JP3281312B2 - Adjustment method and adjustment device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to an adjustment object for adjusting an automatic control mechanism of equipment, a plant control, an equipment production line, etc., in order to suppress an output deviation within a predetermined allowable range. TECHNICAL FIELD The present invention relates to an adjustment method for correcting an input to a device and an adjustment device using the same.

[0002]

2. Description of the Related Art Various methods have been conventionally considered for adjustment, but are roughly divided into the following two methods. 1. 1. Solve using model (simulation, table, data interpolation, mathematical model) Reaching the solution by iterative feedback using deviation feedback The solution using the model is based on the assumption that the same output value as the target can be known by the model, and the model is used to obtain the desired output value. This is a method of searching for input values.

[0003] However, modeling is an idealization of characteristics to be adjusted to a form that can be easily handled by humans, such as a mathematical model, and a model after identification (completely matches past data). (If at all), there is no guarantee that the behavior of the object from now onward can be predicted with the required accuracy.

For this reason, attempts have been made to modify the model at any time with the latest data (adaptive model modification) or to devise a model expression. In recent years, there have been various methods using neural networks and fuzzy theories. Proposed. However, they are still a device of model expression, and do not always enable prediction with required accuracy.

[0005] On the other hand, the adjustment performed by repeating the deviation feedback is performed by modifying the input value actually given to the object to be adjusted little by little (in a case where the correction ratio is made variable, it is sometimes referred to as "adaptive"). Let's make adjustment possible even for objects that are inconvenient (zero deviation)
That is. Since the input value to be calculated is not restricted by any model, if the adjustment target can be adjusted from the beginning, it is expected that a good adjustment result can be obtained while repeating the adjustment. Is done.

However, in this case, as long as the characteristic of the object to be adjusted is unknown, it is inevitable that determining the input value is heuristic. Therefore, there is no guarantee as to how fast a good input value can be obtained.

[0007]

For an adjustment target whose characteristics are difficult to measure and which are difficult to model, it is considered that there is no other alternative than repeatedly performing adjustment by feedback, but it is expected that the adjustment can be completed within a certain period of time. Otherwise, it cannot be applied to an automatic adjustment mechanism or a manufacturing apparatus inside a product as a practical problem. In particular, when the adjustment input / output of the adjustment target is multidimensional, the increase in the number of repetitions of the adjustment is serious.

When the input and output are multidimensional, it is sometimes difficult to construct rules for adjusting how to repeat the input by a method in which the input is corrected by feedback as needed. There is an essential problem of becoming.

Further, if it is known from experience that a solution under almost the same conditions can be obtained, as seen in an object to be adjusted for qualitative characteristics, for example, adjustment of a product in a production line of a factory, the line is changed. Therefore, it is desirable to finish the adjustment early while flowing. Therefore, the present invention adjusts the control amount of the adjustment target by repeating the input correction to the adjustment target by such deviation feedback, in a so-called adaptive adjustment device, It is an object of the present invention to provide an adjustment method and an adjustment apparatus using the adjustment history, in which the adjustment can be completed earlier as the adjustment is experienced.

[0010]

According to a first aspect of the present invention, there is provided an adjustment method for adjusting a control amount of an adjustment target so as to be within an allowable range of a target value while correcting an operation amount of the adjustment target. In the method, a corrected value of the manipulated variable used when a deviation between the control amount and the target value is improved is stored in a storage unit in association with a deviation before the improvement, and is observed each time the manipulated variable is corrected. From the storage means based on a deviation observed each time the operation amount is corrected from a new correction value of the operation amount calculated based on the correction value of the operation amount used at that time. The retrieved correction value is preferentially selected, and the operation amount is corrected using the selected correction value.

According to the present invention, the adjustment time can be reduced by using the past adjustment history (more specifically, the correspondence between the deviation and the correction value of the operation amount used when the deviation is improved).

Further, by initializing the operation amount using the correction value calculated based on the statistics of the correction value of the operation amount, the adjustment time can be further reduced. (2) An adjustment method according to the present invention, wherein the control amount of the adjustment target is adjusted so as to be within an allowable range of a target value while correcting the operation amount of the adjustment target. The correction value of the operation amount calculated based on the statistic of the correction value of the operation amount up to the end is stored in a storage unit in association with the deviation between the control amount and the target value, and the operation amount is stored. Deviation observed each time the correction is made, and a deviation observed each time the operation amount is corrected from a new correction value of the operation amount calculated based on the correction value of the operation amount used at that time. And selecting the correction value retrieved from the storage unit based on the priority, and correcting the operation amount using the selected correction value.

According to the present invention, the past adjustment history (more specifically, the difference between the deviation and the correction value calculated based on the statistic of the correction amount used until the adjustment of the control amount is completed in the past adjustment). The adjustment time can be shortened by using (response).

Further, by initializing the operation amount using the correction value calculated based on the statistics of the correction value of the operation amount, the adjustment time can be further reduced. (4) An adjustment device according to the present invention, wherein the adjustment amount is adjusted so that the control amount of the adjustment target falls within an allowable range of a target value while correcting the operation amount of the adjustment target. Storage means for storing a correction value of the manipulated variable used when the deviation from the value has been improved in association with the deviation before the improvement, a deviation observed each time the manipulated variable is corrected, Calculating means for calculating a new correction value of the operation amount based on the corrected value of the operation amount; and a correction value retrieved from the storage unit based on a deviation observed each time the operation amount is corrected. Selecting means for selecting the correction value by priority over the correction value calculated by the calculation means, wherein the operation amount is corrected using the correction value selected by the selection means.

According to the present invention, the adjustment time can be reduced by using the past adjustment history (more specifically, the correspondence between the deviation and the correction value of the operation amount used when the deviation is improved).

Further, by initializing the operation amount using the correction value calculated based on the statistics of the correction value of the operation amount, the adjustment time can be further reduced. (5) An adjusting device according to the present invention, wherein the control amount of the adjustment target is adjusted so as to be within an allowable range of a target value while correcting the operation amount of the adjustment target. Storage means for storing a correction value of the operation amount calculated based on a statistic of a correction value of the operation amount until the end, in association with a deviation between the control amount and the target value; and Calculating means for calculating a new correction value of the operation amount based on the deviation observed each time the correction is performed and the correction value of the operation amount used at that time; and Selecting means for selecting a correction value retrieved from the storage means based on the deviation which is higher than the correction value calculated by the calculation means, and using the correction value selected by the selection means. The operation amount is corrected.

According to the present invention, the past adjustment history (more specifically, the difference between the deviation and the correction value calculated based on the statistic of the correction amount used until the adjustment of the control amount at the time of the past adjustment is completed). The adjustment time can be shortened by using (response).
Further, by initializing the operation amount using the correction value calculated based on the statistics of the correction value of the operation amount, the adjustment time can be further reduced.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIG. 1 shows an example of the configuration of an adjusting device 1 according to a first embodiment using the adjusting method of the present invention.

In the following description, the adjusting device 1,
101 and 102 input an output deviation which is a deviation between a target value and an observation control amount to be adjusted, and output a correction amount of the operation amount as an input correction value.

The adaptive adjustment unit 11 calculates an input correction value candidate that reduces the output deviation of the adjustment target 20. For example, the adaptive adjustment unit 11 outputs the output deviation of the adjustment target 20 (the adjustment target 20).
Is fed back, and a new input correction value candidate is calculated backward from the sensitivity of the output deviation to the input correction value.

Hereinafter, for simplicity, the object to be adjusted is one input and one input.
Consider the output case. In addition, the adjustment target 2
It is assumed that what is output for 0 is a change with respect to the current operation amount, that is, an input correction value.

In the k-th adjustment, when the amount of change in the output deviation of the adjustment target 20 is Δe (k) when the operation amount of the adjustment target 20 is changed by Δu (k), the sensitivity g (k ) Can be represented by the following equation (1).

[0023]

(Equation 1)

Here, Δu (k) is the above-mentioned input correction value. The variation Δe (k) of the deviation is Δe (k)
= E (k) -e (k-1). In addition,
e (k-1) is the (k-1) th output deviation before the kth adjustment.

The output deviation before the k-th adjustment is e (k−
In the case of (1), in order to set the output deviation e (k + 1) to “0” at the (k + 1) -th adjustment, the (k + 1) -th
An input correction amount candidate Δu ′ (k + 1) at the time of the second adjustment can be calculated from the following equation (2).

[0026]

(Equation 2)

However, in equation (2), C is a coefficient for adjusting the input correction value, and is usually 0 <C ≦ 1. Note that the sensitivity g (k) is calculated using the result of the past adjustment. For example, if the sensitivity g (k) is set to a constant value G, the sensitivity g (k) is the same as the normal proportional control.

The adaptive adjustment unit 11 determines the end of the adjustment process from the output deviation. For example, it is assumed that the output deviation e (k) is obtained by the k-th adjustment. As the termination condition,
It is desirable that the value of the output deviation e (k) becomes the target value “0”. In addition, an allowable range ε is set in advance with respect to the target value “0”.
1, and when | e (k) −0 | <ε1, the deviation from the target value is considered to be “0” and may be set as the end condition.

The output deviation evaluator 12 checks whether the output deviation in the current adjustment is improved from the output deviation in the previous adjustment every time the operation amount of the adjustment target 20 is corrected (every adjustment). When it is determined and improved (that is, for example, when the output deviation in the current adjustment becomes smaller than the output deviation in the previous adjustment), the output deviation in the previous adjustment and the input correction value in the current adjustment are determined. It is determined to be suitable input / output data.

That is, in the output deviation evaluator 12, each time the operation amount of the adjustment target 20 is corrected, the output deviation e (k) of the adjustment target 20 before adjustment and the input correction value Δu (k + 1) to the adjustment target 20 are adjusted. ) Is temporarily stored. Since the output deviation e (k + 1) of the adjustment target 20 with respect to the input correction value Δu (k + 1) newly added to the adjustment target 20 is obtained, is the output deviation e (k) improved in the previous adjustment? It is determined whether or not the output deviation e (k) of the adjustment target 20 at the time of the adjustment immediately before the improvement (k-th adjustment) and the input correction value Δu (k + 1) obtained by improving the output deviation e (k) only when the improvement is made. To the preferred input / output data storage unit 13
To memorize.

Each time the input to the adjustment target 20 is corrected, the input correction value Δu (k) to the adjustment target 20 and the adjustment target 2 stored in the output deviation evaluation unit 12 at each adjustment.
The output deviation e (k) of 0 may be additionally stored sequentially, but here, the preferred input / output data storage unit 13 is used.
New data Δu (k + 1), e
After (k) is stored, it is erased.

The preferred input / output data storage unit 13 stores preferred input / output data output from the output deviation evaluation unit 12,
In response to an inquiry from the adjustment switching unit 14, if an input correction value capable of improving the output deviation in the current adjustment is stored, it is output, and if not, a signal indicating "absent" is output.

FIG. 2 shows an example of a preferred input / output data table stored in the preferred input / output data storage unit 13. Here, the table is extracted when an adjustment is made for a certain adjustment target. 3 shows a storage table of preferred input / output data.

It is now assumed that the (k + 1) -th adjustment is performed, and the output deviation e (k) in the previous (k-th) adjustment is set.
Is known since it is stored in the output deviation evaluator 12. At this time, the suitable input / output data storage unit 13 is closest to the value of the output deviation e (k) of the k-th adjustment target 20 from the table as shown in FIG. The output deviation may be searched within the allowable range ε2. If the output deviation is found, the input correction value stored in association with the output deviation is sent to the adjustment switching unit 14. Output. That is, for example, on a table stored in the preferred input / output data storage unit 13,

[0035]

(Equation 3) Output deviation e (j) exists, the output deviation e
(J) and the input correction value Δu (j +
1) as the input correction value candidate Δu ″ (k + 1) in the current (k + 1-th) adjustment (that is, Δu ″ (k +
1) = Δu (j + 1)) is output to the adjustment switching unit 14. This is the output deviation e (j) used in the past adjustment.
Is improved this time (k + th
1) It is considered that the output deviation e (k) in the previous (k-th) adjustment is also improved in the first adjustment.

It should be noted that, on a table as shown in FIG.
Output deviation e in past adjustments that satisfies equation (3)
When (j) does not exist, the preferred input / output data storage unit 1
3 is transmitted to the adjustment switching unit 14, for example, Δu ″ (k + 1) =
Outputs 0.

At each adjustment (for example, the (k + 1) -th adjustment), the adjustment switching unit 14 selects an input correction value candidate (for example, Δu ′ (k +
1)) and one of the input correction value candidates (for example, Δu ″ (k + 1)) whose output deviation has been improved in the past adjustment stored in the suitable input / output data storage unit 13 (for example, (k + 1) th) Adjustment target 2 as the input correction value of the second)
0 is output. That is, when there is an input correction value candidate Δu ″ (k + 1) whose output deviation has been improved in the past adjustment stored in the preferred input / output data storage unit 13, the input correction value calculated by the adaptive adjustment unit 11 The candidate Δu ′ (k + 1) is selected in preference to the candidate Δu ′ (k + 1), and is output as an input correction value Δu (k + 1) for the (k + 1) -th adjustment. ), The input correction value to the (k + 1) -th adjustment target 20 is determined.

[0038]

(Equation 4)

The adjustment switching unit 14 compares the input correction value Δu (k + 1) determined by equation (4) and the resulting output deviation e (k + 1) of the adjustment target 20 with the output deviation evaluation unit 12
A command is also issued to input to.

Next, the processing operation of the adjusting device 1 of FIG. 1 will be described with reference to the flowchart shown in FIG. Here, it is assumed that the adjusting device 1 is used when manufacturing a plurality of products having the same function and performance in a factory or the like. Are transported one by one, and are sequentially and sequentially adjusted by the adjusting device 1 for adjustment. However, for these unadjusted products, the output deviation can be observed, but the actually input manipulated variable cannot be observed (the amount (input correction value) given by the adjusting device 1 to the input to be adjusted is known. Cannot be confirmed whether or not it is entered as it is).

The initial value of the operation amount of each unadjusted item (the input position of the operation element of each unadjusted item before being set in the adjusting device (for example, if the “rotary knob” is an operation element,
The initial position of the knob angle) is not so large, but there is variation (it is not constant because there is not much difference in the production results in the previous process, but there is also a problem such as part difference). Assume. Hereinafter, for convenience of explanation, each unadjusted product to be adjusted is referred to as OBJ. X (X
= 1,..., N) and a code (identifier).

First, the adjustment object OBJ. Set X (X = 1 initially) and prepare for adjustment and data management. Here, the OB to be adjusted is
J. Regarding the initial operation amount input to X, the adjustment device 1
Shall not be observed.

Step S1: In the k-th (k ≧ 1) -th adjustment, the OBJ. The output deviation e (k) output from X is input. The output deviation e (k) and the input correction value Δ at that time are input to the output deviation evaluator 12.
u (k) is input (by an instruction from the adjustment switching unit 14).

Step S2: In the output deviation evaluation section 12,
The adjustment target OBJ. The output deviation e (k) inputted from X is output deviation evaluator 12
To evaluate whether the output deviation e (k-1) in the previous ((k-1) -th) adjustment has already been stored.

Step S3: The output deviation e (k) in the current adjustment is the output deviation e (k-1) in the previous adjustment.
When it is smaller, it is determined that the adjustment has been made by the current adjustment, and the adjustment target OBJ. X and the input correction value Δu (k) output to the OBJ. Output deviation e (k-1) input from X
Are stored in the preferred input / output data storage unit 13.

Step S4: The adaptive adjustment section 11 determines whether or not the output deviation satisfies an adjustment end condition such as being kept within a predetermined allowable deviation. When the adjustment end condition is satisfied, the OBJ. X after performing a predetermined adjustment end process for the next object OBJ. To start adjusting (X + 1),
It returns to step S1. However, the last adjustment target OBJ.
When the adjustment for N is completed, it is assumed that the adjustment has been completed for all the adjustment targets. If the adjustment end condition is not satisfied, the adjustment target OBJ. The process proceeds to step S6 to continue the adjustment for X.

Step S6: The adaptive adjustment unit 11 adjusts the OBJ. Based on the output deviation input from X, the input correction value in the next ((k + 1) -th) adjustment from equation (1) (specifically, input correction value candidate Δu ′ (k +
1)) is calculated.

Step S7: The adjustment switching unit 14 determines whether the difference from the output deviation e (k) in the current (k-th) adjustment satisfies Expression (3), and when the adjustment is performed in the past (the adjustment target currently being adjusted). The extracted output deviation is searched from the table as shown in FIG. 2 stored in the preferred input / output data storage unit 13 (during adjustment for an adjustment target having an identifier different from OBJ.X). When there are a plurality of output deviations extracted at the time of the past adjustment in which the difference from the output deviation e (k) satisfies Expression (3), only the one with the smallest difference is selected. Good.

Step S8: In step S7, an output deviation e (j) such that the difference from the output deviation e (k) in the current adjustment satisfies the equation (3) is stored in the table of the preferred input / output data storage unit 13. When there is, the adjustment switching unit 14
The input correction value Δu (j + 1) (= input correction value candidate Δ) stored in the table in association with the output deviation e (j)
u ”(k + 1)) is set as the input correction value Δu (k + 1) in the next ((k + 1) th) adjustment.

Step S9: If there is no output deviation such that the difference from the output deviation e (k) in the current adjustment satisfies equation (3) in the table of the preferred input / output data storage unit 13 in step S7. , The adjustment switching unit 14 inputs the input correction value candidate Δu ′ (k +
1) is an input correction value Δu (k + 1) in the next ((k + 1) th) adjustment.

Step S10: The adjustment switching unit 14 sets the input correction value Δu (k + 1) to the OBJ. X, and further outputs the input correction value Δu (k + 1) and the output deviation e (k + 1) obtained when the input correction value Δu (k + 1) is actually input to the adjustment target.
2 and the process returns to step S1. (Second Embodiment) FIG. 4 shows a configuration example of an adjusting device 101 according to a second embodiment of the present invention. In FIG. 4, the same portions as those in FIG. 1 are denoted by the same reference numerals, and different portions will be described. That is, in the adjustment device 101 of FIG. 1, the input correction value used for the next adjustment is
In order to distinguish from the input correction value extracted in the past adjustment stored in the suitable input / output data storage unit 13 (hereinafter, the input correction value (second input correction value) used in the second embodiment), 1 is referred to as the input correction value that is newly calculated by the adaptive adjustment unit 11 in order to improve the current adjustment result, as shown in FIG. By simply storing the output deviation and the first input correction value that changes the output deviation in a direction to be improved little by little, it is not always possible to perform efficient adjustment that can shorten the adjustment time. Can't expect.

Therefore, the adjusting device 1 according to the second embodiment
01 is an input correction data storage unit 21 that stores an input correction value to the adjustment target 20 used in each adjustment, and a statistic based on the input correction value stored in the input correction data storage unit 21, for example, And a statistic calculation unit 22 for calculating a cumulative addition value of the input correction values up to the time of the adjustment, and expecting improvement at a time until a target adjustment result is obtained from the current adjustment result. A possible second input correction value is calculated.

The input correction value stored in the input correction data storage unit 21 is assumed to be erased (initialized) when the adjustment target 20 is replaced. The second input correction value calculated using the statistic of the input correction value calculated by the statistic calculation unit 22 (for example, the cumulative addition value of the input correction values) will be described. For example, the total value u (k) of the input correction values from the start of adjustment to a certain adjustment target 20 to the k-th adjustment can be expressed by the following equation (5).

[0054]

(Equation 5)

This will be described more specifically with reference to the table shown in FIG. FIG. 6 shows the output deviation in each adjustment cycle,
The correspondence between the first input correction value used when the output deviation is improved and the resulting output deviation is shown using simple numerical values. Further, a second input correction value is also shown in association with the second input correction value. Here, the output deviation was “7” during the first adjustment, but in the second adjustment,
By using “1” as the first input correction value, the second
An improved output deviation “6” is obtained as a result of the second adjustment. The input is sequentially corrected by "1", and when the output deviation finally becomes "0", the adjustment is completed as a target adjustment result is obtained.

It is assumed that a table as shown in FIG. 6 is stored in the preferred input / output data storage unit 13. Then, it is assumed that the adjustment for the adjustment target 20 is performed and the output deviation “5” is obtained as the adjustment result. Since the output deviation “5” is stored in the table of FIG. 6, “1” can be read from this as the first input correction value used for the next adjustment.

On the other hand, from FIG.
In order to immediately improve the target adjustment state, that is, the state where the output deviation is “0”, the output state was used for each of the third to eighth adjustments in which the output deviation “5” was obtained. Cumulative addition value of input correction value (second input correction value)
It is also understood that “5” should be used for the next adjustment.

The second input correction value will be generally represented using equation (5). That is, it is assumed that the output deviation reaches a target value at the j-th time, and the k-th time (1 ≦ k <
j), the second input correction value du (j, j) to be applied to the adjustment target 20 by the j-th time when the target adjustment state is reached.
k) can be summarized as in the following equation (6).

Du (j, k) = u (j) −u (k) (6) where du (j, 0) = u (j) is given to the adjustment target 20 by the adjustment up to the k-th time. The cumulative addition value u (k) of the input correction values is calculated by the statistic value calculation unit 22, and the second input correction value is calculated by the output deviation evaluation unit 12 using Expression (6). Is also good.

The preferred input / output data storage unit 13 stores a table of preferred input / output data as shown in FIG. 7 in addition to the table shown in FIG. 2 or in place of the table shown in FIG. May be. Here, a storage table of suitable input / output data extracted when adjustment is performed on a plurality of adjustment targets (OBJ. (X-1), OBJ.X) is shown. As shown in FIG. 7, the storage table contains:
It is sufficient that at least the output deviation e (k) of the adjustment target 20 extracted during the past adjustment and the second input correction value for improving it to the target adjustment state are stored. For example, OBJ. From the suitable input / output data extracted when (X-1) is adjusted, when the output deviation e (j),
It can be seen that the cumulative value of the input correction values given from the time when the target adjustment result e (h) is obtained to the end of the adjustment, that is, the second input correction value is du (h, j). Further, from the suitable input / output data extracted when the adjustment target X is adjusted, when the output deviation is e (k), the target adjustment result e (n)
Is obtained, the cumulative value of the input correction values given until the adjustment is completed, that is, the second input correction value is du (n, k).

By storing the suitable input / output data extracted from the past adjustment history, for example,
When the output deviation e (j) is obtained for a certain adjustment target, the table shown in FIG.
The second input correction value du for the input to the survey target 20
If only (h, j) is adjusted, it can be expected that the adjustment will be performed all at once to the target adjustment state (end of adjustment).

Here, the second input correction value is a cumulative addition value of the input correction values until the target adjustment result is obtained, but the present invention is not limited to this case, and the second input correction value is a value until the target adjustment result is obtained. May be the average of the input correction values. Furthermore, in addition to the average value, by adopting a statistic that performs a smoothing process on the input correction value until the target adjustment result is obtained, an accurate input correction value that eliminates noise and disturbance can be obtained. Can be calculated.

The processing operation of the adjusting device 101 is substantially the same as that of FIG. 3 except that the preferred input / output data storage unit 13 retrieves a certain output deviation extracted from the past adjustment history. The second input correction value based on the statistics of the operation amount correction values until the adjustment obtained from the adjustment history of the adjustment target that has been adjusted in the past is completed, instead of the first input correction value used when the adjustment has been performed. There is a point. (Third Embodiment) FIG. 8 shows an example of the configuration of an adjusting device 102 according to a third embodiment of the present invention. In FIG. 8, the same portions as those in FIG. 4 are denoted by the same reference numerals, and different portions will be described. That is, in FIG. 8, the adjustment switching unit 14 further includes an initialization unit 15.

For example, the initializing unit 15 controls the adaptive adjustment unit 1 in the initial stage of adjustment of the adjustment target to be started from now on or in the repetition in which the output deviation is not significantly improved during the adjustment.
1, output deviation evaluator 12 and preferred input / output data storage 1
3 for initializing the data on the current adjustment target (OBJ.X) used for the processing as shown in FIG. That is, for example, the adjustment target (OB
J. X) before the start of adjustment (OBJ.
The amount of input correction is calculated so that the amount of operation before the input correction amount is given to X) is initialized).

As a result, the initial state of the adjustment is set to a good one in a region closer to the past adjustment result (it is possible to reproduce the exact same initial state due to the non-linear characteristics of the adjustment object and the adjustment environment, etc.). Although it is impossible, it can be returned to a state close to it), as a result, it can be expected that subsequent adjustments can be made promptly.

For example, it is assumed that the adjustment is successively and continuously performed on a plurality of adjustment targets with reference to the storage table of the suitable input / output data as shown in FIG. The input correction data storage unit 21 stores the input correction data used for all of the plurality of continuously adjusted adjustment targets and the output deviation corresponding thereto. It is also assumed that the cumulative addition value of the input correction values is the sum of the input correction values used at the time of adjustment for each of the plurality of adjustment targets.

The current adjustment target OBJ. When the adjustment result of X does not improve, the following processes (T1) to (T4) may be executed as reinitialization under the control of the initialization unit 15, for example.

(T1) The input correction data storage unit 21 stores the current adjustment target OBJ. X up to the present (for example, n
(T2) The input correction data storage unit 21 calculates the cumulative addition value u (n) of the input correction values (T2). Calculate the cumulative addition value u (m) of the input correction value given until the adjustment of (X-1) is completed (for example, m total adjustments have been made). (T3) Adaptive adjustment unit 11, output deviation evaluation unit 12, the target OBJ. X is deleted and the current adjustment target OBJ. X to the state at the start of adjustment (T4) Current adjustment target OBJ. The input correction value Δu _I for initializing the operation amount to return to the operation amount at the start of the adjustment of X
(1) is calculated from the following equation (7): Δu _I (1) = − (u (n) −u (m)) (7) In the processes (T1) to (T4), the current adjustment target OB is set.
J. X to be adjusted OBJ. (X-
1) Statistics of input correction values (cumulative addition value of input correction values)
Using the current adjustment target OBJ. The re-initialization of the adjustment is performed so that the operation amount for X is returned to the value at the time when the adjustment of the adjustment target X is started. However, the present invention is not limited to this case. May be used. Also,
The statistic of the input correction value used at the time of the past adjustment used when obtaining the input correction value for initialization is not limited to the cumulative addition value of the input correction value of the past adjustment target. The average value of the input correction values from the start of adjustment to the end of adjustment of the target may be used, or the average value may be used as it is as the initial value. In any case, the initialization is still performed using the adjustment history of the past adjustment target.

Furthermore, in the above description, the current adjustment target OB
J. The case of re-initialization after the adjustment of X has progressed to some extent has been described. However, at the start of the adjustment, similarly to the above, the input correction amount for initializing the operation amount using the past adjustment history of the adjustment target is similarly set. The determination of the initial value may be performed immediately.

Next, with reference to FIGS. 9 and 10, the effect of the above-described operation of the initial value of the operation amount will be described. FIG.
FIG. 10 shows the number of adjustments required until the end of the adjustment for each of the 40 adjustment targets when the adjustment is performed without performing the above-described initial operation of the operation amount and when the initial value operation is performed. It is. As the initial value operation,
When the adjustment of one adjustment target is completed, only the input addition value of the input correction value used in the adjustment of the adjustment target is subtracted from the cumulative addition value up to the present, using the input correction value.
The operation amount is being initialized.

In FIG. 9, even if the initial state of the manipulated variable varies depending on the object to be adjusted, the initial state is almost the same (because there is no great difference in the assembling method). However, the number of adjustments is almost the same.

On the other hand, in FIG. 10, the initial state of the operation amount is initialized by using the statistics of the input correction value of the past adjustment target, so that the adjustment can be performed from a more preferable state. There are many adjustment targets that are smaller than in the case of.

As described above, by using the adjustment history of the past adjustment target, in the case of a large number of similar adjustments,
The number of adjustments can be reduced as a whole. As described above, in the first to third embodiments, the case where the adjustment target 20 has one input and one output has been described. However, the same applies to the case of the multi-input / output system. In the case of a multi-input / output system, the same adjustment processing as described above may be performed for each combination of one input and one output that depend on each other.

The processing as shown in FIG. 3 of each component of the adjusting devices 1, 101, and 102 described in the first to third embodiments is a program that can be executed by a computer as a floppy disk. , A hard disk, a CD-ROM, a DVD, a semiconductor memory, and the like.

In the adjustment, there are many cases where the internal state of the object to be adjusted and the current input value (operating amount) cannot be directly observed (when there is no scale for adjustment), and therefore, there are many cases where the model cannot be explicitly modeled. For this reason, adjustments are often not performed automatically but rely on manual operations by workers.

According to the above-described first to third embodiments, the adaptive type in which the input is corrected as needed by using the feedback of the output deviation for the purpose of suppressing the output deviation to be adjusted to a desired allowable content. In applying the adjustment device to a large number of adjustment targets in a production line, etc.
By providing a mechanism for referring to past adjustment histories to make adjustment inputs, adjustment efficiency can be improved in the sense of reducing the total adjustment time.

Further, even in a built-in adjusting device for canceling environmental fluctuations in a single product, it is possible to make quick adjustments to new fluctuations by effectively utilizing the past adjustment history.

Further, when there are multiple variables (multiple input / output systems),
In addition, the same effect as described above can be expected for an adjustment target having a non-linear correlation between the input and the output. In particular, in the case of an adjustment target having a non-linear characteristic, it is effective to initialize the operation amount of the adjustment target using the past history.

[0079]

As described above, according to the present invention,
In a so-called adaptive adjustment device that adjusts the control amount of an adjustment target by repeating input correction to the adjustment target by deviation feedback, a past adjustment history is used (the more adjustments are made, the more adjustments are made). Adjustment time can be reduced.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration example of an adjustment device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing an example of a correspondence table between an output deviation stored in a preferable input / output data storage unit and an input correction value (first input correction value) in which the output deviation is improved.

FIG. 3 is a flowchart for explaining a processing operation of the adjustment device.

FIG. 4 is a diagram showing a configuration example of an adjustment device according to a second embodiment of the present invention.

FIG. 5 is a diagram showing an example of a history table of input correction values used in each adjustment stored in an input correction data storage unit.

FIG. 6 is a view for explaining a second input correction value calculated based on a statistic of the input correction value used in the past adjustment.

FIG. 7 is a diagram showing an example of a correspondence table between an output deviation stored in a preferred input / output data storage unit and a second input correction value.

FIG. 8 is a diagram showing a configuration example of an adjustment device according to a third embodiment of the present invention.

FIG. 9 is a diagram illustrating the number of adjustments required until the end of adjustment when adjustment is performed without operating the initial value of the operation amount for each of 40 adjustment targets.

FIG. 10 is a diagram showing the number of adjustments required until the end of adjustment when adjustment is performed by performing an initial value operation of an operation amount for each of 40 adjustment targets.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1, 101, 102 ... Adjustment device 11 ... Adaptive adjustment part 12 ... Output deviation evaluation part 13 ... Suitable input / output data storage part 14 ... Adjustment switching part 15 ... Adjustment initialization part 20 ... Adjustment target 21 ... Input correction data storage part 22 Statistic calculation unit

Claims (8)

(57) [Claims] In an adjustment method for adjusting a control amount of an adjustment target so as to be within an allowable range of a target value while correcting an operation amount of the adjustment target, when adjusting the control amount of the adjustment target, The control amount and
When the deviation from the target value is improved, the operation at this time is performed.
Associating the correction value used to correct the cropping amount with the deviation before improvement
It will be stored in the storage unit as history information at the time of past adjustment
When the manipulated variable is corrected, the deviation observed at that time
A corresponding correction value is included in the history information stored in the storage means.
When the correction value is read from the storage means,
Correct the operation amount for adjustment of the
If not, the deviation observed when correcting the manipulated variable,
A new correction value of the operation amount calculated based on the correction value of the operation amount used at that time is used for the next adjustment.
An adjustment method, wherein the operation amount is corrected . 2. An adjustment method for adjusting a control amount of an adjustment target so as to be within an allowable range of a target value while correcting an operation amount of the adjustment target, wherein, when adjusting the control amount of the adjustment target, The control amount and
When the deviation from the target value is improved, the operation at this time is performed.
Corresponds to the deviation before improvement with the first correction value used for correcting the crop
And stored in the storage unit as history information of past adjustments.
The control amount reaches within the allowable range of the target value and the target is adjusted.
When the adjustment result is obtained, the adjustment result of the target is obtained.
Then, each bias stored in the storage means as the history information
Each deviation is based on the first correction value corresponding to the difference.
To improve the deviation to reach the target adjustment result.
Calculate the second correction value, and associate it with each deviation.
If the manipulated variable is stored in the storage means, the deviation observed at that time
The corresponding second correction value is stored in the storage means
The second correction value read from the storage means
To correct the manipulated variable for the next adjustment, and
Is not stored in the following table, a new correction value of the operation amount calculated based on the deviation observed when the operation amount is corrected and the correction value of the operation amount used at that time is used as the next value .
Adjusting the operation amount for adjusting the distance. 3. The history information stored in the storage means,
2. The adjustment method according to claim 1, wherein the operation amount is initialized using a correction value calculated based on the correction value. 4. A method according to claim 1, wherein said history information stored in said storage means includes :
3. The adjustment method according to claim 2, wherein the operation amount is initialized using a third correction value calculated based on the first correction value . 5. An adjusting device for adjusting a control amount of an adjustment target so as to be within an allowable range of a target value while correcting an operation amount of the adjustment target, wherein, when adjusting the control amount of the adjustment target, The control amount and
When the deviation from the target value is improved, the operation at this time is performed.
Associating the correction value used to correct the cropping amount with the deviation before improvement
Storage means for storing as history information at the time of past adjustment, and when the manipulated variable is corrected, the deviation observed at that time
A corresponding correction value is included in the history information stored in the storage means.
When the correction value is read from the storage means,
Correct the operation amount for adjustment of the
If not, the deviation observed when correcting the manipulated variable,
A new correction value of the operation amount calculated based on the correction value of the operation amount used at that time is used for the next adjustment.
An adjusting device for adjusting the operation amount . 6. An adjusting apparatus for adjusting a control amount of an adjustment target so as to be within an allowable range of a target value while correcting an operation amount of the adjustment target, wherein, when adjusting the control amount of the adjustment target, The control amount and
When the deviation from the target value is improved, the operation at this time is performed.
Corresponds to the deviation before improvement with the first correction value used for correcting the crop
History information to be stored as past adjustment history information
The storage means, wherein the control amount of the adjustment target is within an allowable range of the target value.
When the target adjustment result is reached, the adjustment
Until the result is obtained, each bias stored as the history information is obtained.
Each deviation is based on the first correction value corresponding to the difference.
To improve the deviation to reach the target adjustment result.
A calculating means for calculating a second correction value that, the second correction value calculated by the calculation means, a second correction value storage means for storing in association with the corresponding deviations thereto, the manipulated variable After correction, the deviation observed at that time
Corresponding second positive value Osamu said second correction value storage unit
If it is stored in the second
Correcting the manipulated variable for the next adjustment with a positive value,
Is not stored in the correction value storage means, a new value of the operation amount calculated based on the deviation observed when correcting the operation amount and the correction value of the operation amount used at that time. Correct the manipulated variable for the next adjustment with the correction value
An adjusting device, comprising: adjusting means . 7. A method according to claim 1, wherein said history information stored in said storage means includes :
Adjustment device according to claim 6, wherein the initializing the operation amount by using the calculated correction value based on the corrected value. 8. A history stored in said history information storage means.
7. The adjusting device according to claim 6, wherein the operation amount is initialized using a third correction value calculated based on the first correction value in the information .