JP2020187469A - Control and adjustment device - Google Patents

Abstract

To provide a control and adjustment device that allows a user to easily perform adjustment of a control parameter.SOLUTION: A control and adjustment device is for adjusting a control parameter of a system having an object, a driving device of the object, and a control unit that performs feedback control and/or feedforward control of the driving device based on the control parameter, and comprises: an operation input unit that is for a user to input information indicating the target response characteristics of the system; a first operation unit that calculates a target model of the system based on the information indicating the target response characteristics; a second operation unit that performs optimization calculation by using the target model of the system and input/output time series data of the system, and calculates a plurality of control parameters; and a parameter application unit that applies the calculated control parameters to the control unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to a control adjustment device used in an automatic ship maneuvering system or the like.

Vessels such as research vessels and work vessels are required to have high-precision positioning performance for their work purposes. On the other hand, since disturbances such as wind, waves, and tidal currents act on the ship, it is very difficult for the operator to manually maneuver the ship to the desired position and attitude. Therefore, it is becoming more common to install an automatic ship maneuvering system called DPS (Dynamic Positioning System) that controls multiple thrusters collectively based on the signals of various sensors such as GPS and gyro, and automatically controls the ship position and bow azimuth. ing. The main functions of such an automatic ship maneuvering system are a route track function that controls the position of the ship so as to follow a predetermined route, and a fixed point holding function that holds the ship position and bow azimuth at a specified point. These automatic maneuvers are mainly performed by PID control. For example, Patent Document 1 describes a fixed point holding control device for holding a work boat at a fixed point.

Japanese Unexamined Patent Publication No. 2016-188077

In the above-mentioned conventional automatic ship maneuvering system, it is necessary to adjust (change) the control parameters due to aging of the characteristics of the hull and the onboard equipment. In the past, it was difficult for the user to adjust such control parameters, and the person in charge of the manufacturer boarded the ship. As described above, the problem that it is difficult for the user to adjust the control parameters exists not only in moving objects such as ships but also in industrial robots and the like.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a control adjustment device that enables a user to easily adjust control parameters.

In order to achieve the above object, the control adjustment device according to an aspect of the present invention includes an object, a drive device for changing the position and / or attitude of the object, and a target position and / or target of the object. A control adjusting device for adjusting the control parameters of a system having a control unit that performs automatic operation by feedback control and / or feed forward control of the drive device based on control parameters so as to be in a posture. A target model of the system based on an operation input unit for the user to input target response characteristic designation information indicating the target response characteristic of the system and the target response characteristic designation information input from the operation input unit. The optimization calculation is performed using the first calculation unit that calculates the above, the target model of the system calculated by the first calculation unit, and the input / output time series data of the system, and the feedback control and / or feed is performed. It includes a second calculation unit that calculates a plurality of control parameters for performing forward control, and a parameter application unit that applies the control parameters calculated by the second calculation unit to the control unit.

According to this configuration, the user does not have to directly set the target model of the system such as the target transfer function, but rather sets the target response characteristic specification information that is easy for the user to understand, so that the user can adjust the control parameters. It can be easily implemented.

In addition, a waveform data calculation unit that calculates output waveform data when there is a step input or a lamp input in the target model of the system calculated by the first calculation unit, and an output waveform calculated by the waveform data calculation unit. It may further include a display unit that displays data as a graph on the screen. In this way, by displaying the waveform of the step response or the ramp response of the target model of the system corresponding to the target response characteristic designation information as a graph, the user can more easily adjust the control parameters.

Further, the data storage unit that stores a plurality of the input / output time series data and the plurality of input / output time series data are frequency-analyzed, and the analysis result and the target of the system calculated by the first calculation unit are obtained. A data selection unit that selects input / output time series data to be used in the optimization calculation of the second calculation unit from the plurality of input / output time series data stored in the data storage unit based on the characteristics of the model. And may be further provided.

In addition, an experimental condition storage unit that previously stores experimental conditions for performing an experiment for changing the position and / or posture of the object in order to newly acquire the input / output time series data, and the experimental condition storage unit. An experiment execution unit that causes the control unit to perform automatic operation based on the experimental conditions stored in the unit and acquires the input / output time series data at this time may be further provided. As a result, it is possible to reduce the time and effort of the user to set the experimental conditions.

Further, each time a plurality of control parameters are calculated by the second calculation unit, a parameter set storage unit that stores the plurality of control parameters as a set and a plurality of sets stored in the parameter set storage unit are used. The parameter set selection operation unit for the user to select one or more of the above sets, and the plurality of control parameters included in each of the said sets selected by the parameter set selection operation unit are fed-forward controlled and /. Alternatively, it further includes a simulation unit that performs a simulation for obtaining the behavior of the object when used for feedforward control, and a display unit that displays the behavior of the object obtained by the simulation unit on the screen. You may. This allows the user to confirm the behavior of the object when using an arbitrary parameter set. In addition, by selecting a plurality of parameter sets, it is possible to compare the behavior of the object when each parameter set is used.

The present invention has the effect of being able to provide a control adjustment device having the configuration described above and enabling the user to easily adjust the control parameters.

FIG. 1 is a diagram showing an outline of an autopilot system which is an example of an autopilot system having a control adjustment device of the present embodiment. FIG. 2 is a flowchart showing an example of processing of the controller when performing automatic control adjustment in the present embodiment. FIG. 3 is a flowchart showing an example of details of the preparation process of the target transfer function of FIG. FIG. 4 is a flowchart showing an example of details of the preparation process of the ship maneuvering data of FIG. FIG. 5 is a block diagram showing a part of the calculation procedure by the controller. FIG. 6 is a diagram showing an example of a display screen of the operation display. FIG. 7 is a diagram showing an example of a display screen of the operation display. FIG. 8 is a diagram showing an example of a display screen of the operation display. FIG. 9 is a diagram showing an example of a display screen of the operation display. FIG. 10 is a diagram showing an example of a display screen of the operation display. FIG. 11 is a diagram showing an example of a display screen of the operation display. FIG. 12 is a diagram showing a method for displaying a graph according to a user request. FIG. 13A is a gain diagram showing an example of the frequency characteristics of the target transfer function, and FIG. 13B is a graph showing a graph of power spectral density obtained by frequency-analyzing two ship maneuvering data. FIG. 14 is a diagram for explaining a hull motion model used in the simulation. FIG. 15 is a diagram showing a closed loop system including a typical controller and plant. FIG. 16 is an assumed diagram when one controller of FIG. 15 is divided into three controllers. FIG. 17 is a diagram showing a closed loop system focusing only on the bow azimuth. FIG. 18 is a diagram showing a state of an initial experiment in a closed loop system. FIG. 19 is a diagram showing response characteristics obtained by simulation.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, the same or corresponding elements may be designated by the same reference numerals throughout the drawings, and the overlapping description thereof may be omitted. In addition, the drawings are shown schematically for the sake of easy understanding, and may not be displayed accurately. Moreover, the present invention is not limited to the following embodiments.

(Embodiment)
FIG. 1 is a diagram showing an outline of an autopilot system which is an example of an autopilot system having a control adjustment device of the present embodiment.

The automatic ship maneuvering system of FIG. 1 is provided for ships such as research vessels and work vessels. This automatic ship maneuvering system includes an operation indicator 1, a controller 2A, a thrust distribution unit 4, an actuator unit 5 including a plurality of thrusters, a ship dynamics (plant) 6, and a sensor unit 7.

A ship equipped with this automatic ship maneuvering system is provided with a plurality of swivel thrusters on the bottom of the ship as an actuator unit 5 serving as a propulsion device. Further, the sensor unit 7 is provided with a positioning device such as GPS (Global Positioning System) for measuring the position of the ship, a gyro sensor for measuring the azimuth of the bow, an anemometer, a tidal current meter, and the like.

The operation display 1 is configured by using a GUI or the like, and displays an operation input device capable of inputting a command or the like to the controller 2A by a user operation and information output from the controller 2A on the screen. It is equipped with a display that can be used.

The controller 2A includes a ship maneuvering control unit 3 that performs feedback control such as PID control when performing automatic ship maneuvering, and a control adjustment control unit 2 for adjusting control parameters such as PID control of the ship maneuvering control unit 3. , The storage unit 2M and the like. The controller 2A can be composed of, for example, a microcontroller, an MPU, a PLC, a logic circuit, or the like. The controller 2A may be composed of a single controller for centralized control, or may be configured with a plurality of controllers for distributed control in cooperation with each other.

Under the control of the ship maneuvering control unit 3, automatic ship maneuvering (automatic operation) of the route track function and the fixed point holding function can be performed. That is, automatic ship maneuvering that controls the position and attitude (bow azimuth) of the ship so as to follow the route designated by the operation indicator 1 is performed (route truck function). In addition, a fixed point holding operation for holding the position and attitude (bow azimuth) of the ship is performed at a point designated by the operation indicator 1 (fixed point holding function).

When automatic ship maneuvering is performed, for example, the command value (target value) Sa of the target ship position and bow azimuth for moving the ship is output from the operation indicator 1 to the ship maneuvering control unit 3. To. Here, the output Sb from the ship maneuvering control unit 3 to the thrust distribution unit 4 is a resultant force and a resultant moment command value (forward direction force command value, left-right direction force command value, turning moment command value). The output Sc from the thrust distribution unit 4 to the actuator unit 5 is a command value (rotation speed command value and turning angle command value of each thruster) to each actuator (thruster).

Further, the output Sd from the actuator unit 5 to the dynamics 6 of the ship is the actual output of the actuator, the resultant force and the resultant moment (actual rotation speed and actual turning angle of each thruster, sum of the forward-direction components of the actual thrust of each thruster). The sum of the left-right components of the actual thrust of each thruster, and the sum of the turning moments due to the actual thrust of each thruster).

Further, the output Se from the ship dynamics 6 to the sensor unit 7 is the actual position of the ship and the bow azimuth. Further, the output Sf of the sensor unit 7 is the measured value of each sensor (the position of the ship measured by a positioning device such as GPS, the bow azimuth angle measured by a gyro sensor or the like, the wind direction measured by an anemometer or the like, and the wind direction. Wind speed, tidal current velocity and tidal current direction measured by anemometer, etc.). Further, disturbances (tide, wind, wave) are input to the dynamics 6 and the sensor unit 7 of the ship.

Although not clearly shown in FIG. 1, the control adjustment control unit 2 acquires the output Sb of the ship maneuvering control unit 3, the output Sd of the actuator unit 5, and the output Sf of the sensor unit 7, and each time-series data. Is configured to be stored in the storage unit 2M as ship maneuvering data. Further, the control adjustment control unit 2 is configured to acquire the input command value Sa to the ship maneuvering control unit 3 and the output Sc of the thrust distribution unit 4 and store the respective time series data in the storage unit 2M. ..

In this embodiment, the user has a control adjustment device that can easily adjust (change) the control parameters (gain) set in the ship maneuvering control unit 3. This control adjustment device is composed of an operation display 1 and a control adjustment unit 2 for control adjustment 2A. This will be described in detail below. The control adjustment control unit 2 functions as a first and second calculation unit, a waveform data calculation unit, a parameter application unit, a data selection unit, an experiment execution unit, a simulation unit, and the like. Further, the operation display 1 functions as a display unit, an operation input unit, a parameter set selection operation unit, and the like.

FIG. 2 is a flowchart showing an example of processing of the controller 2A (control adjustment control unit 2) when performing automatic control adjustment in the present embodiment. Further, FIG. 3 is a flowchart showing a detailed example of the preparation process (step S2) of the target transfer function of FIG. 2, and FIG. 4 is a detailed example of the preparation process (step S3) of the ship maneuvering data of FIG. It is a flowchart which shows.

First, the outline will be described. For example, the user operates the operation display 1 and inputs a control adjustment command from the operation display 1 to the control 2A (Yes in step S1). When the control adjustment command is input, the controller 2A performs a process of preparing the target transfer function and the ship maneuvering data used when calculating the control parameters (steps S2 and S3). Next, the controller 2A calculates a plurality of control parameters (control parameter sets) using the target transfer function prepared in steps S2 and S3 and the ship maneuvering data (step S4). The control parameter set calculated in step S4 is added (stored) to the parameter list in the processes S5 (steps S51 to S57) described later (step S51). The parameter list is stored in the storage unit 2M of the controller 2A. Further, in the process S5 described later, each control parameter of the control parameter set specified by the user from the parameter list is set as the control parameter of the ship maneuvering control unit 3 (step S54).

Next, a detailed example of step S2 (preparation process of the target transfer function) will be described with reference to FIG.

For example, by operating the operation display 1 of the user, the controller 2A causes the operation display 1 to display the preparation screen of the target transfer function (step S21).

Here, the user can operate the operation display 1 to newly set data (target characteristic data) for designating the target response characteristic (hereinafter, also referred to as “target characteristic”), and up to now. It is also possible to specify the target characteristic data stored in. The target characteristic data is data related to target response characteristics such as rise time, overshoot amount, and settling time, and the target characteristic data is stored in a target characteristic data list in the storage unit 2M.

When newly setting the target characteristic data (Yes in step S22), the process proceeds to step S23. On the other hand, if no new setting is made (No in step S22), the process proceeds to step S28.

When, for example, the screen shown in FIG. 6 is displayed as the preparation screen of the target transfer function in step S21, the process can proceed to step S23 as Yes in step S22. Further, when, for example, the screen shown in FIG. 10 is displayed as the preparation screen of the target transfer function in step S21, the screen can be proceeded to step S28 as No in step S22. Details of FIGS. 6 and 10 will be described later.

In step S23, when the control 2A is input with target characteristic data (hereinafter, also referred to as “user request”) such as rise time, overshoot amount, and settling time by the operation of the operation display 1 of the user (step). 23, Yes), the controller 2A converts the user request into a parameter such as a time constant, and calculates a transfer function (target transfer function) according to the user request (step S24).

Next, the controller 2A calculates the time series data of the step response of the target transfer function, and displays it as a graph of the step response waveform on the display screen of the operation display 1 (step S25). Instead of the step response, for example, the time series data of the lamp response may be calculated and the graph of the lamp response waveform may be displayed on the display screen of the operation display 1.

The user can indirectly determine whether or not the target transfer function is appropriate by determining whether or not the displayed step response waveform (or lamp response waveform) is appropriate. Then, if it is determined that the target transfer function at that time is not appropriate, the operation display 1 can be operated to input a different user request (No in step S26). Further, if the user determines that the displayed step response waveform is appropriate, he / she can operate the operation display 1 to store the target transfer function at that time (Yes in step S26). As a result, the controller 2A stores the target transfer function calculated in step S24 in the storage unit 2M (step S27). At this time, the controller 2A stores the target characteristic data (user request) corresponding to the target transfer function in the storage unit 2M in association with the target transfer function. The target characteristic data is stored in the target characteristic data list.

Next, in step S28, the controller 2A displays the target characteristic data list on the display screen of the operation display 1. The user can select one target characteristic data from this displayed list, and by selecting one desired target characteristic data (Yes in step S29), the selected target characteristic data corresponds to the selected target characteristic data. The target transfer function is used when calculating the control parameters in step S4 (FIG. 2).

Next, a detailed example of step S3 (preparation process of ship maneuvering data) will be described with reference to FIG.

For example, by operating the operation display 1 of the user, the controller 2A causes the operation display 1 to display the preparation screen for the ship maneuvering data (step S31).

Here, the user can operate the operation display 1 to carry out an automatic ship maneuvering experiment and acquire new ship maneuvering data, or specify the ship maneuvering data stored so far and use it in step S4. You can also do it. The ship maneuvering data up to now is stored in the ship maneuvering data list in the storage unit 2M.

When carrying out an automatic ship maneuvering experiment, the user operates the operation display 1 to input experimental conditions such as a target position (moving direction and moving distance) for moving the ship, and performs an experiment start operation. (Yes in step S32), the controller 2A carries out an automatic ship maneuvering experiment according to the experimental conditions (step S33). At this time, the control adjustment control unit 2 causes the ship maneuvering control unit 3 to perform automatic ship maneuvering based on the experimental conditions. Then, the controller 2A (control adjustment control unit 2) stores the ship maneuvering data composed of the time series data acquired during the experiment in the ship maneuvering data list in the storage unit 2M (step S34).

When, for example, the screen shown in FIG. 7 is displayed as the preparation screen for the ship maneuvering data in step S31, the process can proceed to step S33 as Yes in step S32. Further, in step S31, for example, when the screen shown in FIG. 10 is displayed as the preparation screen for the ship maneuvering data, the screen can be proceeded to step S35 as No in step S32. Details of FIGS. 7 and 10 will be described later.

In step S35, the controller 2A displays the ship maneuvering data list on the display screen of the operation display 1. The user can select one ship maneuvering data from this displayed list, and by selecting one desired ship maneuvering data (Yes in step S36), the selected ship maneuvering data becomes a control parameter in step S4. It is used when calculating the set.

Then, in step S4 of FIG. 2, the controller 2A calculates a plurality of control parameters (control parameter sets) using the target transfer function prepared in steps S2 and S3 and the ship maneuvering data. As this calculation method, a method such as FRIT (Fictitious Reference Iterative Tuning), IFT (Iterative Feedback Tuning), and VRFT (Virtual Reference Feedback Tuning) can be used. These FRITs, IFTs, and VRFTs use the obtained input / output data (ship maneuvering data) for the control unit (ship maneuvering control unit 3 in FIG. 1) having adjustable control parameters such as PID control. It is known as a method of adjusting control parameters so that the adjusted response approaches the target response. In this example, for example, using FRIT, the evaluation function is minimized by a predetermined optimization algorithm, and control parameters satisfying the target response are calculated.

Then, in the process S5, the controller 2A adds (stores) the control parameter set calculated in step S4 to the parameter list (step S51).

Next, the user can display the parameter list on the display screen of the operation display 1 by operating the operation display 1, and one or a plurality of control parameter sets can be displayed from the displayed parameter list. The hull motion simulation can be performed by the controller 2A by a selective operation. The controller 2A uses the selected control parameter set when one or more control parameter sets are selected (Yes in step S55) when performing a hull motion simulation (Yes in step S52). A hull motion simulation is performed, and the result is displayed on the display screen of the operation display 1 (step S56). This hull motion simulation can be repeated.

Further, when the hull motion simulation is not performed, the user selects one control parameter set from the parameter list and applies the control parameter set. When the hull motion simulation is not performed (No in step S52), the controller 2A selects one control parameter set and performs the application operation (Yes in step S53), each of the selected control parameter sets. The control parameter is applied to the ship maneuvering control unit 3 as the control parameter (step S54).

FIG. 5 is a block diagram showing a part of the calculation procedure and the like by the controller 2A. The controller 2A has a first calculation unit 201 and a second calculation unit 202. The first calculation unit 201 calculates a target transfer function according to a user request (target characteristic data) (step S24). This target transfer function is stored in the storage unit 2M together with the target characteristic data, and then used in the second calculation unit 202. The second calculation unit 202 calculates a control parameter set by FRIT or the like based on the target transfer function selected and read from the storage unit 2M and the ship maneuvering data (step S4), and stores the control parameter set in the storage unit 2M. (Step S51). In the present embodiment, the first calculation unit 201 calculates the target transfer function including the information (for example, the transfer function of the plant) of the plant (ship dynamics 6). That is, the target transfer function including the transfer function of the plant is calculated.

The storage unit 2M has first to fourth storage areas m1 to m4. In the first storage area m1, the target transfer function calculated by the first calculation unit 201 and the target characteristic data used for the calculation are stored in association with each other. In addition, the target characteristic data is stored as a list. This list is, for example, as illustrated as the target characteristic data list 31 of FIG. 8, the target characteristic data (for example, rise time, overshoot amount and settling time) and the identification information (target characteristic) of the target characteristic data. No.) and the creation date and time of the target characteristic data are stored. In addition, user comments and the like can be stored in the "remarks" column.

Further, in the second storage area m2, the ship maneuvering data acquired during the actual operation and the ship maneuvering data acquired in the automatic ship maneuvering experiment are stored as a list. This list is stored together with the ship maneuvering data, the identification information of the ship maneuvering data (ship maneuvering data No.), the recording start date and time of the ship maneuvering data, and the like, as illustrated as, for example, the ship maneuvering data list 41 of FIG. .. Most of the ship maneuvering data is stored although it is not included in the displayed list 41. In addition, user comments and the like can be stored in the "remarks" column.

Further, in the third storage area m3, a control parameter set including a plurality of control parameters calculated by the second calculation unit 202 is stored as a list. This list includes, for example, a control parameter set (for example, proportional gain Kp, integral gain Ki, differential gain Kd) and identification information (control parameters) of the control parameter set, as illustrated as the parameter list 61 of FIG. No.), the creation date and time of the control parameter set, the identification information of the ship maneuvering data used to calculate the control parameter set (ship maneuvering data No.), and the identification information of the target characteristic data corresponding to the target transmission function (target characteristic No.). .) Etc. are memorized. In addition, user comments and the like can be stored in the "remarks" column.

Further, in the fourth storage area m4, information stored in advance other than the above and all necessary information shall be stored. The storage unit 2M may be configured by using one storage medium or may be configured by using a plurality of storage media.

The order and the like shown in the flowcharts of FIGS. 2 to 4 are merely examples, and are variously changed depending on the configuration and operation procedure of the operation display 1.

Next, an example of the configuration and operation method of the operation display 1 will be described. 6 to 11 are diagrams showing a display example of the display screen 1G of the operation display 1 displayed by the input operation of the user's control adjustment command (for example, step S1), respectively. The operations on the screen described below can be performed by operating an operation input device such as a mouse provided in the operation display 1.

On the display screen 1G of FIG. 6, the target characteristic setting tab t1 is selected (clicked) to display the target characteristic setting screen.

The user can adjust or set desired target characteristic data (rise time, overshoot amount, settling time) by operating the positions of the sliders 11, 12, and 13 left and right. Here, when the mouse is over the characters "fast", "slow" and overshoot "large" and "small" displayed on the screen for the rise time and the settling time, the sliders 11, 12, and 13 are operated. The explanation of the merits and demerits of the mouse may be displayed in a pop-up to teach the user. For example, when the mouse is over to the "fast" rise time, an explanation such as "the response becomes faster, but the load on the thruster increases" is displayed in a pop-up.

Further, here, the step response characteristic corresponding to the target characteristic data (user request) indicated by the positions of the sliders 11, 12, and 13 is displayed in the graph g1. This step response characteristic is a response characteristic by step input of the target transfer function corresponding to the target characteristic data. Further, the change in thrust at the time of the step response characteristic shown in the graph g1 is displayed in the graph g2. Note that the graph g2 may display a resultant force, a resultant moment, a thruster rotation speed, or the like instead of the thrust. Further, these may be switched and displayed. Further, the graph g2 may display a line 17 indicating the maximum rating of the thrust (or the number of revolutions of the thruster, etc.) and display a warning when the displayed value is larger than the maximum rating. The output waveform data of these graphs g1 and g2 are calculated by the controller 2A.

When the positions of the sliders 11, 12 and 13 are moved, these graphs g1 and g2 change according to the positions. Therefore, the user moves the sliders 11, 12, and 13 while looking at the graphs g1 and g2, and when the desired response characteristics are displayed on the graphs g1 and g2, clicks the save button 15 to display the target characteristic data and the target. The transfer function can be stored (stored in the storage unit 2M). At the time of saving, comments and the like (for example, adjustment direction, intention, etc.) may be saved together.

Further, the user may click the read button 14 to read the created target characteristic data and display it on the graphs g1 and g2 so that the comparison can be performed on this graph. At this time, when the read button 14 is clicked, the target characteristic data list 31 as shown in FIG. 8 may be displayed in a pop-up, and the target characteristic data to be read may be selected from the list 31.

As described above, the user does not directly set the target transfer function, but may set the target characteristic data (target response characteristic specification information) that is easy for the user to understand. A waveform such as a step response is displayed as shown in graph g1 according to the target transfer function corresponding to the target characteristic data to be set. Therefore, the user can easily adjust the control parameters. In addition, instead of the step response, the waveform of the lamp response may be displayed.

Further, in this example, when the user clicks the advanced setting button 16, a pop-up window may be opened so that the type of the target transfer function can be switched. For example, the complementary sensitivity function having an excellent target value tracking effect and the sensitivity function having an excellent disturbance suppressing effect may be switched. In addition, the user may be able to directly specify the target transfer function. Further, the user may change from the step input to the lamp input so that the lamp response characteristic can be displayed on the graph g1.

FIG. 12 is a diagram showing a method for displaying the graph g1 according to the user request (positions of the sliders 11, 12, and 13). In the following, the "control parameter set" may be abbreviated as "parameter set".

The controller 2A stores a parameterized transfer function G (s; ρ) as shown in FIG. Then, the parameter set ρ that matches or gives the closest response to the user request is obtained by optimization calculation. Specifically, the controller 2A stores a large number of parameter sets ρ (ρ1, ρ2, ρ3, ..., ρN, ...) Used for the transfer function G. Each of these parameter sets is sequentially assigned to the transfer function G, and the rise time, overshoot amount, and settling time of the step response waveform are repeatedly calculated. Then, the calculated rise time, overshoot amount, and settling time are displayed on the graph g1 as the step response waveform that matches or is closest to the user request. FIG. 12 shows that the parameter set ρN (= ρ ^* ) matches the user request.

Further, the graph g2 will be described. The controller 2A stores the transfer function H (s; ρ) parameterized with the same control parameter (ρ) as the transfer function G, and the parameter set ρN (determined above) is stored. The response waveform obtained when = ρ ^* ) is substituted is displayed in the graph g2.

In FIG. 6, the set value of the user request is specified at the positions of the sliders 11, 12, and 13, but the set value of the user request may be directly input as a numerical value. Further, as the setting items of the user request, the rise time, the overshoot amount, and the settling time are illustrated here, but other setting items such as steady deviation may be provided, and the number of setting items can be increased or decreased. You may.

Next, on the display screen 1G of FIG. 7, the ship maneuvering setting tab t2 is selected (clicked) to display the setting screen of the automatic ship maneuvering experiment.

The user inputs (enters) the experimental conditions of the automatic ship maneuvering experiment in the table 21. The moving direction of the ship is entered in the "direction" column of the table 21, and the final value for moving the ship is entered in the "width" column. The numbers entered in the table 21 are not accurate, but for example, in the first row, it is stated that the numbers are moved 10 [m] in the front-back direction. This means moving forward by 10 [m]. For example, when moving backward, enter a negative value (for example, -10 [m]) in the "width" column. In the case of turning on the third line, as shown in the graph 70 for explanation, 20 [deg] in the "width" column is filled with the turning angle (final value), and the "rate" column. 1 [deg / s] indicates the slope of the graph 70. The "target value" entered in the first and third rows of the "type" column of the table 21 indicates that it is given as the command value Sa in FIG.

Further, in the second row of the table 21, it is stated that a thrust of 1000 [N] is given to, for example, the right direction in the left-right direction when a disturbance (entered in the "type" column) is assumed. When giving a thrust to the left, for example, the thrust is entered as a negative numerical value.

The table 21 shown in FIG. 7 is shown for explaining the entry method of the table 21, and the numerical values in the table 21 are not always correct. Further, the table 21 is not limited to such a table 21, and any table can be used as long as it can input experimental conditions.

Then, when the user inputs the experiment conditions in the table 21, clicks the experiment condition read button 22, and clicks the experiment start button 26, the automatic ship maneuvering experiment is started. During the experiment, as shown in graph g3, the ship's experiment start position and attitude, current position and attitude, target position and attitude are displayed, and a line connecting the start position and target position (for example, a broken line) is displayed. I try to do it. Also, the remaining time of the experiment time is displayed. In addition, information such as the current position of the ship, the direction of the bow, and the speed of the ship may be displayed. Before the start of the experiment (for example, when the experiment condition reading button 22 is clicked), the user may be informed that the safety of the surroundings is to be confirmed.

Clicking the pause button 27 immediately stops the experiment, and clicking the resume button 28 resumes the experiment. Also, clicking the stop button 29 immediately stops the experiment. When the experiment is stopped by clicking the pause button 27 or the stop button 29, the controller 2A controls to perform the fixed point holding operation at the stop location.

During the experiment, the controller 2A sequentially acquires the experimental data, and when the experiment is completed, the experimental data is stored in the storage unit 2M as ship maneuvering data (time series data). After the experiment is completed, when the experiment data read button 24 is clicked and the experiment result analysis button 25 is clicked, the controller 2A analyzes the experiment data and calculates the rise time, overshoot amount, and settling time. It may be displayed on the display screen 1G.

An experimental condition automatic setting button may be provided on the screen of FIG. 7, and when the user clicks the experimental condition automatic setting button, all or part of the experimental condition may be automatically set. In this case, a predetermined experimental condition may be stored in advance in the storage unit 2M so that the controller 2A can read it. As a result, it is possible to reduce the time and effort of the user to set the experimental conditions. In this case, a plurality of experimental conditions may be stored in the storage unit 2M in advance so that the experimental conditions set by the user can be selected. The experimental conditions stored in advance are stored in the storage unit 2M by the manufacturer.

On the display screen 1G of FIG. 8, the target characteristic data tab t3 is selected (clicked) to display a list screen of the target characteristic data.

On the screen of FIG. 8, the target characteristic data list 31 is displayed. When the display column of the list 31 is clicked, a check mark is added, and graphs g4 and g5 corresponding to the target characteristic data with this check mark are displayed. These graphs g4 and g5 show response characteristics similar to the graphs g1 and g2 of FIG. The above check mark can be attached to a plurality of target characteristic data, and in FIG. 8, No. 1 and No. It is attached to the target characteristic data of 2, and each response characteristic is displayed on the same graph as in graphs g4 and g5. This allows the user to compare multiple target characteristics. In addition, the user can enter a comment or the like in the remarks column of the list 31.

Also, click the column names in the list 31 ("Target characteristic No.", "Created date", "Rise time", "Overshoot", "Settling time", "Remarks") and specify the search conditions. It is possible to search for ship maneuvering data that satisfies the specified conditions. As the search condition, for example, "creation date and time" may be clicked and a period may be specified, or "rise time", "overshoot", and "setting time" may be clicked and a range may be specified for each. You can also sort by clicking the column name in the list 31 in descending order or ascending order.

Further, when the user puts a check mark in the display field of the list 31 and clicks the advanced setting button 33, a pop-up window may be opened to display the target transfer function, or the board diagram may be displayed. May be drawn.

Further, the user can delete the selected target characteristic data by clicking (for example, clicking a number) any of the target characteristic data in the list 31 to select the target characteristic data and clicking the delete button 32.

Further, the user clicks (for example, clicks a number) any one of the target characteristic data in the list 31 to select the target characteristic data, and further clicks the specify button 34 to transmit the target corresponding to the selected target characteristic data. The function can be used in the control parameter calculation process (step S4).

On the display screen 1G of FIG. 9, the ship maneuvering data tab t4 is selected (clicked) and a list screen of ship maneuvering data is displayed.

On the screen of FIG. 9, the ship maneuvering data list 41 is displayed. In this list 41, the information (average wind speed, tidal current, draft) when each ship maneuvering data is acquired is also displayed. The draft value is input by the user by reading the draft value of the draft meter. The "ship maneuvering" described in the "type" column of this list 41 indicates that the ship maneuvering data was acquired during normal operation, and the "experiment" was acquired when the automatic ship maneuvering experiment was performed. Indicates that it is ship maneuvering data. Thereby, the user can distinguish whether each ship maneuvering data is the ship maneuvering data acquired during normal operation or the ship maneuvering data acquired by the experiment. In addition, the user can enter a comment or the like in the remarks column of the list 41.

Click the column name of this list 41 ("Ship maneuvering data No.", "Recording start date and time", "Average wind speed", "Tide", "Draft", "Type", "Remarks") to search for search conditions. It is possible to search for ship maneuvering data that can be specified and satisfy the specified conditions. As the search condition, for example, the period may be specified by clicking "recording start date and time", or the range may be specified by clicking "average wind speed", "tide", and "draft". You may also click "Type" and specify "Maneuvering" or "Experiment" as the search condition. Further, by clicking the column name in the list 41, it may be possible to sort in descending order or ascending order.

When the user clicks (for example, clicks a number) any of the ship maneuvering data in the list 41 to select it, a graph g6 showing the movement trajectory of the ship in a plane based on the selected ship maneuvering data, or the above ship A graph g7 showing the relationship between the time and the position of the hull may be displayed. In the graph g6, the initial position and attitude of the ship, the intermediate position and attitude, the final position and attitude, and the movement locus (broken line) of the ship are displayed. The hull position on the vertical axis of the graph g7 indicates the moving distance of the ship from the initial position to the final position.

Further, the user clicks (for example, clicks a number) any one of the ship maneuvering data in the list 41 to select it, and further clicks the designation button 42 to calculate the control parameter of the selected ship maneuvering data (for example). It can be used in step S4).

On the display screen 1G of FIG. 10, the calculation tab t5 is selected (clicked) and the control parameter calculation screen is displayed.

On the screen of FIG. 10, the user can specify the target characteristic data and the ship maneuvering data to calculate the control parameters. When the reference button 51 of the target characteristic is clicked, for example, the target characteristic data list 31 shown in FIG. 8 is displayed, the desired target characteristic data is selected from the list 31, and the designation button 34 is clicked. The selected target characteristic data is displayed in the target characteristic designation field 57.

Further, when the reference button 52 of the ship maneuvering data is clicked, for example, the ship maneuvering data list 41 shown in FIG. 9 is displayed, the desired ship maneuvering data is selected from the list 41, and the designated button 42 is clicked. The selected ship maneuvering data is displayed in the ship maneuvering data designation field 58.

As described above, when the automatic control adjustment start button 54 is clicked after selecting the target characteristic data and the ship maneuvering data, the target transfer function and the ship maneuvering data corresponding to the selected target characteristic data are used, and the optimum is performed by FRIT. The conversion calculation is performed and the control parameter set is calculated (step S4). The calculated control parameter set (proportional gain Kp, integral gain Ki, differential gain Kd) is displayed in the parameter display column 59. The state of optimization at this time is displayed as shown in graph g8, for example. In addition, when the difference between the calculated value of each control parameter and the preset value of the manufacturer stored in advance is equal to or more than a predetermined value, a warning is displayed such as displayed in red in the parameter display field 59. May be good. Then, when the user clicks the save button 56, the calculated control parameter set is stored in the parameter list. When the control parameter set is calculated, it may be automatically stored in the parameter list (step S51).

Further, the controller 2A performs a hull motion simulation using the calculated control parameter set, and displays the simulation result as shown in the graph g9.

Further, the user clicks the read button 55 to read the created control parameter set, performs a hull motion simulation using the control parameters, displays the simulation result on the graph g9, and the user displays the simulation result. It may be possible to compare. At this time, when the read button 55 is clicked, a parameter list 61 as shown in FIG. 11, for example, may pop up and the control parameter set to be read may be selected from the list 61.

When the target characteristic data is set in the target characteristic designation field 57 and the automatic button 53 of the ship maneuvering data is clicked, the controller 2A switches to the target transfer function and control adjustment (FRIT) corresponding to the target characteristic data. Suitable ship maneuvering data can be selected from the ship maneuvering data list and displayed in the ship maneuvering data designation field.

A selection method when the ship maneuvering data is automatically selected in this way will be described with reference to FIG. The controller 2A calculates the frequency characteristic of the target transfer function corresponding to the target characteristic data, and specifies the control band (controllable region) from the frequency characteristic. FIG. 13A is a gain diagram showing the frequency characteristics of the target transfer function, and a band having a gain of a predetermined value or more is specified as a control band.

Further, the controller 2A frequency-analyzes predetermined data for each ship maneuvering data and selects ship maneuvering data (or a part thereof) having a large power spectral density within the control band. In FIG. 13B, graphs L10 and L20 of power spectral densities obtained by frequency-analyzing two ship maneuvering data are shown for simplification of explanation. In this case, the one having the larger power spectral density in the control band is shown. The ship maneuvering data corresponding to the graph L10 is selected. When frequency analysis of ship maneuvering data, for example, a window function for cutting out the data may be prepared, and the Fourier transform may be performed while moving the window function to calculate the frequency component of each section.

On the display screen 1G of FIG. 11, the parameter application tab t6 is selected (clicked) to display the control parameter application screen.

On the screen of FIG. 11, the parameter list 61 is displayed. In the parameter list 61, in addition to the identification information (control parameter No.) of the control parameter set, the creation date and time of the control parameter set, the values of each control parameter (proportional gain Kp, integrated gain Ki, differential gain Kd), etc., each It also includes identification information of ship maneuvering data (ship maneuvering data No.) used when creating (calculating) a control parameter set, identification information of target characteristic data corresponding to the target transfer function used (target characteristic No.), and the like. It has been.

When the display column of the list 61 is clicked, a check mark is added, the parameter set with this check mark is selected, and the corresponding simulation results are displayed in the display areas g10 and g11. The controller 2A performs a hull motion simulation using the selected parameter set, displays the simulation result in the display area g10 with animation, and displays the simulation result as a graph in the display area g11. This allows the user to confirm the hull behavior when each parameter set is used.

In FIG. 11, No. 1 and No. Two parameter sets are selected, and the simulation results are displayed superimposed on the display areas g10 and g11. By selecting a plurality of parameter sets in this way, it is possible to compare the hull behavior in each case. In addition, the user can enter a comment or the like in the remarks column of the list 61.

When the controller 2A (control adjustment control unit 2) performs a hull motion simulation using the above parameter set (corresponding to step S56 in FIG. 2), a predetermined value stored in the storage unit 2M in advance. It is carried out based on the simulation conditions (target position and attitude such as the moving direction and moving distance of the ship). Further, when carrying out this hull motion simulation, disturbance conditions such as wind, tidal current, and waves may be set.

Further, similarly to the target characteristic data list 31 and the ship maneuvering data list 41, the column names of the parameter list 61 (“control parameter No.”, “creation date and time”, “Kp”, “Ki”, “Kd”, You can click "Ship Maneuvering Data No.", "Target Characteristic No.", "Remarks") to specify search conditions and search for a parameter set that satisfies the specified conditions. It is also possible to sort the column names in descending order and ascending order by clicking the column names in the list 61.

In addition, the user can delete the selected parameter set by clicking the parameter set in the list 61 (for example, clicking the number) to select the parameter set and clicking the delete button 63. The default value of the parameter set that is initially set by the manufacturer is protected so that it cannot be deleted or changed. As a result, in the unlikely event that the performance deteriorates as a result of changing (adjusting) the control parameters, it is possible to return to the initial setting value.

Further, when the user clicks (for example, clicks a number) any one parameter set in the list 61 to select it, and then clicks the apply button 62, the control parameter of the selected parameter set is controlled for maneuvering. It is applied (updated) as a control parameter of unit 3 (step S54).

[Verification by simulation]
In this embodiment, in step S4, FRIT is used when calculating the control parameter. FRIT has many advantages such as the ability to control and adjust a closed loop system, the need for information on the controlled object, and the small number of experiments required. However, FRIT is a theoretical system for linear systems, and the results when applied to non-linear systems are not guaranteed. On the other hand, there is always non-linearity in a real plant. Therefore, it was verified by simulation that a desirable response can be obtained when FRIT is applied to an automatic ship maneuvering system in which a non-linear fluid force acts as in the present embodiment. In this simulation, for the sake of simplicity, a model that ignores thrust distribution and actuator characteristics is constructed. That is, only the non-linearity of the fluid force is considered.

FIG. 14 is a diagram for explaining a hull motion model used in the simulation. As shown in FIG. 14, considering a hull motion model navigating in a plane, the earth coordinate system Σ ^E with the control start position as the origin, the north as the X _E axis, and the east as the Y _E axis, and the position of the center of gravity of the hull are set. origin, X _B-axis in front of the ship, a right direction of the ship defines the hull coordinate system sigma ^B to Y _B axis.

In the following, the vector notation is shown in bold in the mathematical formula. In addition, in the text of this specification other than mathematical formulas, " _(V) " is added to indicate that it is a vector. If it is clear that it is a vector, " _(V) " may not be added.

Here, ν _(V) = [u, v, r] ^T to the longitudinal and lateral translation velocity and rotational velocity vector in the hull coordinate system Σ ^B, η _(V) = [x, y, [psi] ^T Earth coordinates X _E in the system sigma _^E, and hull center of gravity position and heading angle vector of Y _E-axis direction, u _(V) = [X, Y, N] before and after the ^T in the hull coordinate system sigma ^B and lateral translational force-turning moment As a vector, the equation of motion is expressed by the following equations (1) to (5).

Here, m is the mass of the ship, I _z is the moment of inertia around the hull center of gravity, m _x, m _y before and after that occurs when an object is moving in an ideal fluid, lateral additional mass, J _z is added moment of inertia Is. Further, the fluid force F _H (ν) _(V) = [X _H , Y _H , _NH ] ^T is, for example, the following equations (6) to (8) in which the fluid force during low-speed navigation is fitted by a polynomial. Use.

Then, if x _(V) = [η ^T , ν ^T ] ^T , the equations (1) to (8) can be summarized as the following equation (9). The variables used in Eq. (9) are shown in Eq. (10).

For the above-mentioned plant, a controller for controlling y _(V) = [x, y, ψ] ^T is configured. First, FIG. 15 shows a closed loop system including a general controller and a plant.

In addition, here, the influence of the interference term of the plant is relatively small and does not have a large influence on the control, and an independent controller is considered for each variable of x, y, and ψ. This is shown in FIG. X _c , Y _c , and N _c are controller outputs for each of the variables x, y, and ψ, and uc _(V) is a controller output that summarizes X _c , Y _c , and N _c .

In addition, in control for ships, PI-D (differential leading PID) is considered from the viewpoint of target value response, considering that it is better that the controller does not excessively react to sudden fluctuations in the target value. ) Adopt a controller. If the gains of each controller are ρ _{x (V)} , ρ _{y (V)} , ρ _{ψ (V),} and ρ _(V) = [ρ _x ^T , ρ _y ^T , ρ _ψ ^T ] ^T , then PI. The −D controller is represented by the following equation (11).

The variables used in the above equation (11) are as follows. Here, Tc = 0.3183 (fixed value).

Although FRIT is applied to the above-mentioned model, the automatic ship maneuvering system requires a controller design in consideration of target tracking characteristics and disturbance suppression characteristics. When considering the target tracking characteristic and the disturbance suppression characteristic in FRIT, perform the experiment twice and use an evaluation function including the target complementary sensitivity function T _d and the target sensitivity function S _d as shown in the following equation. Just do it.

The first term on the right side of the above equation is the term that considers the target tracking characteristic, and the second term is the term that considers the disturbance suppression characteristic, and the balance between the _two is adjusted by the weighting coefficients w ₁ and w ₂ . Here, y _ini and u _ini represent the output data and the input data of the experiment, respectively, and the superscript numbers indicate the experiment numbers. For example, y _ini ⁽¹⁾ means the output data in the first experiment. Further, the pseudo reference input and the pseudo disturbance input in the case of the PI-D controller are calculated by the following equations, respectively.

In the following, FRIT is applied with the goal of adjusting the PID gain ρ _ψ with respect to the bow azimuth ψ. In addition, since the actual machine is not used here, the simulation results are used as experimental data, but in order to make the framework close to the actual machine, a closed loop simulation with three degrees of freedom is performed.

In addition, an initial experiment and a confirmation experiment will be performed using the nonlinear plant represented by the above equation (9) as the control target.

Next, the evaluation function will be described.
Target transfer functions such as the complementary sensitivity function and sensitivity function of FRIT can be given arbitrarily, but in reality, giving a low-order target transfer function such as a first-order system to a higher-order plant accelerates the response. An unstable gain may be calculated.

Therefore, in this example, information about the plant (for example, the transfer function of the plant) is incorporated into the target transfer function so that there is no order difference between the target transfer function and the feasible transfer function. Specifically, considering the closed loop system of the plant and the PI-D controller, the complementary sensitivity function calculated when the gain of the PI-D controller is given, and the target complementary sensitivity function that satisfies the control requirements from the sensitivity functions, Used as a target sensitivity function.

Here, in the controlled nonlinear plant, if only the bow azimuth ψ is focused and the interference term is ignored, a SISO system related to ψ can be considered as shown in FIG.

In FIG. 17, ψ _r is a target value signal, N _d is an input disturbance signal, ψ is an output, N is an input to a plant, and _NCpi and _NCd are proportional / integrated outputs and differential outputs of the PI-D controller, respectively. .. Further, the transfer function P (s) of the plant is estimated using, for example, water tank test data and is given by the following equation.

The transfer function P (s) of the plant may be estimated using the technique of system identification. From FIG. 17, the following transfer function can be calculated. In the following, "P (s)" is abbreviated as "P".

The above two transfer functions are equations representing complementary sensitivity functions and sensitivity functions that can be achieved by changing the gain of the PI-D controller with respect to the plant. In this example, for the sake of simplicity, the evaluation function is in the form of evaluating only the sensitivity function, and the sensitivity function obtained when an appropriate gain ρ ^* _ψ is substituted for the sensitivity function S (ρ _ψ ) is calculated as shown in the following equation. Let S _d .

Then, in this example, the transfer function of the evaluation function is a transfer function from N _d to ψ. This transfer function is called "the load disturbance sensitivity function" and is expressed by the following equation. In the following, as described above, "P (s)" is abbreviated as "P", and "S (ρ _ψ )" is abbreviated as "S".

The above equation is a target transfer function obtained by multiplying the sensitivity function (S) by the plant transfer function (P). When this PS is incorporated into the evaluation function, the evaluation function J is expressed by the following equation.

The pseudo disturbance input in the above equation is as follows.

N _ini and ψ _ini are part of the input (u _ini ) and output (y _ini ) in the experiment as shown in the following equation. Since only the sensitivity function is considered here, the experiment is performed only once.

Next, the experimental conditions will be described. The initial gain of the PI-D controller was set to ρ _x0 , ρ _y0 , and ρ _ψ0 . Since ρ _x0 and ρ _y0 are not adjusted, they are omitted, but they are set to values other than 0. The initial gain ρ _ψ0 is as follows.

Further, as the input at the time of the experiment, the step disturbance input d = [0,0,1] ^T was added.
The above can be summarized as shown in FIG. FIG. 18 is a diagram showing a state of an initial experiment in a closed loop system.

FIG. 19 is a diagram showing response characteristics obtained by simulation. In FIG. 19, the broken line L1 is the response before adjustment, the solid line L2 is the step response of the target transfer function (= target response), and the broken line L3 is the response after adjustment (response when the control parameters calculated by the optimization calculation are used). ) Is shown.

The gain before adjustment (initial gain ρ _ψ0 ) is
Proportional gain Kp _ψ = 100, integrated gain Ki _ψ = 0.1, differential gain Kd _ψ = 1610
Is. On the other hand, the adjusted gain is
Proportional gain Kp _ψ = 249.8413, integrated gain Ki _ψ = 0.5001, differential gain Kd _ψ = 23182
It has become.

As shown in FIG. 19, the target response (L2) and the adjusted response (L3) match, and it can be seen that the adjusted response (L3) realizes the target response (L2).

In the present embodiment, when the target transfer function is calculated by the first calculation unit 201 (FIG. 5) (step S24 in FIG. 3), information about the plant (for example, the transfer function of the plant) is incorporated into the target transfer function. ing. In this way, by calculating the target transfer function by taking into account the dynamic characteristics of the object (ship) (transfer function of the plant), the structure of the transfer function such as the order of the target transfer function and the feasible transfer function. Is possible to match to some extent, so that it becomes easy for the second calculation unit 202 (FIG. 5) to calculate the control parameters suitable for the characteristics of the ship (step S4 in FIG. 2). Therefore, the control parameters can be satisfactorily adjusted.

Further, as described above, in the present embodiment, the target transfer function is calculated in consideration of the dynamic characteristics of the object, but the target transfer function is calculated in consideration of the static characteristics of the object. Alternatively, the target transfer function may be calculated by taking into account both the dynamic characteristics and the static characteristics of the object.

In this embodiment, the target transfer function (target transfer function) is used as the target system representation (system target model), but a state space model or impulse response may also be used.

Further, the control and adjustment device of the present embodiment has been described using the autopilot system (autopilot system) of the ship, but the position and / or attitude of an object such as an industrial robot as well as a moving body other than the ship has been described. It may be used in a controlled autopilot system. Further, in the above, PI-D control is used as an example of feedback control, but normal PID control, PI control or PD control may be used. Further, instead of the feedback control, the feedforward control may be used, or the feedback control and the feedforward control may be used in combination.

From the above description, many improvements and other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed only as an example and is provided for the purpose of teaching those skilled in the art the best aspects of carrying out the present invention. The details of its structure and / or function can be substantially changed without departing from the spirit of the present invention.

The present invention is useful as a control adjustment device or the like that allows a user to easily adjust control parameters.

1 Operation display 2A Controller 2M Storage unit 2 Control adjustment control unit 3 Ship operation control unit 5 Actuator unit 6 Ship dynamics 7 Sensor unit 201 1st calculation unit 202 2nd calculation unit

Claims (5)

An object, a drive device that changes the position and / or attitude of the object, and feedback control and / or feed of the drive device based on control parameters so that the object has a target position and / or a target attitude. A control adjusting device for adjusting the control parameters of a system having a control unit that automatically operates by forward control.
An operation input unit for the user to input target response characteristic specification information indicating the target response characteristic of the system, and
A first calculation unit that calculates a target model of the system based on the target response characteristic designation information input from the operation input unit, and
A plurality of controls for performing the feedback control and / or the feedforward control by performing the optimization calculation using the target model of the system calculated by the first calculation unit and the input / output time series data of the system. The second calculation unit that calculates the parameters and
A parameter application unit that applies the control parameters calculated by the second calculation unit to the control unit, and
Control and adjustment device equipped with. A waveform data calculation unit that calculates output waveform data when there is a step input or a lamp input in the target model of the system calculated by the first calculation unit.
A display unit that displays the output waveform data calculated by the waveform data calculation unit as a graph on the screen, and
The control adjustment device according to claim 1, further comprising. A data storage unit that stores a plurality of input / output time series data, and
The plurality of input / output time series data are frequency-analyzed, and the plurality of data are stored in the data storage unit based on the analysis result and the characteristics of the target model of the system calculated by the first calculation unit. A data selection unit that selects the input / output time series data used in the optimization calculation of the second calculation unit from the input / output time series data of
The control adjustment device according to claim 1 or 2, further comprising. An experimental condition storage unit that stores in advance experimental conditions for performing an experiment for changing the position and / or posture of the object in order to newly acquire the input / output time series data.
An experiment execution unit that causes the control unit to perform automatic operation based on the experiment conditions stored in the experiment condition storage unit and acquires the input / output time series data at this time.
The control adjustment device according to any one of claims 1 to 3. Each time a plurality of control parameters are calculated by the second calculation unit, a parameter set storage unit that stores the plurality of control parameters as a set and a parameter set storage unit
A parameter set selection operation unit for the user to select one or more of the plurality of sets stored in the parameter set storage unit, and a parameter set selection operation unit.
A simulation unit that performs a simulation for obtaining the behavior of the object when a plurality of control parameters included in each of the set selected by the parameter set selection operation unit are used for the feedback control and / or feedforward control. When,
A display unit that displays the behavior of the object obtained by the simulation unit on the screen, and
The control adjustment device according to any one of claims 1 to 4, further comprising.

Images