described above, the parameter calculation arithmetic expression included in the parameter determination device in the controller switching system according to the present embodiment is a combination of arithmetic expressions of a plurality of polynomials having different characteristics, and each parameter calculation arithmetic expression includes By changing the provided coefficient, the initial value x _i of the controller after switching when the controller is switched (i is a code indicating the controller) is set. Thus, since the initial value of the controller calculated by adjusting the coefficient is changed, the characteristics at the time of switching obtained when switching the controller can be easily adjusted by the user. It is possible to set a switching method having both characteristics.

  As a result, for example, conventionally, when a switching method that prioritizes smooth operation is selected, the responsiveness deteriorates, and conversely, when a switching method that prioritizes responsiveness is selected, the operation cannot be performed smoothly. When there was a switching method having different characteristics, it was necessary to select one of them. The parameter determination device in the controller switching system according to the present embodiment includes a switching method having a plurality of features as described above, and weights can be set according to how coefficients are given. The method can be adjusted. Further, instead of selecting only a switching method having any one feature as in the prior art, it is possible to perform switching by blending a plurality of features.

Further, in the above-described embodiment, the parameter determination device applied to the controller switching system is premised on processing by hardware, but it is not necessary to be limited to such a configuration. For example, a configuration in which processing is performed separately by software is also possible. In this case, the parameter determination device includes a main storage device such as a CPU and a RAM, and a computer-readable recording medium on which a program for realizing all or part of the above processing is recorded. Then, the CPU reads out the program recorded in the storage medium and executes information processing / calculation processing, thereby realizing processing similar to that of the parameter determination device described above.
Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  In the parameter calculation calculation formula according to the present embodiment, a plurality of calculation formulas are two types, and the respective formulas have characteristics that conflict with each other. However, the present invention is not limited to this. For example, the number of expressions in the plurality of arithmetic expressions is not particularly limited, and the characteristics of the respective methods may be different from each other even if they are not contradictory.

  Moreover, although each coefficient of each term of the arithmetic expression obtained by linearly combining the arithmetic expressions of the plurality of methods included in the parameter determination device 13 according to the present embodiment is set to 0 or more and 1 or less, the present invention is not limited to this. . For example, the value may be larger than 1.

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the specific structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.

DESCRIPTION OF SYMBOLS 1 Controller switching system 10 Initial parameter setting part 11 Data reading part 12 Controller determination part 13 Parameter setting apparatus 14 Command value calculation part

Claims (5)

In a system including a plurality of controllers, when switching a controller for processing, a parameter determination device that determines parameters used in the controller after switching,
It is composed of a combination of a plurality of arithmetic expressions having different features, and is provided with a parameter calculation arithmetic expression that can change the weighting of the different features, and is used in the controller after switching by using the parameter calculation arithmetic expression. A parameter determining device for determining a parameter.   The parameter determination apparatus according to claim 1, wherein the parameter calculation formula is a combination of a plurality of formulas having conflicting characteristics.   In the parameter calculation formula, the plurality of calculation formulas having the different characteristics are each represented by a polynomial, the plurality of calculation formulas having the different characteristics are linearly combined, and a changeable coefficient is provided in each term of the polynomial. The parameter determination apparatus according to claim 1, wherein the parameter determination apparatus is an arithmetic expression. In a system including a plurality of controllers, when switching a controller for processing, a parameter determination method for determining parameters used in the controller after switching,
It is composed of a combination of a plurality of arithmetic expressions having different features, and includes a parameter calculation arithmetic expression that enables the weighting of the different features to be changed. By using the parameter in the controller before switching to the parameter calculation arithmetic expression, switching is performed. A parameter determination method for determining parameters used in a later controller. In a system including a plurality of controllers, when switching a controller for processing, a parameter determination program for determining parameters used in the controller after switching,
It is composed of a combination of a plurality of arithmetic expressions having different features, and includes a parameter calculation arithmetic expression that enables the weighting of the different features to be changed. By using the parameter in the controller before switching to the parameter calculation arithmetic expression, switching is performed. A parameter determination program for causing a computer to determine parameters used in a later controller.

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