JP2022035758A - Particulate feeder control device, particulate feeding system equipped with same, particulate feeder control method, and control program - Google Patents

Abstract

To complete feeding of the prescribed amount of particulates when a prescribed period lapses from a feeding start even when a disturbance causes temporary fluctuation of a feeding speed.SOLUTION: A control device 10 comprises: a measurement unit 21 that measures a fed amount which is an amount of fed particulates 91; a target fed amount setting unit 22 that variably sets a target value At of the fed amount in accordance with a prescribed total amount A1, a reference feeding speed vref obtained from a prescribed feeding period T1, and time T having elapsed from a feeding start; and an operation amount setting unit 23 that sets an operation amount U of a particulate feeder 2 so that a measurement value Am of the fed amount follows the target value At.SELECTED DRAWING: Figure 2

Description

The present invention relates to a control device for controlling the operation of the powder or granular material supply device for supplying the powder or granular material, and a powder or granular material supply system including the control device. The present invention also relates to a control method and a control program for the powder or granular material supply device.

A powder or granular material supply device such as a vibration feeder is widely used for transporting and supplying the powder or granular material to a receptor.
For example, at a manufacturing site of a resin molded product, a powder / granular material supply device may be introduced in order to supply powder / granular resin pellets into a mold. The total amount of resin pellets supplied to the mold is predetermined by the size of the resin molded product or the mold. By supplying the resin pellets into the mold that moves at a constant speed at a constant supply speed, it is possible to finish supplying the predetermined total amount of resin pellets when the movement of the mold is completed, and the resin pellets can be supplied into the mold. Can be sprinkled evenly. In this case, the supply start time, the supply period, and the supply end time of the resin pellets are set so as to substantially coincide with the movement start time, the movement period, and the movement end time of the mold.

Patent Documents 1 and 2 disclose a method for controlling a powder or granular material supply device. The powder or granular material supply device is controlled so as to keep the supply speed of the powder or granular material at a constant target value.

Japanese Unexamined Patent Publication No. 2007-178371 Japanese Unexamined Patent Publication No. 2-4602

Here, while the powder or granular material is being conveyed by the powder or granular material supply device, for example, due to disturbance caused by the non-uniformity or viscosity of the size of the powder or granular material, or externally applied vibration or the like. , The supply speed may fluctuate temporarily. When the supply rate fluctuates, excess or deficiency occurs in the supply amount.
With the above-mentioned control method, even if the supply speed fluctuates, it is possible to make the supply speed follow the target value after that. However, the supply rate is kept constant again without eliminating the excess or deficiency of the supply amount. If the excess or deficiency of the supply amount is overlooked due to the emphasis on constant speed, it may not be possible to finish supplying the predetermined total amount of powder or granules at the end of the target supply. As a result, it may not be possible to uniformly spread the powder or granular material on the receptor.

For example, if the supply shortage remains unresolved, even if the movement of the receptor is completed, the predetermined total amount of powder or granular material cannot be completely supplied, and the powder or granular material is locally accumulated at the end of the receptor. There is a possibility that it will be done. If the oversupply is not resolved, the predetermined total amount of powder or granular material may be supplied before the movement of the receptor is completed, and the powder or granular material may not be sprinkled on the end of the receptor.
Therefore, an object of the present invention is to make it possible to finish supplying a predetermined total amount of powder or granular material when a predetermined period has elapsed from the start of supply, even if the supply rate temporarily fluctuates due to a disturbance.

The control device of the powder or granular material supply device according to one embodiment of the present invention is configured to control the powder or granular material supply device that operates to end the supply of a predetermined total amount of powder or granular material when a predetermined supply period has elapsed. Will be done. The control device includes a measuring unit, a target existing supply amount setting unit, and an operation amount setting unit. The measuring unit measures the already-supplied amount, which is the amount of the powder and granules that have already been supplied. The target existing supply amount setting unit variably sets the target value of the existing supply amount according to the reference supply rate obtained from the predetermined total amount and the predetermined supply period and the elapsed time from the start of supply. The operation amount setting unit sets the operation amount of the powder or granular material supply device so that the measured value of the already supplied amount follows the target value.

According to the above configuration, the target value of the already supplied amount is variably set according to the total supply amount of the powder or granular material and the reference supply rate obtained from the supply period, and the powder or granular material to be supplied at the present time is to be finished. Indicates the amount. On the other hand, the measured value of the already supplied amount indicates the amount of the powder or granular material that has actually been supplied at the present time. When the supply rate fluctuates and the supply is excessive or insufficient due to the disturbance that affects the supply of the powder or granular material, the excess or deficiency is immediately reflected in the measured value measured by the measuring unit. Here, the disturbance means, for example, the non-uniformity and viscosity of the size of the powder or granular material, or the disturbance of the supply of the powder or granular material due to externally applied vibration or the like.

The operation amount setting unit sets the operation amount so that the measured value measured by the measurement unit follows the target value. Under normal conditions with no fluctuations or excesses or deficiencies, the supply rate is maintained at the reference supply rate and the supply amount increases according to the reference supply rate. Then, when the speed fluctuation and the excess / deficiency of the supply occur due to the disturbance, the operation amount setting unit sets the operation amount so that the excess / deficiency is eliminated.

As a result, even if the supply rate temporarily fluctuates due to disturbance, the supply of a predetermined total amount of powder or granular material can be completed when a predetermined period has elapsed from the start of supply. In addition, "to finish supplying at the time point" includes "to finish supplying within the range of the tolerance with the time point as the reference value".
The target already-supplied amount setting unit may derive the target value of the already-supplied amount by multiplying the reference supply rate obtained by dividing the predetermined total amount by the predetermined supply period by the elapsed time.

According to the above configuration, it is possible to easily maintain the supply speed at the reference supply speed in the normal state and eliminate the excess or deficiency when the supply or deficiency occurs.
The control device for the powder or granular material supply device according to another embodiment of the present invention is to control the powder or granular material supply device that operates to end the supply of the predetermined total amount of the powder or granular material when the predetermined supply period has elapsed. It is composed. The control device includes a measuring unit that measures the supply speed of the powder and granules, a target supply speed setting unit that sets the target value of the supply speed, and a powder and granule supply device so that the measured value of the supply speed follows the target value. It is provided with an operation amount setting unit for setting the operation amount of. The target supply speed setting unit determines whether or not the measured value fluctuates. If there is no fluctuation, the target supply rate setting unit sets the predetermined total amount and the reference value obtained from the predetermined supply period as the target value. If there is a fluctuation, the target supply speed setting unit sets a correction value changed from the reference value in the direction opposite to the fluctuation direction as the target value.

According to the above configuration, when the supply rate fluctuates due to the disturbance, the fluctuation is immediately reflected in the measured value. The target value is changed depending on the presence or absence of fluctuation. Under normal conditions with no variation, the target value is set to the reference value obtained from the total supply amount of the powder or granular material and the supply period. When the fluctuation occurs, the target value is changed from the reference value to the correction value. The correction value changes from the reference value in the direction opposite to the fluctuation direction of the measured value.

The operation amount setting unit sets the operation amount so that the measured value measured by the measurement unit follows the target value. Under normal conditions, the supply rate is maintained at the reference value and the supply amount increases according to the reference value. When the speed fluctuates due to the disturbance, the operation amount is set so that the supply speed becomes a correction value above or below the reference value, instead of simply trying to return the supply speed to the reference value. Therefore, it is possible to eliminate the excess or deficiency of supply caused by fluctuations.

Therefore, it is possible to finish supplying the predetermined total amount of powder or granular material when the predetermined supply period has elapsed from the start of supply.
The target supply rate setting unit may measure the excess / deficiency amount of the powder or granular material supply caused by the fluctuation, and may set the correction value as the target value until the measured excess / deficiency amount is offset.
According to the above configuration, since the excess / deficiency amount is measured and the target value is changed from the reference value to the correction value until the excess / deficiency amount is offset, the excess / deficiency caused by the fluctuation can be more reliably eliminated.

The target supply rate setting unit may preset an offset period, which is a period in which the correction value is set, and derive the correction value so that the measured excess / deficiency amount is offset after the offset period has elapsed.
According to the above configuration, the excess / deficiency amount can be offset after the elapse of the preset offset period, and the period for coping with the fluctuation can be set as desired.
The measuring unit may measure the total supported weight supported by the powder or granular material supply device. The control device may further include an adjusting unit that adjusts the operation amount according to the total support weight.

Here, in the process of operating the powder or granular material supply device to supply the powder or granular material, the total supporting weight is the weight supported by the powder or granular material supply device due to a decrease in the remaining amount of the powder or granular material. Changes. Then, the control characteristics of the powder or granular material supply device may change depending on the total supporting weight. In other words, if the total support weight is different, the supply speed or the supply amount may be different even if the same operation amount is set.

According to the above configuration, since the operation amount is adjusted according to the total support weight, the control for keeping the supply speed or the supply amount to follow the target value is stabilized even if the total support weight changes in the process of supplying the powder or granular material. be able to.
The operation amount setting unit may have a calculation unit for deriving the operation amount from the deviation between the measured value and the target value according to the transfer function. The adjusting unit may have a parameter setting unit that adjusts the parameters of the transfer function according to the total support weight.

According to the above configuration, the parameters of the transfer function for deriving the manipulated variable from the deviation are adjusted according to the change in the total supporting weight, so that the control for keeping the measured value to follow the target value can be stabilized.
As the total support weight becomes smaller, the parameter setting unit may adjust the parameters so that the response of the manipulated variable to the deviation becomes dull.

Here, when the total supporting weight becomes small, the supply speed tends to increase, which may make it easy to increase the supply amount.
According to the above configuration, when the total support weight becomes small, the response of the manipulated variable to the deviation becomes slow, so that the control for making the measured value follow the target value can be stabilized.
When the operation amount derived based on the deviation between the measured value and the target value exceeds a predetermined range, the operation amount setting unit limits the operation amount so that the operation amount becomes the upper limit value or the lower limit value of the range. It may have an operation amount limiting unit. The adjusting unit may have an upper / lower limit setting unit that adjusts the upper limit value and the lower limit value according to the total support weight.

According to the above configuration, the upper / lower limit setting unit performs the operation amount limit processing. In this limit processing, the allowable range of the operation amount is adjusted according to the total supported weight. The amount of operation can be limited according to the total support weight, and the control to make the measured value follow the target value can be stabilized.
The upper and lower limit setting units set the reference value of the manipulated variable according to the total supported weight, set the upper limit by adding the ascending allowance to the reference value, and subtract the descending allowance from the reference value to lower the lower limit. Set the value.

According to the above configuration, first, a reference value of the operation amount is set according to the total supported weight, and an upper limit value and a lower limit value are set with reference to this reference value. By setting the reference value to an appropriate value in order to make the measured value follow the target value, the allowable range of the operation amount can be appropriately and easily set according to the total supported weight.
The control device stores the correspondence relationship that defines the reference value of the operation amount with respect to the total support weight, and the correspondence relationship based on the measured total support weight and the operation amount set by the operation amount setting unit. It may be further provided with a correspondence derivation unit for deriving the above. The upper / lower limit setting unit may set a reference value according to the correspondence relationship stored in the correspondence relationship storage unit. The correspondence storage unit may update and store the correspondence derived by the correspondence derivation unit.

According to the above configuration, the correspondence for setting the reference value (and thus the upper limit value and the lower limit value) according to the total supporting weight is updated based on the data acquired in the practical stage.
For this reason, due to the influence of external and internal changes in the powder and granular material supply device (for example, changes in seasons and climate, aging deterioration of the device, and functional recovery due to maintenance work), the controlled amount or measured value for the manipulated variable Even if the response performance changes, it can be dealt with. Therefore, the control for making the measured value follow the target value can be continuously stabilized.

The powder or granular material supply system according to one embodiment of the present invention includes a powder or granular material supply device for supplying powder or granular material and the above-mentioned control device.
The control method of the powder or granular material supply device according to one embodiment of the present invention is a control method of the powder or granular material supply device that operates to end the supply of a predetermined total amount of powder or granular material when a predetermined supply period has elapsed. The control method includes a measurement step, a target existing supply amount setting step, and an operation amount setting step. In the measuring step, the already supplied amount, which is the amount of powder and granules that have already been supplied, is measured. In the target existing supply amount setting step, the target value of the existing supply amount is variably set according to the reference supply rate obtained from the predetermined total amount and the predetermined supply period and the elapsed time from the start of supply. In the operation amount setting step, the operation amount of the powder or granular material supply device is set so that the measured value of the already supplied amount follows the target value.

The control method of the powder or granular material supply device according to another embodiment of the present invention is a control method of the powder or granular material supply device that operates to end the supply of a predetermined total amount of powder or granular material when a predetermined supply period has elapsed. The control method is a measurement process for measuring the supply rate of the powder and granules, a target supply rate setting process for setting the target value of the supply rate, and a powder and particle supply device so that the measured value of the supply rate follows the target value. It is provided with an operation amount setting process for setting the operation amount of. The target supply rate setting step includes a step of determining whether or not there is a fluctuation in the measured value, a step of setting a predetermined total amount and a reference value obtained from the predetermined supply period as a target value if there is no fluctuation, and a step of setting the target value if there is a fluctuation. It includes a step of setting a correction value changed from the reference value in the direction opposite to the fluctuation direction as the target value.

The control program of the powder or granular material supply device according to one embodiment of the present invention causes a computer to execute the above-mentioned control method.
These powder or granular material supply systems, control methods, and control programs have the same or corresponding characteristics as those of the above-mentioned control device, and have the same effects as those of the above-mentioned control device.

According to the present invention, even if the supply rate temporarily fluctuates due to disturbance, the supply of a predetermined total amount of powder or granular material can be completed when a predetermined period has elapsed from the start of supply.

It is a schematic diagram which shows the powder and granular material supply system which concerns on 1st Embodiment of this invention. It is a block diagram which shows the control device of the powder or granular material supply device which concerns on 1st Embodiment. It is a graph which shows the relationship between the elapsed time from the start of supply, and the target value of the existing supply amount. FIG. 4A is a graph showing the first correspondence relationship in which the parameter values for the total supporting weight are defined. FIG. 4B is a graph showing the second correspondence relationship in which the reference value of the manipulated variable with respect to the total supported weight is defined together with the upper limit value and the lower limit value. It is a flowchart which shows the control program and the control method of the powder or granular material supply apparatus which concerns on 1st Embodiment. It is a graph explaining the operation of 1st Embodiment. It is a graph explaining the operation of 1st Embodiment. It is a block diagram which shows the control device of the powder / granular material supply device which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the target supply speed setting part shown in FIG. It is a flowchart which shows the control program and the control method of the powder or granular material supply apparatus which concerns on 2nd Embodiment. It is a graph explaining the operation of the 2nd Embodiment.

Hereinafter, embodiments will be described with reference to the drawings.
(First Embodiment)
(Application example)
FIG. 1 shows a powder or granular material supply system 100 according to the first embodiment of the present invention. The powder or granular material supply system 100 includes a powder or granular material supply device 2 that transports and discharges the powder or granular material 91. The drop of the own weight of the powder or granular material 91 is used for discharging the powder or granular material 91.

The receptor 92 is arranged below the discharge position of the powder or granular material 91 (the downstream end of the transport path formed by the powder or granular material supply device 2). Typically, the receptor 92 is formed in a container shape and is provided in an open position above. The fallen powder or granular material 91 is sprinkled in the receptor 92 and is received by the receptor 92.
In light of the size of the receptor 92 and the like, the total amount A1 of the powder or granular material 91 to be supplied to the receptor 92 is predetermined. The powder or granular material supply system 100 repeatedly executes the operation of supplying the powder or granular material 91 having a total amount of A1 to the receptor 92. The "amount" of the powder or granular material 91 may be either a weight (g) or a volume (m ³ ). In this document, the weight is used unless otherwise specified.

While the discharge position of the powder or granular material 91 is immovable when viewed from the ground, the receptor 92 moves with respect to the ground at a predetermined speed along a predetermined path or trajectory. Thereby, even if the powder / granular material supply device 2 is stationary or the receptor 92 is horizontally long, the powder / granular material 91 can be distributed throughout the inside of the receptor 92.
The movement path and movement speed of the receptor 92 are not particularly limited, and are appropriately set to spread the powder or granular material 91 throughout the inside of the receptor 92. The receptor 92 may move at a constant speed in one horizontal direction as shown by an arrow in FIG. 1, or may move back and forth in the horizontal direction.

The powder or granular material supply device 2 is a constant flow rate type that is required to convey the powder or granular material 91 at a constant supply speed. The "supply rate" may be defined as the amount (g / sec) of the powder or granular material 91 supplied per unit time. The transport method of the powder or granular material supply device 2 is not particularly limited, and may be a conveyor type, a positive displacement type, a vibration type, a circle feeder type, a screw type, an auger type, or an alpha type.

In executing the operation of supplying the powder or granular material 91 of the total amount A1 to the receptor 92 at a constant supply rate, the supply start time ts, the supply period T1 and the supply end time are the movement start time and the movement of the receptor 92. It roughly coincides with the period and the end of the move. As a result, the powder or granular material 91 can be evenly distributed over the entire inside of the receptor 92.
The powder or granular material supply system 100 as described above is suitably introduced at the manufacturing site of the resin molded product. In this case, the powder or granular material 91 is a resin pellet (for example, particle size: 10 ^-3 to 10 ^-6 (m)) that is a raw material for the resin molded product, and the receptor 92 is a mold for resin molding. be. Resin pellets can be evenly spread over the entire inside of the mold, which contributes to improving the quality of resin molded products. When the powder or granular material 91 having a relatively large particle size such as resin pellets is applied, the vibration type can be suitably adopted as the transport method of the powder or granular material supply device 2.

However, this application example is just an example. The powder or granular material 91 may be an aggregate of a large number of powders or particles having a particle size of 10 ^-1 to 10 ^-6 (m). The receptor 92 may be any as long as it receives the powder or granular material 91. The receptor 92 does not have to be in the shape of a container like a mold, and may be any as long as the sprinkled powder / granular material 91 can be fastened on it.
The granular material 91 may be a granular seasoning such as salt or pepper or a food additive. In that case, the receptor 92 may be a container for storing seasonings or food additives, or may be a processed food in the middle of cooking. The powder or granular material supply system 100 may be introduced at the manufacturing site of an all-solid-state battery. In that case, the powder or granular material 91 may be the positive electrode mixture powder, and the receptor 92 may be the positive electrode bonding layer. The powder or granular material 91 may be a negative electrode mixture powder, and the receptor 92 may be a negative electrode bonding layer.

Hereinafter, the powder / granular material supply system 100 is introduced into the manufacturing site of the resin molded product, the powder / granular material 91 is a resin pellet, the receptor 92 is a mold, and the powder / granular material supply device 2 is a vibration type in a transport method. An embodiment will be described by taking the case of a vibration feeder adopting the above as an example.

(Granular material supply system)
The powder or granular material supply system 100 includes a hopper 1, a powder or granular material supply device 2, a load cell 5, an input device 9, and a control device 10. Although detailed description is omitted here, the powder or granular material supply system 100 may further include a mechanism for moving the receptor 92 (not shown) and a controller for controlling the operation of the mechanism (not shown). ..
The hopper 1 has a storage unit 1a for storing the powder or granular material 91, and a discharge port 1b for discharging the powder or granular material 91 stored in the storage unit 1a to the outside of the hopper 1. The storage portion 1a is formed in an inverted cone shape so that the powder or granular material 91 can be easily discharged, and the discharge port 1b is provided at the bottom of the storage portion 1a.
The powder / granular material supply device 2 transports the powder / granular material 91 discharged from the hopper 1 and supplies the powder / granular material 91 to the receptor 92. The powder or granular material supply device 2 as a vibration feeder includes a trough 3 and a vibration generator 4.

The trough 3 is formed in the shape of a long gutter, and forms a transport path for the powder or granular material 91 along the longitudinal direction thereof. The powder or granular material 91 is discharged from the hopper 1 and placed on one end in the longitudinal direction (upstream end of the transport path) of the trough 3.
The vibration generator 4 vibrates the trough 3 and those supported by the trough 3. As a result, the powder or granular material 91 on the trough 3 is transported from one end in the longitudinal direction of the trough 3 to the other end in the longitudinal direction (downstream end of the transport path). The vibration frequency and the exciting force change according to the drive voltage and drive current supplied to the vibration generator 4, whereby the moving speed (m / sec) or the supply speed (g / sec) of the powder or granular material 91 is changed. Changes.

When the powder or granular material 91 reaches the other end in the longitudinal direction (downstream end of the transport path) on the trough 3, it falls by its own weight. The receptor 92 is arranged below the other end in the longitudinal direction of the trough 3 and can receive the powder or granular material 91 falling from above.
The load cell 5 detects the total support weight w (g) supported by the powder or granular material supply device 2. The total support weight w is the sum of the weight of the assembly on which the vibration force from the vibration generator 4 acts and the remaining amount of the powder or granular material 91 supported by the assembly.

In this embodiment, the hopper 1 is in contact with the trough 3 and is supported by the powder or granular material supply device 2. Therefore, the assembly includes a hopper 1 in addition to the trough 3. The remaining amount of the powder or granular material 91 supported by this assembly is the sum of the weight of the powder or granular material 91 being transported on the trough 3 and the weight of the powder or granular material 91 existing in the hopper 1. ..
When the powder or granular material supply device 2 operates, the powder or granular material 91 continues to be discharged from the hopper 1 to the trough 3, and the powder or granular material 91 continues to be supplied from the trough 3 to the receptor 92. In the present embodiment, since the exciting force is also transmitted to the hopper 1, the powder or granular material 91 is smoothly discharged from the hopper 1.

The detected value of the load cell 5 becomes smaller as the remaining amount decreases. Unless the powder or granular material 91 is replenished to the hopper 1 during transportation, the amount of decrease in the remaining amount is the amount of the powder or granular material 91 already supplied to the receptor 92 (hereinafter referred to as “already supplied amount”) (g). Equivalent. Therefore, if the detected value of the load cell 5 is monitored without replenishment during transportation, the already supplied amount can be measured.
The input device 9 is, for example, an operation panel installed at the manufacturing site, and is operated by a worker at the manufacturing site. The input device 9 receives an input operation of the operating conditions of the powder or granular material supply device 2 in advance of operating the powder or granular material supply device 2.
As an example, the operating conditions include the total amount A1 of the powder or granular material 91 to be supplied to the receptor 92 in one supply operation, and the supply period T1 in which the powder or granular material 91 is supplied to the receptor 92 in one supply operation. And are included. The input device 9 may be configured to be able to receive an input operation of a supply operation start command of the powder or granular material supply device 2 or an emergency stop command of the powder or granular material supply device 2.

(Control device)
The control device 10 has a processing unit 11, an input unit 12, and an output unit 13. The input unit 12 is connected to the load cell 5. The detection signal indicating the total support weight w is sequentially output from the load cell 5 to the input unit 12. The input unit 12 acquires the detected value of the load cell 5 at predetermined sampling cycles (for example, 5.0 msec). Information about the operating conditions input by the input device 9 (for example, the total amount A1 and the supply period T1) is output to the input unit 12 or the processing unit 11.

The processing unit 11 has a CPU 11a and a memory 11b. The CPU 11a executes a process of controlling the operation of the powder or granular material supply device 2 according to the control program P stored in the memory 11b. In this process, the operation amount U (drive voltage value and / or drive current value) of the powder or granular material supply device 2 is sequentially set according to the detection value of the load cell 5 so as to satisfy the operation condition input by the input device 9. Will be done.
The output unit 13 drives the vibration generator 4 based on the operation amount U set by the processing unit 11. In this way, the operation of the powder or granular material supply device 2 is controlled so that the powder or granular material 91 having a total amount of A1 is completely supplied to the receptor 92 when a predetermined supply period T1 has elapsed from the start of supply.

<Weight feedback control>
FIG. 2 shows the control device 10 according to the first embodiment. The control device 10 according to the present embodiment controls the operation of the powder or granular material supply device 2 through feedback control of the weight (already supplied amount). The processing unit 11 of the control device 10 has a condition setting unit 20, a measurement unit 21, a target already supplied amount setting unit 22, and an operation amount setting unit 23. The operation amount setting unit 23 includes a calculation unit 24 and an operation amount limiting unit 25.

The condition setting unit 20 sets or stores the operating conditions based on the input operation in the input device 9. In the present embodiment, the condition setting unit 20 sets at least the total amount A1 and the supply period T1 as operating conditions.
The measuring unit 21 measures the already supplied amount based on the detected value of the total support weight w acquired by the input unit 12. As an example, the measured value Am of the existing supply amount is derived by subtracting the total support weight w (t) at the present time t from the total support weight w (ts) at the supply start time ts of the powder or granular material 91.

The target already supplied amount setting unit 22 sets the target value At of the already supplied amount. With reference to FIG. 3, the target value At of the existing supply amount is the reference value vref of the supply rate obtained from the total amount A1 set by the condition setting unit 20 and the supply period T1, and from the supply start time ts to the present time t. It is variably set according to the elapsed time T.
More specifically, the reference value vref of the supply rate is obtained by dividing the total amount A1 by the supply period T1 and is a constant value regardless of the elapsed time T. The target value At is obtained by multiplying the reference value vref by the elapsed time T. As long as the measured value Am continues to follow the target value At, the supply rate is maintained at the reference value vref, and the existing supply amount increases linearly as shown in FIG.

The operation amount setting unit 23 measures according to the deviation δA between the measured value Am of the already supplied amount measured by the measuring unit 21 and the target value At of the already supplied amount set by the target already supplied amount setting unit 22. The operation amount U of the powder / granule supply device 2 is set so that the value Am follows the target value At.
The arithmetic unit 24 derives the manipulated variable Upid from the deviation δA according to the transfer function. In the present embodiment, the arithmetic unit 24 has a proportional unit 24a, an integrating unit 24b, and a differential unit 24c, and executes PID control.

The proportional unit 24a derives a proportional term proportional to the deviation δA according to the transfer function of the proportional control. The integration unit 24b derives an integration term proportional to the integration of the deviation δA according to the transfer function of the integration control. The differential unit 24c derives a differential term proportional to the derivative of the deviation δA according to the transfer function of the differential control. The arithmetic unit 24 derives the sum of the three terms as the manipulated variable Upid.
When the operation amount Upid derived by the calculation unit 24 exceeds a predetermined range, the operation amount limiting unit 25 performs limit processing for limiting the operation amount Upid and outputs the restricted operation amount U.

When the operation amount Upid exceeds the upper limit value Umax in the range, the operation amount limiting unit 25 outputs the upper limit value Umax as the operation amount U. When the operation amount Upid is less than the lower limit value Umin in the range, the operation amount limiting unit 25 outputs the lower limit value Umin as the operation amount U. When the operation amount Upid is within a predetermined range, the operation amount Upid is output as the operation amount U as it is.

<Operation amount adjustment>
The processing unit 11 of the control device 10 further includes an adjusting unit 31, a correspondence storage unit 32, and a correspondence derivation unit 33. The adjusting unit 31 has a parameter setting unit 31a and an upper / lower limit setting unit 31b, and adjusts the operation amount U according to the total support weight w.
The parameter setting unit 31a sets the value of the parameter of the transfer function used for deriving the manipulated variable Upid in the calculation unit 24 according to the total support weight w. As is known, the parameters of the transfer function include, for example, the proportional gain Kp in the proportional unit 24a, the integrated gain Ki or the integrated time Ti in the integrating unit 24b, and the differential gain Kd or the differential time Td in the differential unit 24c. The parameter setting unit 31a adjusts at least one of these parameters. In the present embodiment, as a mere example, the proportional gain Kp, the integrated gain Ki, and the differential gain Kd are adjusted.

The upper and lower limit setting units 31b set the upper limit value Umax and the lower limit value Umin of the allowable range of the operation amount U used for the limit processing in the operation amount limiting unit 25 according to the total support weight w.
With reference to FIGS. 4A and 4B, the correspondence storage unit 32 has a first correspondence relationship 41 that defines a parameter value for the total support weight w, and a reference value Uref of the operation amount for the total support weight w. The second correspondence 42 that defines the above is stored.

The parameter setting unit 31a sets the value of the parameter to be adjusted according to the first correspondence 41 shown in FIG. 4A. In FIG. 4A, the proportional gain Kp is typically illustrated, but the correspondence storage unit 32 stores a plurality of correspondences corresponding to each parameter to be adjusted. In other words, the first correspondence relationship 41 is a set of a plurality of correspondence relationships corresponding to each of the plurality of adjustment targets.

The first correspondence relationship 41 is derived by operating the powder or granular material supply device 2 on a trial basis before the powder or granular material supply system 100 is put into practical use. At the time of this derivation, the powder or granular material supply device 2 is operated a plurality of times with different total support weights w. At each time, a known auto-tuning method (for example, limit cycle method) is used to derive the optimum value of each parameter to be adjusted.
Next, the optimum value corresponding to the total support weight w is plotted in the two-dimensional Cartesian coordinate system in which the total support weight w is on the horizontal axis and the optimum value of the parameter is on the vertical axis. Then, a straight line or a curve is fitted to the plurality of plots obtained according to the number of trial operations of the powder or granular material supply device 2 by using a known approximation method (for example, the least squares method).

The arithmetic expression representing this straight line or curve is stored in the correspondence storage unit 32 as the first correspondence 41. In the present embodiment, the first correspondence 41 includes an arithmetic expression for proportional gain Kp (Kp = fp (w)), an arithmetic expression for integral gain Ki (Ki = fi (w)), and a differential gain Kd. The arithmetic expression (Kd = fd (w)) of is included.
In FIG. 4A, a straight line is fitted and the arithmetic expression (Kp = fp (w)) for the proportional gain Kp is a linear function, but this is just an example. The first correspondence 41 may be expressed by a non-linear arithmetic expression.

According to the first correspondence 41, the smaller the total support weight w, the smaller the proportional gain Kp is set. That is, the response of the manipulated variable U to the deviation δA becomes dull, and the measured value Am slowly follows the target value At. Other parameters to be adjusted also correlate with the total support weight w so that the same effect can be obtained.
The upper / lower limit setting unit 31b first sets the reference value Uref of the operation amount according to the second correspondence 42 shown in FIG. 4B, and then sets the upper limit value Umax and the lower limit value Umin.

The second correspondence 42 is also derived by operating the powder or granular material supply device 2 on a trial basis before the powder or granular material supply system 100 is put into practical use. At the time of this derivation, PID control is executed to operate the powder or granular material supply device 2.
In the process of gradually decreasing the remaining amount of the powder or granular material 91 during this test operation, the value of the manipulated variable that was able to follow the target value of the measured value is the total supported weight w at that time. It is linked and recorded. This "value of the operation amount that can realize the follow-up to the target value" is treated as the reference value Uref.

When the required amount of the reference value Uref is recorded, the data group of the recorded reference value Uref is plotted in the two-dimensional Cartesian coordinate system having the total support weight w as the horizontal axis and the reference value Uref as the vertical axis. After that, a straight line or a curve is fitted in the same manner as described above, and the arithmetic expression (Uref = g (w)) representing the straight line or the curve is stored in the correspondence storage unit 32 as the second correspondence 42.
In FIG. 4B, a straight line is fitted and the arithmetic expression is a linear function, but this is just an example. The second correspondence 42 may also be expressed by a non-linear arithmetic expression.

The upper / lower limit setting unit 31b variably sets the reference value Uref according to the total support weight w by referring to the second correspondence relation 42 stored in the correspondence relation storage unit 32. The upper / lower limit setting unit 31b sets the upper limit value Umax by adding the ascending allowance ΔU1 to the reference value Uref, and sets the lower limit value Umin by subtracting the descending allowance ΔU2 from the reference value Uref.
The ascending allowance ΔU1 and the descending allowance ΔU2 may be the same value or different values. The ascending allowance ΔU1 and the descending allowance ΔU2 may be constant values regardless of the total support weight w. Since the reference value Uref is variably set according to the total support weight w, even if the ascending allowance ΔU1 and the descending allowance ΔU2 are constant values, the upper limit value Umax and the lower limit value Umin change according to the total supporting weight w. ..

The ascending allowance ΔU1 and the descending allowance ΔU2 may be variably set according to the total support weight w. In this case, the permissible range used for the limit processing in the operation amount limiting unit 25 can be widened or narrowed according to the total support weight w.
According to the second correspondence 42, as the total support weight w is smaller, the reference value Uref decreases, and the upper limit value Umax and the lower limit value Umin also decrease.

The correspondence relationship derivation unit 33 operates in the practical stage of the powder or granular material supply system 100, and derives the second correspondence relationship 42 based on the data of the total support weight w and the operation amount U acquired during the practical use.
The derivation method may be the same as the method used in the above-mentioned pre-practical test operation. According to this method, the second correspondence 42 can be derived even during the continuous operation of the powder or granular material supply device 2.
The second correspondence relationship 42 derived by the correspondence relationship derivation unit 33 is updated and stored in the correspondence relationship storage unit 32.

The update frequency of the second correspondence 42, or the conditions for executing the derivation and update processing of the second correspondence 42 are not particularly limited. Each time the supply of the powder or granular material 91 to the receptor 92 is executed a predetermined number of times, the second correspondence 42 may be derived based on the data acquired during that period. When the time required for supplying the powder or granular material 91 deviates from the supply period T1 set by the condition setting unit 20 by more than a predetermined threshold value, the second correspondence relationship 42 may be derived and updated.

(Control program / control method)
FIG. 5 shows a control program P and a control method of the powder or granular material supply device 2 according to the first embodiment. First, the measuring unit 21 measures the total support weight w (t) at the present time t based on the detection signal output from the load cell 5 output to the input unit 12 (S11), and measures the already supplied amount (S12). .. The measured value Am of the already supplied amount is obtained by subtracting the total supporting weight w (t) at the present time t from the total supporting weight w (ts) at the time of supply start.

Next, the target already supplied amount setting unit 22 sets the target value At of the already supplied amount (S13). The target value At of the already supplied amount is obtained by multiplying the reference value vref of the supply rate by the elapsed time T from the supply start time ts to the present time t (see also FIG. 3).
Next, the deviation δA between the measured value Am and the target value At is derived (S14).
Prior to deriving the manipulated variable Upid from the deviation δA (S15), the parameter setting unit 31a sets the parameter values Kp (t), Ki (t), Kd (t) of the transfer function used in this process (S15). S31). The parameter setting unit 31a sets each value according to the total support weight w (t) at the present time t measured by the measurement unit 21 with reference to the first correspondence relationship 41 stored in the correspondence storage unit 32. do. Note that step S31 may be executed at any timing as long as it is between step S11 and step S15.

Next, the arithmetic unit 24 derives the manipulated variable Upid according to the deviation δA according to the transfer function C after adjusting the parameters (S15).
Prior to executing the limit processing of the operation amount Upid (S16), the upper and lower limit setting units 31b set the upper limit value Umax (t) and the lower limit value Umin (t) used in this processing (S32). The upper / lower limit setting unit 31b refers to the second correspondence relation 42 stored in the correspondence relation storage unit 32, and refers to the total support weight w (t) of the present time t measured by the measurement unit 21. The reference value Uref (t) is derived. Further, the upper / lower limit setting unit 31b sets the upper limit value Umax (t) and the lower limit value Umin (t) based on the reference value Uref (t). Note that step S32 may be executed at any timing as long as it is between step S11 and step S16.

Next, the manipulated variable limiting unit 25 limits the manipulated variable Upid derived by the arithmetic unit 24 (S16). The operation amount limiting unit 25 outputs the operation amount U limited within the range of the upper limit value Umax (t) and the lower limit value Umin (t).
Next, the output unit 13 drives the vibration generator 4 with the operation amount U (output from the operation amount limiting unit 25) set by the operation amount setting unit 23 (S17).

Next, it is determined whether or not the amount of the powder or granular material 91 supplied to the receptor 92 (already supplied amount) from the start of supply to the present time t has reached the total amount A1 set by the condition setting unit 20 (). S19).
If the measured value Am of the already supplied amount measured by the measuring unit 21 is less than the total amount A1 (S19: N), the process returns to step S11 and the above process is repeated. On the other hand, if the measured value Am of the already supplied amount reaches the total amount A1 (S19: Y), it is determined whether or not the second correspondence 42 needs to be updated (S33).

Here, if the update is unnecessary (S33: N), the process ends. If update is necessary (S33: Y), the correspondence relation deriving unit 33 derives the second correspondence relation 42, and the derived second correspondence relation 42 is updated and stored in the correspondence relation storage unit 32 (S34).

(Action / effect)
The operation of the control device 10, the control program P, and the control method described above will be described with reference to FIGS. 6 and 7.
FIG. 6 is a graph showing the effect obtained by adopting the weight feedback control.
According to the present embodiment, when the measured value Am follows the target value At, the supply speed is maintained at the reference value vref. When a disturbance to the feedback control system occurs, the supply speed fluctuates and deviates from the reference value vref. Here, the disturbance means, for example, the non-uniformity and viscosity of the size of the powder or granular material 91, or the disturbance of the supply of the powder or granular material 91 due to externally applied vibration or the like.

When the supply rate fluctuates so as to decrease from the reference value vref due to the occurrence of such a disturbance, the existing supply amount becomes insufficient. On the contrary, when the supply rate fluctuates so as to increase from the reference value vref, the already supplied amount becomes excessive.
According to this embodiment, the excess or deficiency of the already supplied amount is immediately reflected in the measured value Am. On the other hand, the target value At indicates the amount of the powder or granular material 91 that should have been supplied at the present time when the supply can be continued at the supply rate of the reference value vref without fluctuation.

The operation amount setting unit 23 sets the operation amount U so as to eliminate the excess or deficiency caused by the fluctuation. As a result, the excess and deficiency are eliminated, and the supply rate returns to the reference value vref and is maintained. Therefore, when the supply period T1 elapses from the supply start time ts of the powder or granular material 91 (that is, at the target supply end time te), the powder or granular material 91 having a total amount of A1 can be completely supplied.

FIG. 7 is a graph showing the effect obtained by adopting the adjustment process of the operation amount U according to the total support weight w. For convenience of explanation, in FIG. 7, it is assumed that there is no fluctuation due to the disturbance as shown in FIG.
As shown in FIG. 7, even if the total support weight w gradually decreases due to the decrease in the remaining amount of the powder or granular material 91, the parameter is set to the optimum value according to the total support weight w. Further, the operation amount Upid calculated by using this optimized parameter is limited.

At this time, a reference value Uref that makes it possible to follow the target value At of the measured value Am is derived according to the total support weight w, and the upper limit value Umax and the upper limit value Umax used for the operation amount limit processing based on this reference value Uref are derived. The lower limit Umin is set. The manipulated variable U decreases as the total support weight w decreases, and is limited to be within an allowable range between the upper limit value Umax and the lower limit value Umin.
As a result, even if the total supporting weight w decreases and the response of the supply speed to the exciting force becomes sensitive, the response of the measured value Am to the target value At can be blunted. As a result, the measured value Am can be stably followed to the target value At, and the supply speed can be kept at the reference value vref.

(Second Embodiment)
FIG. 8 shows a control device 110 provided in the powder or granular material supply system 200 according to the second embodiment of the present invention. Hereinafter, the second embodiment will be described focusing on the differences from the first embodiment.
(Control device)
<Supply speed feedback control>
The control device 110 according to the present embodiment controls the operation of the powder or granular material supply device 2 through the feedback control of the supply speed. The processing unit 111 of the control device 110 has a target supply speed setting unit 122 instead of the target already supplied amount setting unit 22 according to the first embodiment.

The condition setting unit 120 sets the total amount A1 and the supply period T1 as well as the offset period Tc described later as the operating conditions referred to by the target supply speed setting unit 122. The offset period Tc is input by the worker in the input device 9. The worker can set the offset period Tc to any desired value.
The measuring unit 121 measures the supply speed of the powder or granular material 91. The supply rate is the time change rate of the total support weight w. That is, the measured value vm of the supply rate is the total support weight w (t) at the current time t and the total support weight w (t-) at the past time by a predetermined time ΔT (for example, 5.0 msec) with respect to the current time t. It is derived by dividing the difference value from 1) by the predetermined time ΔT.

The target supply speed setting unit 122 sets the target value vt of the supply speed. However, unlike the conventional general speed constant value control, the target value vt is variably set according to the presence or absence of fluctuations in the supply speed caused by disturbance or the like.
FIG. 9 shows a target supply speed setting unit 122. The target supply speed setting unit 122 has a reference value setting unit 151, a determination unit 152, an excess / deficiency amount measurement unit 153, and a correction value setting unit 154.

The reference value setting unit 151 sets the reference value vref of the supply rate. This reference value vref is the same as that described in the first embodiment. The reference value vref is derived by dividing the total amount A1 set by the condition setting unit 120 by the supply period T1.
The determination unit 152 determines whether or not there is a change in the measured value vm of the supply speed measured by the measurement unit 121 in a predetermined monitoring cycle Tm. This monitoring cycle Tm (for example, 5.0 msec) is set to a longer time than the control cycle of feedback control (for example, 5.0 msec).

The method for determining the presence or absence of fluctuation is not particularly limited. As an example, the determination unit 152 extracts the minimum value and the maximum value of the measured value vm within the monitoring cycle Tm, and when the minimum value or the maximum value deviates from the reference value vref by more than a predetermined threshold value, It may be determined that the supply rate has fluctuated. As another example, the determination unit 152 may integrate the measured value vm within the monitoring cycle Tm, and may determine that the supply speed has fluctuated when the integrated value is out of the permissible range. The integrated value indicates the amount of the powder or granular material 91 supplied to the receptor 92 within the monitoring cycle Tm.

When the determination unit 152 determines that the measured value vm has fluctuated, the excess / deficiency amount measuring unit 153 measures the excess / deficiency amount ΔA of the supply of the powder or granular material 91 caused by the fluctuation.
The method for measuring the excess / deficiency amount ΔA is not particularly limited. As an example, the excess / deficiency amount measuring unit 153 may derive the excess / deficiency amount ΔA by integrating the deviation δv of the measured value vm acquired within the monitoring cycle Tm with respect to the reference value vref. The reference value vref is also a value set as a target value vt within the latest monitoring cycle Tm.

Here, as a mere example, it is assumed that the deviation δv is obtained by subtracting the measured value vm from the reference value vref. When the direction of fluctuation is a decrease from the reference value vref, the deviation δv becomes a positive value, and the excess / deficiency amount ΔA becomes a positive value, indicating a supply shortage. When the direction of fluctuation is an increase from the reference value vref, the deviation δv becomes a negative value, and the excess / deficiency amount ΔA also becomes a negative value, indicating an excess supply.

The correction value setting unit 154 sets a correction value vc that is set as a target value vt instead of the reference value vref when it is determined that there is a fluctuation. The correction value vc is a value changed from the reference value vref in the direction opposite to the fluctuation direction. The correction value vc is set from the time when it is determined that there is a change until the offset period Tc set by the condition setting unit 120 elapses.
As an example, the correction value vc is derived by adding the correction amount (ΔA / Tc) obtained by dividing the excess / deficiency amount ΔA measured by the excess / deficiency amount measuring unit 153 by the offset period Tc to the reference value vref. Will be done. In this case, a constant correction value vc continues to be set as the target value vt during the offset period Tc.

The excess / deficiency amount ΔA can take a positive value and a negative value. When the fluctuation direction is an increase from the reference value vref, the excess / deficiency amount ΔA and the correction amount become negative values. The correction value vc is a value obtained by adding a negative correction amount to the reference value vref, and is smaller than the reference value vref. That is, the correction value vc is set to a value that changes in the direction opposite to the fluctuation direction (downward direction). On the contrary, when the fluctuation direction is a descent from the reference value vref, the correction value vc changes in the direction opposite to the fluctuation direction (upward direction) by adding the correction amount of the positive value to the reference value vref. Set to a value.

When the determination unit 152 determines that there is no fluctuation, the determination unit 152 sets the reference value vref as the target value vt. When the determination unit 152 determines that there is a fluctuation, the determination unit 152 switches the target value vt from the reference value vref to the correction value vc at the time of determination. The determination unit 152 sets the correction value vc as the target value vt from the time when it is determined that there is a fluctuation until the offset period Tc elapses. When the offset period Tc elapses, the determination unit 152 switches the target value vt from the correction value vc to the reference value vref.

<Operation amount adjustment>
The processing unit 111 has an adjustment unit 31, a correspondence storage unit 32, and a correspondence derivation unit 33 in the same manner as in the first embodiment. Since the functions of each of the parts 31 to 33 are the same as those of the first embodiment, detailed description thereof will be omitted. Since the target of feedback has been changed from the already supplied amount to the supply speed, the first correspondence relationship 41 and the second correspondence relationship 42 have been changed to conform to this change.

(Control program / control method)
FIG. 10 shows a control program and a control method of the powder or granular material supply device 2 according to the second embodiment.
First, the reference value setting unit 151 sets the reference value vref of the supply rate (S60). Next, the measuring unit 121 measures the total support weight w (t) at the present time t in the same manner as in step S11 of the first embodiment (S61), and measures the supply speed (S62). The method for deriving the measured value vm is as described above.

Next, the determination unit 152 determines whether or not the offset period Tc is in progress (S71).
Here, if it is not during the offset period Tc (S71: N), the determination unit 152 determines whether or not it is the timing for determining the presence or absence of fluctuation (S72). If it is the timing for determining the presence or absence of fluctuation (S72: Y), the determination unit 152 determines the presence or absence of fluctuation (S73).
When it is not the timing to determine the presence or absence of fluctuation (S72: N) or when it is determined that there is no fluctuation (S73: N), the determination unit 152 sets the reference value vref as the target value vt (S63a).

When it is determined that there is a fluctuation (S73: Y), the excess / deficiency amount measuring unit 153 measures the excess / deficiency amount ΔA (S74). The method for deriving the excess / deficiency amount ΔA is as described above.
Next, the correction value setting unit 154 sets the correction value vc based on the offset period Tc and the measured excess / deficiency amount ΔA (S75). Then, the determination unit 152 sets the correction value vc as the target value vt (S63b).

This flow is repeatedly executed until the total amount of the powder / granular material 91 of A1 is supplied, and when it is determined that there is a fluctuation, the timing of the offset period Tc starts. During this offset period Tc (S71: Y), the correction value vc continues to be set as the target value vt (S63b).
When the target value vt is set in this way (S63a or S63b), the operation amount setting unit 23 sets the operation amount U and the adjustment unit 31 adjusts the operation amount U in the same manner as in the first embodiment. ..

That is, the deviation δv between the measured value vm and the target value vt is derived (S64), the parameters of the transfer function are adjusted according to the total support weight w (t) (S31), and the deviation δv is adjusted according to the adjusted transfer function. The operation amount Upid is derived (S65), the upper limit value Umax (t) and the lower limit value Umin (t) of the operation amount are set according to the total support weight w (S32), and the limit processing for the operation amount Upid is executed. (S66). Then, the output unit 13 drives the vibration generator 4 with the operation amount U (S67).

Next, the measuring unit 121 measures the already supplied amount in the same manner as in step S12 of the first embodiment (S68), and determines whether or not the measured value Am of the already supplied amount has reached the total amount A1 (S69). ).
Here, if the measured value Am is less than the total amount A1 (S69: N), the process returns to step S61 and the above process is repeated. If the measured value Am reaches the total amount A1 (S69: Y), the flow ends through the processes related to the update of the second correspondence 42 (S33, S34) in the same manner as in the first embodiment.

(Action / effect)
The operation of the control device 110, the control program P, and the control method described above will be described with reference to FIG. Regarding the adjustment of the operation amount U by the adjustment unit 31, the same operation as that of the first embodiment can be obtained.
FIG. 11 is a graph showing the effect obtained by adopting the supply rate feedback control. As shown in FIG. 11, if there is no fluctuation in the supply speed due to disturbance or the like, the target value vt is the reference value vref, and the supply speed is maintained at the reference value vref by the measured value vm following the target value vt. The existing supply amount will increase linearly according to the reference value vref.

When the supply speed fluctuates due to disturbance, this fluctuation is detected by the determination unit 152. When the fluctuation is detected, the target value vt is set to the correction value vc so that the excess or deficiency of the supply caused by this fluctuation is offset.
In the conventional general speed constant value control, the measured value is simply returned to a constant target value (corresponding to the reference value vref) after the supply speed fluctuates.

On the other hand, in the present embodiment, the target value vt is set to a value different from the reference value vref. Therefore, it is possible to eliminate the excess or deficiency of the existing supply amount, and when the supply period T1 elapses from the supply start time ts of the powder or granular material 91 (that is, at the target supply end time te), the total amount of powder or granules A1 The body 91 can be supplied.
The offset period Tc can be input by the worker in the input device 9 as one of the operating conditions. Therefore, the offset period Tc can be freely set according to the specifications of the powder or granular material 91 and the like. The monitoring cycle Tm for determining the presence or absence of fluctuation may be the same as or different from the offset period Tc.

When the monitoring cycle Tm is shorter than the offset period Tc, the processing order of the flow shown in FIG. 10 may be appropriately changed accordingly. Further, the integration process of the excess / deficiency amount ΔA generated in a plurality of different monitoring cycles may be added, and the correction value vc may be reset for each monitoring timing based on the integrated value of the excess / deficiency amount ΔA.
When the offset period Tc is longer than the monitoring cycle Tm as described above, it is considered that the period from at least the final monitoring timing to the target supply end point te is shorter than the offset period Tc. In this case, the offset period Tc may be shortened from the initial value set by the condition setting unit 120 to the period from the current time t to the target supply end time point te. As a result, even if the long offset period Tc is set in advance, it is possible to finish supplying the powder or granular material 91 having a total amount of A1 at the target supply end point te.

When the monitoring cycle Tm is shorter than the offset period Tc, a constant offset period Tc may be set, or the offset period Tc may be variable. As an example of the variable offset period Tc, the offset period Tc may be set to the period from the current time t to the target supply end time point te. In this case, the excess / deficiency amount ΔA from the start of supply to the present time t is measured at each monitoring timing. The correction value vc is derived by adding the value obtained by dividing this excess / deficiency amount ΔA by the offset period Tc to the reference value vref. Since the offset period Tc is always made as long as possible, the correction amount added to the reference value vref can be made as small as possible, and the fluctuation of the speed caused by the correction of the target value vt is suppressed.

Although the embodiments have been described above, the above configuration can be appropriately modified, added and / or deleted within the scope of the present invention.
The hopper 1 does not have to be supported by the powder or granular material supply device 2. In this case, in order to detect the weight of the powder or granular material 91 in the hopper 1 or the weight of the powder or granular material 91 in the receptor 92, the powder or granular material supply system may be provided with another load cell, whereby the powder or granular material is already supplied. The amount can be easily measured.

Regarding the second embodiment, after it is determined that there is a fluctuation and the correction value vc is set as the target value vt, the determination of the presence or absence of the fluctuation may be skipped even when the timing for determining the presence or absence of the fluctuation comes. This makes it possible to avoid erroneous determination that the result of the control is caused by fluctuations due to disturbance even if the supply rate is temporarily controlled to be higher or lower than the reference value vref to offset the excess or deficiency. can.

1 Hopper 2 Granular material supply device 10, 110 Control device 21, 121 Measuring unit 22 Target already supplied amount setting unit 23 Operation amount setting unit 24 Calculation unit 25 Operation amount limiting unit 31 Adjustment unit 31a Parameter setting unit 31b Upper and lower limit setting unit 32 Correspondence relationship storage unit 33 Correspondence relationship derivation unit 41 1st correspondence relationship 42 2nd correspondence relationship 91 Powder / granular material 92 Receptor 100,200 Powder / granular material supply system 122 Target supply speed setting unit 151 Reference value setting unit 152 Judgment unit 153 Excess / deficiency amount measuring unit 154 Correction value setting unit P Control program

Claims (15)

It is a control device of a powder or granular material supply device that operates to end the supply of a predetermined total amount of powder or granular material when a predetermined supply period has elapsed.
A measuring unit that measures the amount of powder that has already been supplied, which is the amount of powder and granules that have already been supplied.
A target existing supply amount setting unit that variably sets a target value of the existing supply amount according to the reference supply rate obtained from the predetermined total amount and the predetermined supply period and the elapsed time from the start of supply.
An operation amount setting unit that sets an operation amount of the powder or granular material supply device so that the measured value of the already supplied amount follows the target value.
A control device for a powder or granular material supply device. The target already-supplied amount setting unit derives the target value of the already-supplied amount by multiplying the reference supply rate obtained by dividing the predetermined total amount by the predetermined supply period by the elapsed time. ,
The control device for the powder or granular material supply device according to claim 1. It is a control device of a powder or granular material supply device that operates to end the supply of a predetermined total amount of powder or granular material when a predetermined supply period has elapsed.
A measuring unit that measures the supply rate of powder and granules,
The target supply speed setting unit that sets the target value of the supply speed,
An operation amount setting unit that sets an operation amount of the powder or granular material supply device so that the measured value of the supply rate follows the target value, and
Equipped with
The target supply speed setting unit is
Whether or not the measured value fluctuates is determined, and
If there is no such fluctuation, the reference value obtained from the predetermined total amount and the predetermined supply period is set as the target value.
If there is such a fluctuation, a correction value changed from the reference value in the direction opposite to the fluctuation direction is set as the target value.
Control device for powder or granular material supply device. The target supply speed setting unit is
The excess or deficiency of the supply of the powder or granular material caused by the fluctuation was measured.
The correction value is set as the target value until the measured excess / deficiency amount is offset.
The control device for the powder or granular material supply device according to claim 3. The target supply speed setting unit is
The offset period, which is the period for which the correction value is set, is set in advance.
The correction value is derived so that the measured excess / deficiency amount is offset after the lapse of the offset period.
The control device for the powder or granular material supply device according to claim 4. The measuring unit measures the total supported weight supported by the powder or granular material supply device, and measures the total supported weight.
Further, an adjusting unit for adjusting the operation amount according to the total supporting weight is provided.
The control device for the powder or granular material supply device according to any one of claims 1 to 5. The operation amount setting unit has a calculation unit for deriving the operation amount from the deviation between the measured value and the target value according to the transfer function.
The adjusting unit has a parameter setting unit that adjusts the parameters of the transfer function according to the total supporting weight.
The control device for the powder or granular material supply device according to claim 6. When the total support weight becomes smaller, the parameter setting unit adjusts the parameter so that the response of the manipulated variable to the deviation becomes dull.
The control device for the powder or granular material supply device according to claim 7. When the manipulated variable derived based on the deviation between the measured value and the target value exceeds a predetermined range, the manipulated variable setting unit sets the manipulated variable to be an upper limit value or a lower limit value in the range. It has an operation amount limiting unit that limits the operation amount,
The adjusting unit has an upper / lower limit setting unit that adjusts the upper limit value and the lower limit value according to the total support weight.
The control device for the powder or granular material supply device according to any one of claims 6 to 8. The upper / lower limit setting unit sets a reference value of the operation amount according to the total support weight, sets the upper limit value by adding the increase allowance amount to the reference value, and sets the decrease allowance amount to the reference value. To set the lower limit by subtracting
The control device for the powder or granular material supply device according to claim 9. A correspondence storage unit that stores a correspondence that defines the reference value of the operation amount with respect to the total support weight, and a correspondence storage unit.
A correspondence relationship deriving unit that derives the correspondence relationship based on the measured total support weight and the operation amount set by the operation amount setting unit.
Further prepare
The upper / lower limit setting unit sets the reference value according to the correspondence stored in the correspondence storage unit.
The correspondence storage unit updates and stores the correspondence derived by the correspondence derivation unit.
The control device for the powder or granular material supply device according to claim 10. A powder or granular material supply device that supplies powder or granular material,
The control device according to any one of claims 1 to 11.
A granule supply system equipped with. It is a control method of a powder or granular material supply device that operates to end the supply of a predetermined total amount of powder or granular material when a predetermined supply period has elapsed.
A measurement process that measures the amount of powder that has already been supplied, which is the amount of powder and granules that have already been supplied.
A target existing supply amount setting step for variably setting a target value of the existing supply amount according to a reference supply rate obtained from the predetermined total amount and the predetermined supply period and an elapsed time from the start of supply.
An operation amount setting step of setting an operation amount of the powder or granular material supply device so that the measured value of the already supplied amount follows the target value, and
A method for controlling a powder or granular material supply device. It is a control method of a powder or granular material supply device that operates to end the supply of a predetermined total amount of powder or granular material when a predetermined supply period has elapsed.
A measurement process that measures the supply rate of powder and granules,
The target supply speed setting process for setting the target value of the supply speed, and
An operation amount setting step of setting an operation amount of the powder or granular material supply device so that the measured value of the supply rate follows the target value, and
Equipped with
The target supply speed setting step is
The step of determining whether or not the measured value fluctuates, and
If there is no such fluctuation, the step of setting the reference value obtained from the predetermined total amount and the predetermined supply period as the target value, and
If there is such a fluctuation, a step of setting a correction value changed from the reference value in the direction opposite to the fluctuation direction as the target value, and
A method for controlling a powder or granular material supply device, including. To cause a computer to execute the control method according to claim 13 or 14.
A control program for the powder or granular material supply device.

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