JP4291169B2 - PID parameter previous value return method and PID parameter setting operation device - Google Patents

Description

  The present invention relates to a human machine interface of a PID controller, and more particularly to a PID parameter setting operation.

  The PID parameter adjustment operation of the PID controller is usually a trial and error-like setting operation in which a certain setting is made and then changed to another setting or returned to the original setting (previous value). Is done. Therefore, operability that can easily return to the previous value is required for the human machine interface of the PID controller. However, a generally used temperature controller (for example, see Patent Document 1) does not have a function of returning the PID parameter to the previous value. For this reason, the operator stores or records the previous value, and when the previous value is restored, the previous value is reset by a normal setting method.

  Considering PC (personal computer) application software as a conventional technology, when canceling the writing of numerical values, for example, “Ctrl + Z” is operated. If this technology is used as a reference, the previous value is simply stored. Then, it is possible to conceive of returning to the original previous value by any one operation.

The applicant has not yet found prior art documents related to the present invention by the time of filing other than the prior art documents specified by the prior art document information described in this specification.
Japanese Patent Laid-Open No. 05-111984

  In the case of the PID parameter, one set includes three parameters: a proportional band Pb that is a parameter of the proportional action P, an integration time Ti that is a parameter of the integral action, and a differential time Td that is a parameter of the derivative action. Therefore, when the operator manually changes the PID parameter, the following correction procedure (A) → (B) → (C) → (D) is assumed.

(A) The initial values of the PID parameters are proportional band Pb = 5.0, integration time Ti = 120.0, and differentiation time Td = 30.0.
(B) The derivative time Td is changed to 60.0 (Pb = 5.0, Ti = 120.0, Td = 60.0).
(C) The integration time Ti is changed to 240.0 (Pb = 5.0, Ti = 240.0, Td = 60.0).
(D) The proportional band Pb is changed to 10.0 (Pb = 10.0, Ti = 240.0, Td = 60.0).

  At this time, if it is desired to return to the original PID parameter when the correction of (D) is completed, it is correct that only the correction of the proportional band Pb is canceled and the setting returns to the setting of (C), or the correction of all PIDs It is difficult to judge whether it is correct to cancel and return to the setting (initial value) of (A). If reference is made to the operation of the PC, the setting returns to the setting of (C). However, since the three parameters of PID are meaningful in one set as described above, returning to the setting of (A) is an operator. It is also expected that this is the intended return. Alternatively, after the differential time Td is determined to be Td = 60.0, if it is desired to change the proportional band Pb and the integration time Ti and return to the original values, it is appropriate to return to (B). Although a method in which the operator inputs the registration that the operator has confirmed the PID parameter is also conceivable, such a cumbersome operation is difficult to perform and causes an operation error, which is not realistic.

In this way, in the case of PID parameters, although the three parameters are meaningful in one set, the setting change operation is performed for each parameter, so the previous value return intended by the operator is realized. It is difficult.
The present invention has been made to solve the above-described problem, and as a part of the PID parameter setting function of the PID controller, the PID parameter previous value return method and PID parameter setting that can perform the previous value return intended by the operator. An object is to provide an operating device.

In the present invention, after the PID parameter of the PID controller is changed according to the operator's setting change operation, the previous PID parameter for returning the changed PID parameter to the previous value immediately before the change when the operator gives a previous value return command. A value return method, wherein at least one of current values of a PID parameter, which is stored in a current value storage unit of a PID parameter setting operation device and includes a proportional band, an integration time, and a derivative time, is set according to the setting change operation. The operator determines the current value of the PID parameter stored in the current value storage unit when an operation other than the setting change operation is performed by the operator after the change process to be changed and the setting change operation are performed. PID parameter confirmation processing that is considered to have been performed, and the confirmed PID parameter as the previous value A previous value update process to be stored; and a previous value return process to return the current value of the PID parameter stored in the current value storage unit to the stored previous value when the previous value return command is input. Is.
Further, in one configuration example of the PID parameter previous value return method according to the present invention, the previous value update process has passed an elapsed time from the time point of the PID parameter change process performed immediately before the predetermined specified time. Only in this case, the determined PID parameter is stored as the previous value.
In one configuration example of the PID parameter previous value return method of the present invention, the specified time is determined based on the current value of the PID parameter.

The PID parameter setting operation device according to the present invention includes a current value storage unit that stores a current value of the PID parameter, and at least one of the current values of the PID parameter including a proportional band, an integration time, and a derivative time. A change operation unit that changes according to the setting change operation, and a PID parameter stored in the current value storage unit when an operation other than the setting change operation is performed by the operator after the setting change operation is performed . A PID parameter determination processing unit that regards the current value as determined by the operator, a previous value storage unit that stores the previous value of the PID parameter, and a previous value of the PID parameter stored in the previous value storage unit It confirmed the previous value update processing unit that updates the PID parameters, when the previous value return instruction is input, the current value It is intended and a previous value recall processor to return to the previous value of the current value of the PID parameters stored is stored in the previous value storage unit in憶部.
In addition, in one configuration example of the PID parameter setting operation device according to the present invention, a specified time for determining whether or not an elapsed time from the time of the PID parameter change process performed immediately before has exceeded a predetermined specified time. The previous value update processing unit updates the previous value of the PID parameter stored in the previous value storage unit to the determined PID parameter only when the elapsed time exceeds a specified time. To do.

In the PID parameter setting operation device of the present invention, after changing at least one of the PID parameters including the proportional band, the integration time, and the differentiation time according to the operator's setting change operation, the operator returns a previous value return command. An apparatus for returning the changed PID parameter to the previous value immediately before the change when there is a proportional band current value storage unit for storing the current value of the proportional band, and an integration time for storing the current value of the integration time A current value storage unit; a differential time current value storage unit that stores a current value of the differential time; a proportional band change operation unit that changes a current value of the proportional band according to the setting change operation; and a current value of the integration time An integration time changing operation unit that changes the current value of the derivative time according to the setting change operation, and Proportional band previous value storage unit for storing the time value, integration time previous value storage unit for storing the previous value of the integration time, differential time previous value storage unit for storing the previous value of the derivative time, and the previous value A return command detection unit that detects a return command, an operation detection unit that detects an operation other than the setting change operation by the operator, and a final memory that stores a first variable indicating whether or not the changed PID parameter is a final value. The first variable when at least one of the current values of the PID parameter consisting of the proportional band, the integration time, the integration time, and the differentiation time is changed, or when the changed PID parameter is returned to the previous value. When an operation other than the setting change operation is detected by the operation detection unit after the setting change operation has been performed, A PID parameter that regards the current value stored in the proportional band current value storage unit, the integration time current value storage unit, and the derivative time current value storage unit as a fixed value, and sets the first variable to a value indicating determination Only when the confirmation processing unit and the first variable indicate the confirmation of the PID parameter, the previous value of the proportional band is updated to the current value of the proportional band, and the previous value of the integration time is updated to the current value of the integration time. A previous value update processing unit that updates the previous value of the derivative time to the current value of the derivative time, and when the previous value return command is detected by the return command detection unit, A previous value return processing unit that returns the current value to the previous value of the proportional band, returns the current value of the integration time to the previous value of the integration time, and returns the current value of the differentiation time to the previous value of the differentiation time; It is to be prepared.
Further, one configuration example of the PID parameter setting operation device according to the present invention further includes a second that indicates whether or not an elapsed time from the time point of the PID parameter change process performed immediately before has exceeded a predetermined specified time. A progress storage unit that stores a variable; and a specified time passage processing unit that sets the second variable to a value indicating the passage of the specified time when the elapsed time exceeds the specified time, the PID parameter The uncertain processing unit changes the current value of the PID parameter including the proportional band, the integration time, and the derivative time, or when the changed PID parameter is returned to the previous value. At the same time, the first variable is set to a value indicating indefiniteness, and the second variable is set to a value indicating non-elapse of a specified time. The previous value of the proportional band is updated to the current value of the proportional band, and the previous value of the integral time is updated to the integral only when the second variable indicates that the specified time has elapsed. The time value is updated to the current value, and the previous value of the derivative time is updated to the current value of the derivative time.
Further, one configuration example of the PID parameter setting operation device of the present invention further includes means for determining the specified time based on the current value of the PID parameter.

  According to the present invention, when an operation other than the setting change operation is performed after the PID parameter setting change operation by the operator, it is considered that the operator has determined the PID parameter, and the determined PID parameter is set to the previous value. As described above, the previous value return of the PID parameter intended by the operator can be realized.

  In addition, since the determined PID parameter is stored as the previous value only when the elapsed time from the time of the PID parameter change process performed immediately before exceeds the specified time, the PID parameter setting change operation is performed. When the operator performs an operation other than the setting change operation due to an erroneous operation or for some reason, the problem that the PID parameter is fixed can be avoided.

  Further, by determining the prescribed time based on the current value of the PID parameter, the prescribed time used as a condition for determining the PID parameter can be appropriately set.

[Principle of the Invention]
When changing at least one of the PID parameters including the proportional band Pb, the integration time Ti, and the differentiation time Td, the operator performs a setting change operation on the PID parameter setting operation device. After such a setting change operation, if the PID parameter changed by the operator is temporarily determined even once, an operation for confirming the control characteristics, an operation for changing a parameter other than the PID parameter, or the like may be performed. It is done. On the other hand, for example, even if the derivative time Td of the PID parameter is changed, if the PID parameter is not fixed, the proportional band Pb and the integration time Ti are not inserted without changing other parameters other than the PID parameter. It is thought that the setting change operation will continue.

  The present invention focuses on the above points and detects the determination of the PID parameter by an operation other than the PID parameter setting change operation. That is, even if a setting change operation for changing at least one of the proportional band Pb, the integration time Ti, and the differentiation time Td is performed, the PID is not changed unless an operation other than the PID parameter setting change operation is performed thereafter. Do not consider the parameters as confirmed by the operator. In other words, when an operation other than the PID parameter setting change operation is performed after an operation for changing the setting of any of the PID parameters, the PID parameter is considered to be determined by the operator. To do. This realizes a PID parameter previous value return function that detects the confirmation of the PID parameter and performs the previous value return intended by the operator.

[First Embodiment]
Hereinafter, a first embodiment of the present invention will be described. FIG. 1 is a block diagram showing a configuration of a control device according to the first embodiment of the present invention. The control device of FIG. 1 changes the setting of the PID controller 1 that calculates the operation amount MV by performing a PID control calculation based on the PID parameter for the deviation between the set value SP and the control amount PV, and the PID parameter of the PID controller 1 And a PID parameter setting operation device 2. Further, the control device includes an input device and a display device (not shown). The operator of the control device operates the input device to set or change the PID parameter or set or change the set value SP while confirming the setting contents on the screen of the display device. Further, the operator confirms the control characteristics of the PID controller 1 on the screen of the display device.

  The PID controller 1 includes a set value SP input unit 100 that inputs a set value SP set by an operator, a control amount PV input unit 101 that inputs a control amount PV detected by a sensor (not shown), a set value SP, and a control. A PID control calculation unit 102 that calculates an operation amount MV based on a deviation from the amount PV, and an operation amount MV output unit 103 that outputs an operation amount MV to a control target (not shown) are provided.

  The PID parameter setting operation device 2 includes a proportional band Pb changing operation unit 200 that changes the current value of the proportional band Pb according to the operator's setting change operation, and an integration time Ti changing operation that changes the current value of the integration time Ti according to the setting changing operation. Unit 201, differential time Td change operation unit 202 that changes the current value of differential time Td according to the setting change operation, proportional band Pb current value storage unit 203 that stores the current value of proportional band Pb, and current integration time Ti Integration time Ti current value storage unit 204 for storing values, differential time Td current value storage unit 205 for storing current values of differential time Td, and proportional band Pb previous value storage unit 206 for storing previous values of proportional band Pb. An integration time Ti previous value storage unit 207 for storing the previous value of the integration time Ti, a differential time Td previous value storage unit 208 for storing the previous value of the differentiation time Td, a variable The return command detection unit 209 that detects the previous value return command that returns the PID parameter to the previous value immediately before the change, the operation detection unit 210 that detects an operation other than the setting change operation by the operator, and whether the changed PID parameter is a fixed value A fixed storage unit 211 that stores the first variable indicating whether or not, and a PID that sets the first variable to a value indicating indeterminate when the PID parameter is changed or when the changed PID parameter is returned to the previous value When an operation other than the setting change operation is detected after the parameter indetermination processing unit 212 and the PID parameter setting change operation are performed, the values stored in the current value storage units 203 to 205 are used as the determined values of the PID parameters. A PID parameter confirmation processing unit 213 that sets the first variable to a value indicating confirmation, and a PID parameter setting change operation When performed, only if the first variable indicates the confirmation of the PID parameter, the previous value of the proportional band Pb is updated to the current value of the proportional band Pb, and the previous value of the integration time Ti is changed to the current value of the integration time Ti. When the previous value update processing unit 214 that updates the previous value of the derivative time Td to the current value of the derivative time Td and the previous value return command of the PID parameter are detected, the current value of the proportional band Pb is updated. A previous value return processing unit 215 that returns the previous value of the proportional band Pb, returns the current value of the integration time Ti to the previous value of the integration time Ti, and returns the current value of the differential time Td to the previous value of the differential time Td.

  Next, the operation of the PID controller 1 will be briefly described with reference to FIG. The set value SP is set by the operator of the control device, and is input to the PID control calculation unit 102 via the set value SP input unit 100 (step ST101 in FIG. 2). The control amount PV to be controlled is detected by a sensor (not shown) and input to the PID control calculation unit 102 via the control amount PV input unit 101 (step ST102).

The PID control calculation unit 102 is a proportional value stored in the set value SP input from the set value SP input unit 100, the control amount PV input from the control amount PV input unit 101, and the proportional band Pb current value storage unit 203. Based on the current value of the band Pb, the current value of the integration time Ti stored in the integration time Ti current value storage unit 204, and the current value of the differentiation time Td stored in the differentiation time Td current value storage unit 205, An operation amount MV is calculated by performing a PID control calculation like the transfer function equation (step ST103).
MV = (100 / Pb) {1+ (1 / Tis) + Tds} (SP-PV)
... (1)

The operation amount MV output unit 103 outputs the operation amount MV calculated by the PID control calculation unit 102 to a control target (actually an actuator such as a valve) (not shown) (step ST104).
The processes in steps ST101 to ST104 as described above are repeatedly executed for each control cycle until the operator instructs the end of PID control (YES in step ST105).

Next, the operation of the PID parameter setting operation device 2 will be described with reference to FIGS. First, the proportional band Pb change operation unit 200 performs a proportional band Pb setting change operation determination process (step ST1 in FIG. 3). That is, the proportional band Pb changing operation unit 200 determines whether or not the operator has performed a setting change operation of the proportional band Pb between the end of the proportional band Pb setting change operation determination process one operation cycle before and the current time. When the setting change operation is performed, the previous value update processing unit 214 is notified that the setting change operation of the proportional band Pb has been performed, and the process of step ST1 is ended, and the setting change operation is performed. If not, the process of step ST1 is immediately terminated.
Receiving the notification from the proportional band Pb changing operation unit 200, the previous value update processing unit 214 checks the first variable stored in the confirmation storage unit 211 (step ST2).

  If the first variable stored in the confirmation storage unit 211 in step ST2 indicates the confirmation of the PID parameter, the previous value update processing unit 214 performs the previous value update process of steps ST3 to ST5. That is, the previous value update processing unit 214 changes the previous value of the proportional band Pb stored in the proportional band Pb previous value storage unit 206 to the current value of the proportional band Pb stored in the proportional band Pb current value storage unit 203. Then, the previous value of the integration time Ti stored in the integration time Ti previous value storage unit 207 is updated to the current value of the integration time Ti stored in the integration time Ti current value storage unit 204. Then, the previous value of the derivative time Td stored in the derivative time Td previous value storage unit 208 is updated to the current value of the derivative time Td stored in the derivative time Td current value storage unit 205 (step ST4). Step ST5).

When step ST5 is completed, or when the first variable stored in the confirmation storage unit 211 in step ST2 indicates that the PID parameter is uncertain, the previous value update processing unit 214 determines the current value of the proportional band Pb. Is notified to the proportional band Pb changing operation unit 200.
Receiving the notification from the previous value update processing unit 214, the proportional band Pb change operation unit 200 changes the current value of the proportional band Pb stored in the proportional band Pb current value storage unit 203 in accordance with the operator's setting change operation (Step S1). ST6). After the end of step ST6, the proportional band Pb change operation unit 200 notifies the PID parameter indetermination processing unit 212 that the current value of the proportional band Pb has been changed.

  Receiving the notification from the proportional band Pb changing operation unit 200, the PID parameter indeterminacy processing unit 212 sets the first variable stored in the confirmation storage unit 211 to a value indicating the indeterminacy of the PID parameter (step ST7). ).

Next, the integration time Ti change operation unit 201 performs an integration time Ti setting change operation determination process (step ST8). In other words, the integration time Ti change operation unit 201 determines whether or not the operator has changed the integration time Ti setting between the end time of the integration time Ti setting change operation determination process one operation cycle before and the current time. When the setting change operation is performed, the previous value update processing unit 214 is notified that the setting change operation of the integration time Ti has been performed, and the process of step ST8 is terminated, and the setting change operation is performed. If not, the process of step ST8 is immediately terminated.
Receiving the notification from the integration time Ti change operation unit 201, the previous value update processing unit 214 checks the first variable stored in the fixed storage unit 211 (step ST9).

  When the first variable stored in the confirmation storage unit 211 in step ST9 indicates the confirmation of the PID parameter, the previous value update processing unit 214 performs the previous value update process of steps ST10 to ST12. The previous value update process in steps ST10, ST11, ST12 is the same as steps ST3, ST4, ST5, respectively.

When step ST12 is completed, or when the first variable stored in the confirmation storage unit 211 in step ST9 indicates that the PID parameter is uncertain, the previous value update processing unit 214 determines the current value of the integration time Ti. Is changed to the integration time Ti change operation unit 201.
Receiving the notification from the previous value update processing unit 214, the integration time Ti change operation unit 201 changes the current value of the integration time Ti stored in the integration time Ti current value storage unit 204 in accordance with the setting change operation of the operator (step). ST13). After the end of step ST13, the integration time Ti change operation unit 201 notifies the PID parameter indetermination processing unit 212 that the current value of the integration time Ti has been changed.

  Receiving the notification from the integration time Ti change operation unit 201, the PID parameter indeterminacy processing unit 212 sets the first variable stored in the confirmation storage unit 211 to a value indicating the indeterminacy of the PID parameter (step ST14). ).

Next, the derivative time Td change operation unit 202 performs a derivative time Td setting change operation determination process (step ST15). That is, the derivative time Td change operation unit 202 determines whether or not the operator has performed a change operation of the derivative time Td between the end time of the derivative time Td setting change operation determination process one operation cycle before and the current time. When the setting change operation is performed, the previous value update processing unit 214 is notified that the setting change operation for the derivative time Td has been performed, and the process of step ST15 is terminated, and the setting change operation is performed. If not, the process of step ST15 is immediately terminated.
Receiving the notification from the derivative time Td changing operation unit 202, the previous value update processing unit 214 confirms the first variable stored in the confirmation storage unit 211 (step ST16).

  When the first variable stored in the confirmation storage unit 211 in step ST16 indicates the confirmation of the PID parameter, the previous value update processing unit 214 performs the previous value update process of steps ST17 to ST19. The previous value update process in steps ST17, ST18, and ST19 is the same as steps ST3, ST4, and ST5, respectively.

When step ST19 ends, or when the first variable stored in the confirmation storage unit 211 in step ST16 indicates that the PID parameter is indeterminate, the previous value update processing unit 214 determines the current value of the derivative time Td. Is changed to the differential time Td changing operation unit 202.
The differential time Td change operation unit 202 that has received the notification from the previous value update processing unit 214 changes the current value of the differential time Td stored in the differential time Td current value storage unit 205 in accordance with the operator's setting change operation (step). ST20). After the end of step ST20, the differential time Td changing operation unit 202 notifies the PID parameter indetermining processing unit 212 that the current value of the differential time Td has been changed.

  Receiving the notification from the derivative time Td changing operation unit 202, the PID parameter indeterminacy processing unit 212 sets the first variable stored in the deterministic storage unit 211 to a value indicating the indeterminacy of the PID parameter (step ST21). ).

Next, the operation detection unit 210 performs a determination process for detecting an operation other than the PID parameter setting change operation by the operator (step ST22). That is, the operation detection unit 210 determines whether an operation other than the setting change operation has been performed after the setting change operation has been performed, and when another operation is performed, the other operation is performed. This is notified to the PID parameter confirmation processing unit 213, and the process of step ST22 is terminated. If no other operation is performed, the process of step ST22 is immediately terminated.
Operations other than the PID parameter setting change operation include, for example, an operation for changing the control amount set value SP, and an operation for switching from the PID parameter setting change operation screen to the control state monitoring screen.

  Receiving the notification from the operation detection unit 210, the PID parameter confirmation processing unit 213 sets the first variable stored in the confirmation storage unit 211 to a value indicating the confirmation of the PID parameter (step ST23).

  Next, the previous value return processing unit 215 performs a previous value return command input determination process (step ST24). When the operator wants to return the PID parameter to the previous value after changing the setting of the PID parameter, the operator operates the PID parameter setting operation device 2 and inputs the previous value return command. The return command detection unit 209 inputs this previous value return command to the previous value return processing unit 215. The previous value return processing unit 215 determines whether or not the previous value return command has been input between the end of the previous value return command input determination process one operation cycle before and the current time, and the previous value return command has been input. In this case, the process of step ST24 is terminated and the process proceeds to step ST25. When the previous value return command is not input, the process of step ST24 is terminated without proceeding to other steps.

  When the previous value return command is input, the previous value return processing unit 215 performs the previous value return processing in steps ST25 to ST27. That is, the previous value return processing unit 215 converts the current value of the proportional band Pb stored in the proportional band Pb current value storage unit 203 to the previous value of the proportional band Pb stored in the proportional band Pb previous value storage unit 206. Next, the current value of the integration time Ti stored in the integration time Ti current value storage unit 204 is returned to the previous value of the integration time Ti stored in the integration time Ti previous value storage unit 207 (step ST25). Step ST26), the present value of the derivative time Td stored in the derivative time Td current value storage unit 205 is returned to the previous value of the derivative time Td stored in the derivative time Td previous value storage unit 208 (step ST27).

After step ST27 ends, the previous value return processing unit 215 notifies the PID parameter indetermination processing unit 212 that the PID parameter has been returned to the previous value.
Receiving the notification from the previous value return processing unit 215, the PID parameter indeterminacy processing unit 212 sets the first variable stored in the confirmation storage unit 211 to a value indicating the indeterminacy of the PID parameter (step ST28). .

  The processes in steps ST1 to ST28 as described above are repeatedly executed at regular operation cycles until, for example, the operator instructs the end of the PID control. The operation cycle of the PID parameter setting operation device 2 may be usually the same as the control cycle of the PID controller 1.

  According to the present embodiment, when an operation other than the setting change operation is performed after the PID parameter setting change operation by the operator, it is considered that the operator has determined the PID parameter, and the determined PID parameter is Since it is stored as the previous value, the previous value return of the PID parameter intended by the operator can be realized.

  In the present embodiment, when a PID parameter setting change operation is performed, an operation other than the setting change operation is performed, and then a PID parameter setting change operation is performed again, steps ST3 and ST4 are performed. , ST5, ST10, ST11, ST12, ST17, ST18, ST19, but when the operation other than the PID parameter setting change operation is performed (the first variable indicates confirmation) The previous value update process may be performed at the time when the value is set. The reason why the previous value update process is suspended until the next setting change operation is performed as in the present embodiment is to prevent the previous value of the PID parameter from being updated earlier than necessary. .

[Second Embodiment]
Next, a second embodiment of the present invention will be described. In the first embodiment, when an operation other than the setting change operation is performed after the PID parameter setting change operation is performed, it is considered that the operator has determined the PID parameter, but the PID parameter setting change operation is performed. There is a problem that if the operator performs an operation other than the setting change operation due to an erroneous operation or for some reason, the PID parameter is determined against the operator's intention.

  Usually, as a procedure for changing the setting of the PID parameter, it is a general procedure that an operator performs a setting change operation to determine the PID parameter and then confirms the control characteristics of the controller based on the determined PID parameter. Therefore, the problem such as the above-mentioned erroneous operation can be avoided by adding that the specified time has elapsed from the end of the PID parameter setting change operation as a condition for determining the PID parameter. In addition, the specified time is a guideline for the work time for checking the control characteristics of the controller. However, this work time depends on the characteristics of the controlled object, so it is specified depending on the integration time Ti or the differential time Td. It is preferable to automatically determine the time. As a specific guideline, a time about 5 times the integration time Ti can be considered.

  FIG. 5 is a block diagram showing the configuration of the control apparatus according to the second embodiment of the present invention, and the same components as those in FIG. 1 are denoted by the same reference numerals. The PID parameter setting operation device 2a includes a proportional band Pb change operation unit 200, an integration time Ti change operation unit 201, a differential time Td change operation unit 202, a proportional band Pb current value storage unit 203, and an integration time Ti current value. Storage unit 204, differential time Td current value storage unit 205, proportional band Pb previous value storage unit 206, integration time Ti previous value storage unit 207, differential time Td previous value storage unit 208, return command detection unit 209 Operation detection unit 210, confirmation storage unit 211, PID parameter indetermination processing unit 212a, PID parameter confirmation processing unit 213, previous value update processing unit 214a, previous value return processing unit 215, The progress storage unit 216 stores a second variable indicating whether or not the elapsed time from the time of the change processing of the received PID parameter has exceeded a predetermined specified time. , When the elapsed time exceeds the specified time, and a specified time elapses processing unit 217 is set to indicate the passage of time defining the second variable.

When the PID parameter indeterminacy processing unit 212a of the present embodiment sets the first variable to a value indicating indefiniteness, the second variable is set to a value indicating non-elapse of the specified time at the same time. This is different from the PID parameter indeterminacy processing unit 212 of the first embodiment.
The previous value update processing unit 214a updates the previous value of the PID parameter to the current value only when the first variable indicates the confirmation of the PID parameter and the second variable indicates that the specified time has elapsed. Is different from the previous value update processing unit 214 of the first embodiment.

Next, the operation of the PID parameter setting operation device 2a according to the present embodiment will be described with reference to FIGS. The processes in steps ST1 and ST2 in FIG. 6 are the same as steps ST1 and ST2 in FIG. 3, respectively.
When the first variable stored in the determination storage unit 211 in step ST2 indicates the determination of the PID parameter, the previous value update processing unit 214a checks the second variable stored in the progress storage unit 216. (Step STa).

  The previous value update processing unit 214a performs the previous value update process in steps ST3 to ST5 when the second variable indicates that the specified time has elapsed, and if the second variable indicates that the specified time has not elapsed, The process of step STa is terminated without shifting to the step. The processing of steps ST3 to ST5 is the same as the previous value update processing described in the first embodiment.

  In the case where the first variable stored in the determination storage unit 211 in step ST2 indicates the indefiniteness of the PID parameter, the second variable stored in the progress storage unit 216 in step STa is the non-elapse of the specified time. Or when step ST5 ends, the previous value update processing unit 214a notifies the proportional band Pb change operation unit 200 to change the current value of the proportional band Pb.

The process in step ST6 in FIG. 6 is the same as that in step ST6 in FIG. 3. After step ST6, the proportional band Pb changing operation unit 200 indicates that the current value of the proportional band Pb has been changed. 212a is notified.
Receiving the notification from the proportional band Pb changing operation unit 200, the PID parameter indeterminacy processing unit 212a sets the first variable stored in the confirmation storage unit 211 to a value indicating the indeterminacy of the PID parameter (step ST7). ), The second variable stored in the progress storage unit 216 is set to a value indicating the non-elapse of the specified time (step STb).

Next, the processes in steps ST8 and ST9 in FIG. 6 are the same as steps ST8 and ST9 in FIG. 3, respectively.
When the first variable stored in the determination storage unit 211 indicates the determination of the PID parameter in step ST9, the previous value update processing unit 214a checks the second variable stored in the progress storage unit 216. (Step STc).

  When the second variable indicates that the specified time has elapsed, the previous value update processing unit 214a performs the previous value update processing in steps ST10 to ST12, and when the second variable indicates that the specified time has not elapsed, The process of step STc ends without shifting to the step. The processes in steps ST10 to ST12 are the same as the previous value update process described in the first embodiment.

  When the first variable stored in the fixed storage unit 211 in step ST9 indicates that the PID parameter is indeterminate, the second variable stored in the progress storage unit 216 in step STc is the non-elapse of the specified time. Or when step ST12 ends, the previous value update processing unit 214a notifies the integration time Ti change operation unit 201 to change the current value of the integration time Ti.

The process of step ST13 in FIG. 6 is the same as step ST13 in FIG. 3, and after the end of step ST13, the integration time Ti change operation unit 201 indicates that the current value of the integration time Ti has been changed. 212a is notified.
Receiving the notification from the integration time Ti change operation unit 201, the PID parameter indeterminacy processing unit 212a sets the first variable stored in the confirmation storage unit 211 to a value indicating the indeterminacy of the PID parameter (step ST14). ), The second variable stored in the progress storage unit 216 is set to a value indicating non-elapse of the specified time (step STd).

Next, the processes in steps ST15 and ST16 in FIG. 7 are the same as steps ST15 and ST16 in FIG. 4, respectively.
When the first variable stored in the determination storage unit 211 in step ST16 indicates the determination of the PID parameter, the previous value update processing unit 214a checks the second variable stored in the progress storage unit 216. (Step STe).

  When the second variable indicates that the specified time has elapsed, the previous value update processing unit 214a performs the previous value update processing in steps ST17 to ST19, and when the second variable indicates that the predetermined time has not elapsed, The process of step STe is terminated without shifting to the step. The processes in steps ST17 to ST19 are the same as the previous value update process described in the first embodiment.

  In the case where the first variable stored in the determination storage unit 211 in step ST16 indicates that the PID parameter is not determined, the second variable stored in the progress storage unit 216 in step STe is the non-elapse of the specified time. , Or when step ST19 ends, the previous value update processing unit 214a notifies the differential time Td change operation unit 202 to change the current value of the differential time Td.

The process of step ST20 of FIG. 7 is the same as step ST20 of FIG. 4, and after completion of step ST20, the derivative time Td changing operation unit 202 indicates that the current value of the derivative time Td has been changed, and is a PID parameter indeterministic processor. 212a is notified.
Receiving the notification from the derivative time Td changing operation unit 202, the PID parameter indeterminacy processing unit 212a sets the first variable stored in the confirmation storage unit 211 to a value indicating the indeterminacy of the PID parameter (step ST21). ), The second variable stored in the progress storage unit 216 is set to a value indicating non-elapse of the specified time (step STf).

The processes in steps ST22 and ST23 in FIG. 7 are the same as steps ST22 and ST23 in FIG. 4, respectively.
Next, the specified time elapsed processing unit 217 performs specified time elapsed determination processing (step STg). That is, the specified time elapsed processing unit 217 determines whether or not the elapsed time from the time of the PID parameter change process (step ST6, ST13 or ST20) performed immediately before this determination process has exceeded the specified time. If the time has been exceeded, the process proceeds to step STh. If the specified time has not been exceeded, the process in step STg is terminated without proceeding to another step. As described above, the specified time elapsed processing unit 217 automatically determines the specified time based on the current value of the PID parameter. The specified time passage processing unit 217 that has shifted to step STh sets the second variable stored in the progress storage unit 216 to a value indicating the passage of the specified time.

Next, the processes in steps ST24 to ST27 in FIG. 7 are the same as steps ST24 to ST27 in FIG. 4, respectively. After step ST27 ends, the previous value return processing unit 215 notifies the PID parameter indetermination processing unit 212a that the PID parameter has been returned to the previous value.
Receiving the notification from the previous value return processing unit 215, the PID parameter indeterminacy processing unit 212a sets the first variable stored in the confirmation storage unit 211 to a value indicating the indeterminacy of the PID parameter (step ST28). The second variable stored in the progress storage unit 216 is set to a value indicating the non-elapse of the specified time (step STi).

The processes in steps ST1 to STi as described above are repeatedly executed at regular operation cycles until, for example, the operator instructs the end of PID control.
According to the present embodiment, the confirmed PID parameter is stored as the previous value only when the elapsed time from the time of the PID parameter change process performed immediately before exceeds the specified time. It is possible to avoid the problem that the PID parameter is determined against the intention.

  Note that the PID controller 1 and the PID parameter setting operation devices 2 and 2a described in the first embodiment and the second embodiment include a computing device, a storage device, a computer having an interface, and hardware resources thereof. It can be realized by a controlling program.

  The present invention can be applied to a process control technique.

It is a block diagram which shows the structure of the control apparatus used as the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the PID controller in the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the PID parameter setting operation apparatus in the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the PID parameter setting operation apparatus in the 1st Embodiment of this invention. It is a block diagram which shows the structure of the control apparatus used as the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the PID parameter setting operation apparatus in the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the PID parameter setting operation apparatus in the 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... PID controller 2, 2a ... PID parameter setting operation apparatus, 100 ... Setting value SP input part, 101 ... Control amount PV input part, 102 ... PID control calculating part, 103 ... Operation amount MV output part, 200 ... Proportional band Pb change operation unit, 201 ... integration time Ti change operation unit, 202 ... derivative time Td change operation unit, 203 ... proportional band Pb current value storage unit, 204 ... integration time Ti current value storage unit, 205 ... differentiation time Td current value Storage unit 206 ... Proportional band Pb previous value storage unit 207 ... Integration time Ti previous value storage unit 208 ... Derivative time Td previous value storage unit 209 ... Return command detection unit 210 ... Operation detection unit 211 ... Final storage , 212, 212a... PID parameter indetermination processing unit, 213... PID parameter determination processing unit, 214, 214a... Previous value update processing unit, 215. Department, 216 ... elapsed storage unit, 217 ... specified time has elapsed processing unit.

Claims (8)

After the PID parameter of the PID controller is changed according to the operator's setting change operation, when the operator gives a previous value return command, the PID parameter previous value return method returns the changed PID parameter to the previous value immediately before the change. There,
A change process of changing at least one of the current values of the PID parameter, which is stored in the current value storage unit of the PID parameter setting operation device and includes the proportional band, the integration time, and the derivative time, according to the setting change operation;
A PID parameter that assumes that the operator has determined the current value of the PID parameter stored in the current value storage unit when an operation other than the setting change operation is performed by the operator after the setting change operation has been performed. Confirmation processing,
A previous value update process for storing the determined PID parameter as a previous value;
A previous PID parameter return process comprising: returning the current value of the PID parameter stored in the current value storage unit to the stored previous value when the previous value return command is input. Value recovery method. In the PID parameter previous value return method according to claim 1,
The previous value update process stores the determined PID parameter as the previous value only when the elapsed time from the time point of the PID parameter change process performed immediately before exceeds a predetermined time. PID parameter previous value return method. In the PID parameter previous value return method according to claim 2,
The PID parameter previous value restoration method, wherein the specified time is determined based on a current value of the PID parameter. This is a PID parameter setting operation device that changes the PID parameter of the PID controller according to the operator's setting change operation and then returns the changed PID parameter to the previous value immediately before the change when the operator gives a previous value return command. And
A current value storage unit for storing a current value of the PID parameter;
A change operation unit that changes at least one of the current values of the PID parameter that is stored in the current value storage unit and includes the proportional band, the integration time, and the derivative time according to the setting change operation;
A PID parameter that assumes that the operator has determined the current value of the PID parameter stored in the current value storage unit when an operation other than the setting change operation is performed by the operator after the setting change operation has been performed. A confirmation processing unit;
A previous value storage unit for storing a previous value of the PID parameter;
A previous value update processing unit for updating the previous value of the PID parameter stored in the previous value storage unit to the determined PID parameter;
A previous value return processing unit for returning the current value of the PID parameter stored in the current value storage unit to the previous value stored in the previous value storage unit when the previous value return command is input. A PID parameter setting operation device. In the PID parameter setting operation device according to claim 4,
Furthermore, a specified time elapsed processing unit for determining whether the elapsed time from the time of the PID parameter change process performed immediately before has exceeded a predetermined specified time,
The previous value update processing unit updates the previous value of the PID parameter stored in the previous value storage unit to the determined PID parameter only when the elapsed time exceeds a specified time. PID parameter setting operation device. After changing at least one of the PID parameters including the proportional band, the integration time, and the derivative time according to the operator's setting change operation, immediately before changing the changed PID parameter when the operator has issued a previous value return command A PID parameter setting operation device for returning to the previous value of
A proportional band current value storage unit for storing a current value of the proportional band;
An integration time current value storage unit for storing a current value of the integration time;
A differential time current value storage unit for storing a current value of the differential time;
A proportional band changing operation unit for changing a current value of the proportional band according to the setting changing operation;
An integration time change operation unit for changing the current value of the integration time according to the setting change operation;
A derivative time changing operation unit for changing a current value of the derivative time according to the setting changing operation;
A proportional band previous value storage unit for storing a previous value of the proportional band;
An integration time previous value storage unit for storing the previous value of the integration time;
A differential time previous value storage unit for storing the previous value of the differential time;
A return command detector for detecting the previous value return command;
An operation detection unit for detecting an operation other than the setting change operation by an operator;
A confirmation storage unit for storing a first variable indicating whether or not the changed PID parameter is a confirmation value;
The first variable is uncertain when at least one of the current values of the PID parameter consisting of the proportional band, integration time, and derivative time is changed, or when the changed PID parameter is returned to the previous value. A PID parameter indeterminacy processing unit set to a value indicating
When an operation other than the setting change operation is detected by the operation detection unit after the setting change operation has been performed, the proportional band current value storage unit, the integration time current value storage unit, and the derivative time current value storage unit A PID parameter confirmation processing unit that regards the stored current value as a confirmed value and sets the first variable to a value indicating confirmation;
Updating the previous value of the proportional band to the current value of the proportional band, and updating the previous value of the integration time to the current value of the integration time only when the first variable indicates confirmation of the PID parameter; A previous value update processing unit for updating the previous value of the derivative time to the current value of the derivative time;
When the previous value return command is detected by the return command detection unit, the current value of the proportional band is returned to the previous value of the proportional band, the current value of the integration time is returned to the previous value of the integration time, A PID parameter setting operation device comprising: a previous value return processing unit that returns a current value of the differential time to a previous value of the differential time. In the PID parameter setting operation device according to claim 6,
Furthermore, a progress storage unit that stores a second variable indicating whether or not the elapsed time from the time of the PID parameter change process performed immediately before has exceeded a predetermined specified time;
A specified time elapse processing unit that sets the second variable to a value indicating the elapse of the specified time when the elapsed time exceeds the specified time;
The PID parameter indeterminacy processing unit changes at least one of the current values of the PID parameter including the proportional band, integration time, and derivative time, or returns the changed PID parameter to the previous value. , Simultaneously setting the first variable to a value indicating indeterminate, and setting the second variable to a value indicating non-elapse of a specified time,
The previous value update processing unit sets the previous value of the proportional band to the current value of the proportional band only when the first variable indicates the confirmation of the PID parameter and the second variable indicates that the specified time has elapsed. And updating the previous value of the integration time to the current value of the integration time, and updating the previous value of the differentiation time to the current value of the differentiation time. In the PID parameter setting operation device according to claim 5 or 7,
The PID parameter setting operation device further comprises means for determining the specified time based on a current value of the PID parameter.

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