JP5044370B2 - Control parameter adjustment system - Google Patents

Description

  The present invention relates to a control parameter adjustment system that adjusts a PID control parameter, for example, a control parameter adjustment system that appropriately ends a control parameter adjustment test.

  Conventionally, the PID control parameter is adjusted so that the control amount matches the target value.

Specifically, a test signal is added to the control system with the controlled object and the control device in a closed loop state. Thereafter, a control parameter is determined using time-series response data (hereinafter also simply referred to as response data) with respect to the test signal and a preset evaluation function (see, for example, Patent Document 1).
JP 2004-234219 A

  The technique described in Patent Document 1 described above is described only for the control parameter adjustment method.

  However, the signal between the control target and the control apparatus often includes noise, and an optimal control parameter value may not be obtained. In other words, a situation where an appropriate adjustment test is not performed may occur.

  Also, in automatic control of various plants, etc., if the system size is large and it is not possible to update the control parameter value quickly from the viewpoint of cost-effectiveness, it is recommended to use the value of a known control parameter. May be good.

  In short, when adjusting the control parameter, it is necessary to appropriately end the adjustment test after determining that the optimum control parameter has been obtained.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a control parameter adjustment system capable of appropriately terminating a control parameter adjustment test.

In order to solve the above-described problem, the present invention repeats an adjustment test with a control device that controls a control target so that the control amount matches a target value and the control target in a closed-loop state, and a control parameter based on response data. A control parameter adjustment system comprising a control parameter adjustment device for adjusting the control parameter, a test monitoring device for monitoring response data of the adjustment test, and a control parameter limiting device , the control parameter adjustment device responding data for each adjustment test Based on the response data detection means for detecting the response data, the initial value of the control parameter, the deviation amount indicating the difference between the control amount and the target value, the operation amount, and the evaluation function based on the weight coefficient Control parameter calculating means for calculating a correct control parameter and the test end when a test end signal is received from the test monitoring device It means for applying the control parameters calculated at No. reception control device, when receiving the test forced stop signal from the test monitoring device, and means for ending the adjustment test of the control parameters, the test monitor, adjust Test Test end signal sending means for sending a test end signal to the control parameter adjusting device, and when the adjustment test satisfies a predetermined forced stop condition, the control parameter adjusting device and the control parameter Means for sending a test forced stop signal to the limiting device, and when the control parameter limiting device receives the test forced stop signal from the test monitoring device , the control device sets the initial value of the control parameter that is a control parameter before the test is started. comprising means for applying to the test end signal transmitting section, the adjustment of the number of times set in advance When the strike is executed, a test end signal is sent to the control parameter adjusting device, and a value obtained by differentiating the evaluation function by the number of tests is calculated. If the differentiated value is smaller than a preset value, the control parameter When a test end signal is sent to the adjusting device, and a value obtained by differentiating the control parameter calculated by the control parameter calculating means by the number of tests is calculated, and if the differentiated value is smaller than a preset value, control parameter adjustment A control parameter adjustment system for sending a test end signal to an apparatus is provided.

  In the present invention, a collection of devices is expressed as a “system”. However, the present invention is not limited to this, and may be expressed as a “device” or a “program” for each device. It may be expressed as “method”. That is, the present invention can be expressed in any category.

<Action>
Therefore, according to the present invention, by taking the above-described means, when the test monitoring apparatus satisfies a predetermined end condition, the test end signal is sent to the control parameter adjusting apparatus, and the control parameter adjusting apparatus When the test end signal is received from the monitoring device, the control parameter calculated when the test end signal is received is applied to the control device, so that the control parameter adjustment test can be appropriately ended.

  According to the present invention, the control parameter adjustment test can be appropriately terminated.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First Embodiment>
(1-1. Configuration)
FIG. 1 is a schematic diagram showing a configuration of a control parameter adjustment system according to the first embodiment of the present invention.

  The control parameter adjustment system obtains control parameters of the control device 6 that controls the controlled object 5, and includes a control parameter adjustment device 10 and a test monitoring device 20.

  The controlled object 5 is an arbitrary device that is automatically controlled, and examples thereof include various devices in a thermal power plant and a water and sewage plant.

  The control device 6 controls the control target 5 so as to make the control amount y (t) coincide with the target value r (t) by so-called PID control. That is, the control device 6 controls the control target 5 using the control parameter after the adjustment test by the control parameter adjustment system.

  The control parameter adjusting device 10 adjusts the control parameter x of the control device 6 based on the response data Y by repeating the adjustment test with the control device 6 and the controlled object 5 in a closed loop state. The control parameter adjustment device 10 includes a response data detection unit 111, a control parameter calculation unit 112, and a control parameter determination unit 113.

  The response data detection unit 111 detects the response data Y for each adjustment test. Specifically, the response data detection unit 111 sets the target value r (t) to the control device 6, the operation amount u (t) from the control device 6, and the control object 5 as “response data Y”. An addition signal of the operation amount u (t) and the test signal w (t) and the control amount y (t) from the control target 5 are detected.

Control parameter calculator 112, based on the response data Y, the initial value x ₁ and the evaluation function J of control parameters (x), and calculates a new control parameter x.

  Specifically, the control parameter calculation unit 112 obtains a control parameter by a control parameter adjustment method described in Japanese Patent Application Laid-Open No. 2004-234219. That is, in the control parameter adjustment method of the control device 6 that controls the control target 5 so that the control amount y (t) matches the target value r (t), the control system is a combination of the control target 5 and the control device 6. The first test signal is applied in a closed loop state. Then, a second test signal is generated using the response data at that time, and the amount of change in the control parameter is determined using the response data when the second test signal is added. Then, these two adjustment tests are repeated, and the control parameter x that minimizes the set evaluation function J is determined.

Here, the evaluation function J includes the following formulas (1) to (3).

In the above equations (1) to (3), e (t) is a deviation (= r (t) −y (t)), t is a sample, λ (t) is a weighting factor of sample t, and u _∞ is The operation amount is a steady value, and the sum is an addition average from the test period t = 1 to t = N.

  The control parameter calculation unit 112 performs an adjustment test by selecting one of the evaluation functions J shown in the equations (1) to (3), and minimizes the value of the evaluation function from the time series response data of the adjustment test. The parameter of the control device 6 is adjusted by obtaining the control parameter x to be performed.

Here, the condition that the evaluation function J (x) is minimized with respect to the control parameter x is when ∂J (x) / ∂x = 0. When the expression (1) is used as the evaluation function, the sensitivity of the function, that is, the gradient is obtained as shown in the following expression (4).

The deviation e (t) and the manipulated variable u (t) in the equation (4) are obtained directly from the response data by performing a test. Further, the change rates ∂y (t) / ∂x and ∂u (t) / ∂x for the control parameter x of the control amount y (t) and the manipulated variable u (t) in the equation (4) are twice. Obtained from the test response data. When the control parameter with minimum sensitivity (gradient), that is, ∂J (x) / ∂x = 0 is sequentially updated by the Newton method, the control parameter at the time of the (k + 1) th update is obtained as shown in the following equation (5). The value of xk _{+ 1} is obtained. In equation (5), Rk is a positive definite matrix, and the subscript k indicates the value at the k-th update.

  The control parameter determination unit 113 determines a control parameter and applies it to the control device 6. Specifically, when receiving a “test end signal” to be described later from the test monitoring apparatus 20, the control parameter determination unit 113 applies the control parameter x calculated at the time of receiving the test end signal to the control apparatus 6.

  FIG. 2 is a schematic diagram showing a configuration of the test monitoring apparatus 20 according to the present embodiment.

  The test monitoring apparatus 20 monitors the test state and optimally manages the test progress for the system configuration to which the control parameter adjustment system is applied. Specifically, the test monitoring device 20 has a function of monitoring test response data and transmitting a “test end signal” to the control parameter adjusting device 10 when the adjustment test satisfies a predetermined end condition. is doing.

  Specifically, the test monitoring apparatus 20 sends out test end signals 21 and 22 when an operator operates or when a predetermined number of tests are executed. The test monitoring device 20 calculates a value obtained by differentiating the evaluation function J by the number of tests N, and sends a test end signal 23 when the differentiated value is smaller than a preset value. Further, the test monitoring apparatus 20 calculates a value obtained by differentiating the control parameter x calculated by the control parameter calculation unit 112 by the number of tests N, and when the differentiated value is smaller than a preset value, the test end signal 24 is obtained. Is sent out.

  In FIG. 2, the functions corresponding to the reference numerals 211 to 217 are as follows.

  The high value comparison unit (COMP H) 211 is turned on when the input value is equal to or larger than an arbitrary set value, and outputs a test end signal 22.

  The low value comparison units (COMPL L) 212 and 213 are turned on when the input value is equal to or smaller than an arbitrary set value, and output test end signals 23 and 24.

  The evaluation function calculation unit (dJ / dN) 214 calculates a value obtained by differentiating the evaluation function J by the number of tests N.

  The control parameter calculator (dx / dN) 215 calculates a value obtained by differentiating the control parameter x by the number of tests N.

  Absolute value output units (ABS) 216 and 217 output the absolute value of the input value.

(1-2. Operation)
Next, the operation of the control parameter adjustment system according to the present embodiment will be described with reference to the flowchart of FIG. The initial value x ₁ of the control parameter is assumed to be preset.

  First, a test signal is input to the control system in which the controlled object 5 and the control device 6 are in a closed loop state (step S1).

  Then, response data Y for the input test signal is detected (step S2).

  Thereby, the deviation e (t) (= r (t) −y (t)) is calculated, and the amount of change (dJ / dN) of the evaluation function J (x) can be obtained (step S3).

  Furthermore, by executing a plurality of tests to obtain the response data Y of the closed loop, the value of the control parameter can be updated and the amount of change (dx / dN) can be obtained (steps S4 and S5). .

  Thereafter, the test monitoring device 20 determines whether or not the control parameter x has converged (step S6). Specifically, it is determined that the control parameter x has converged when the number of tests reaches the specified number, or when the differential value of the evaluation function J or the control parameter x based on the number of tests N falls within the set value. Is done. Further, if necessary, the operator may determine that the control parameter has converged.

  When it is determined that the control parameter x has converged, a test end signal is sent to the control parameter adjustment device 10 and a new control parameter is applied to the control device 6 (steps S6-Yes, S7).

(1-3. Operation)
As described above, in the control parameter adjustment system according to the present embodiment, when the test monitoring device 20 satisfies a predetermined end condition, the test parameter adjustment system 10 sends a test end signal to the control parameter adjustment device 10 to adjust the control parameter. When the device 10 receives a test end signal from the test monitoring device 20, the control parameter calculated when the test end signal is received is applied to the control device 6, so that the control parameter adjustment test can be appropriately ended. .

  In short, according to the control parameter adjustment system according to the present embodiment, the progress of the adjustment test can be determined from the convergence degree of the evaluation function J and the control parameter x, and the adjustment test can be automatically terminated. Specifically, the adjustment test can be normally terminated in the following four cases.

(A) When the end signal is turned ON by operator judgment or the like (signal 21 is ON).
(B) The adjustment test has reached the specified number of tests (signal 22 is ON).
(C) When the differential value of the evaluation function falls below the set value (signal 23 is ON).
(D) When the differential value of the control parameter falls below the set value (signal 24 is ON).
In the control parameter adjustment system according to the present embodiment, the test monitoring device 20 sends a test end signal to the control parameter adjustment device 10 when a preset number of adjustment tests are executed. The adjustment test can be completed with.

  Further, in the control parameter adjustment system according to the present embodiment, the test end signals 23 and 24 are not immediately output when the rate of change of the evaluation function J or the control parameter x is less than the set value only once. Alternatively, it may be output when the value is continuously below the set value any number of times. As a result, it is possible to accurately determine that the evaluation function J or the control parameter x has converged, and it is possible to provide a control parameter adjustment system that is safe and optimal in actual application.

  Further, by using the control parameter adjustment system of the present embodiment, it is possible to automatically adjust to the optimal control parameter. Thereby, for example, when automatically controlling the pipe temperature of a water pipe, the problem that the temperature becomes too high or too low can be avoided. In addition, when the robot is controlled, it is possible to avoid the problem that the actuator is broken due to an excessive movement of the arm. In any case, even a person with little adjustment experience can handle the control device, and costs such as human rights can be suppressed.

<Second Embodiment>
FIG. 4 is a schematic diagram showing a configuration of a control parameter adjustment system according to the second embodiment of the present invention. Note that substantially the same parts as those already described are denoted by the same reference numerals, and repeated description is omitted unless otherwise specified. In addition, the following description is also omitted in the following embodiments.

  In the control parameter adjustment system according to the present embodiment, the control parameter adjustment system according to the first embodiment further includes a control parameter limiting device 30.

  FIG. 5 is a schematic diagram showing the configuration of the control parameter limiting device 30 according to the present embodiment.

Control parameter limiting device 30, when receiving the "test forced stop signal" later from the test monitoring device 20 has a function to apply an initial value x ₁ of the control parameter to the control unit 6. In other words, the control parameter limiting device 30 determines that the new control parameter value calculated by the control parameter adjustment device 10S exceeds the preset range, or the new control parameter update amount exceeds the preset value. In this case, the initial value x ₁ of the control parameter is applied to the control device 6.

  Further, when the value of the new control parameter calculated by the control parameter adjustment device 10S exceeds the preset range, the control parameter limiting device 30 sends a “control parameter designation range deviation signal” to the test monitoring device 20S. It has a function. Furthermore, the control parameter limiting device 30 has a function of sending a “control parameter designation update amount deviation signal” to the test monitoring device 20S when the update amount of a new control parameter exceeds a preset range. Yes.

  In FIG. 5, the functions corresponding to the respective reference numerals 311 to 317 are as follows.

  The high value limiting unit (LIMIT H) 311 outputs an arbitrary set value if the input value is equal to or larger than an arbitrary set value, and outputs an input value if the input value is equal to or smaller than the arbitrary set value.

  The low value limiting unit (LIMIT L) 312 outputs an arbitrary set value if the input value is equal to or less than an arbitrary set value, and outputs the input value if the input value is equal to or greater than the arbitrary set value.

  The previous value output unit (OLD X) 313 outputs the control parameter x applied to the previous test.

  The multiplication unit (MULTIX) 314 outputs a value obtained by multiplying the input value by an arbitrary set value.

  The low value selection unit (SEL L) 315 selects and outputs the low value of the input value 1 (signal 31) and the input value 2 (signal 32). That is, the low value selection unit (SEL L) 315 is limited to a value (output of 314) obtained by multiplying the control parameter x (output of 313) applied to the previous test by an arbitrary set value and within a specified range. Among the control parameters x, that is, the output of the low value limiter (LIMIT L) 312, the low value is selected and output. As a result, when the control parameter is updated for each test, the control parameter x can be limited so as not to exceed the specified update amount.

Initial value output section (INIT X) 316 outputs control parameters before the start of testing, i.e., the initial value _{x 1} of the control parameters.

  When the switch (signal 33) is ON, the bump restaurant sphere (TRANS) 317 outputs a value that is gradually approximated from the input value 2 (signal 34) to the input value 1 (signal 35). Therefore, when a test forced stop signal is input from the test monitoring device 20 and the switch is turned on, the output value of the low value selection unit (SEL L) 315 is changed to the output value of the initial value output unit (INIT X) 316. A value that is asymptotic at an arbitrary ratio is output as a control parameter. On the other hand, when the switch (signal 33) is OFF, the bump restaurant sphera 317 outputs a value asymptotically approximated from the input value 1 (signal 35) to the input value 2 (signal 34). That is, the bump restaurant sfa 317 makes the control parameter x asymptotically approximate to the output value of the initial value output unit (INIT X) 316 from the output value of the low value selection unit (SEL L) 315 at an arbitrary ratio. Output as.

  FIG. 6 is a schematic diagram showing the configuration of the test monitoring apparatus 20S according to the present embodiment.

  The test monitoring device 20S has a function of sending a “test forced stop signal” to the control parameter adjusting device 10S and terminating the test abnormally when the control parameter adjustment test satisfies a predetermined forced stop condition. . For example, when the test monitoring device 20S receives a “control parameter designation range deviation signal” or a “control parameter designation update amount deviation signal” from the control parameter restriction device 30, the test monitoring device 20S tests the control parameter adjustment device 10S and the control parameter restriction device 30. Send a forced stop signal.

  In FIG. 6, digital switches (DS) 221 and 222 are installed at the input portions of the signal 26 and the signal 27, and the following situations can be arbitrarily selected.

  That is, by setting the digital switch 221 to “1”, a test forced stop signal is output when a control parameter designation range deviation signal is input to the test monitoring device 20. Alternatively, by setting the digital switch 221 to “0”, only the control parameter restriction is performed in the control parameter restriction device 30.

  Further, by setting the digital switch 222 ‘1’, a test forced stop signal is output when a control parameter designation update amount deviation signal is input to the test monitoring device 20 </ b> S. Alternatively, by setting the digital switch 218 to “0”, only the control parameter restriction is performed in the control parameter restriction device 30.

  As described above, according to the control parameter adjustment system according to the present embodiment, the control parameter x calculated by the control parameter adjustment device 10S is subjected to the high value restriction by the high value restriction unit (LIMIT H) 311 and low. A value limit unit (LIMIT L) 312 applies a low value limit. As a result, the control parameter x calculated by the control parameter adjustment device 10S can be prevented from deviating from an arbitrary range. Further, the control parameter x can be updated through the low value selection unit (SEL L) 315 so as not to deviate from an arbitrary control parameter update amount. As a result, high safety can be ensured during control parameter adjustment.

  In other words, according to the control parameter adjustment system according to the present embodiment, when it is determined that the test state has become abnormal and has entered a dangerous state, the test can be forcibly stopped and abnormally terminated. Specifically, the adjustment test can be abnormally terminated in the following four cases.

(A) When the forced stop signal is turned ON due to operator judgment or the like (signal 25 is ON).
(B) When the control parameter deviates from a specified range (signal 26 is ON).
(C) In the control parameter update performed for each adjustment test, the control parameter update amount deviates from the specified range (signal 27 is ON).
(D) When noise is detected in response data Y (described later).
Incidentally, the control parameter adjustment system according to the present embodiment, the control parameter limiting device 30, when receiving the test forced stop signal from the test monitor 20S, so applying the initial value x ₁ of the control parameter to the control device 6, Even when the adjustment test ends abnormally, the control device 6 can be operated.

Further, in the control parameter adjustment system according to the present embodiment, when the adjustment test is terminated, so gradually it changes the control parameter before adjustment test to the initial value x _1, minimizing the influence of the control object 5 It is possible to suppress it.

  Further, in the control parameter adjustment system according to the present embodiment, not only the adjustment test is automatically terminated or forcedly stopped, but they are manually performed, the range of the control parameter and the update amount of the control parameter are set. Safety can be enhanced by specifying in advance and providing a restriction so as not to depart from the range.

<Third Embodiment>
FIG. 7 is a schematic diagram showing a configuration of a control parameter adjustment system according to the third embodiment of the present invention. In the control parameter adjustment system according to the present embodiment, response data including noise is processed.

  In the control parameter adjustment apparatus 10T according to the present embodiment, when a “response data non-application signal” is received, the control parameter is not calculated based on the response data when the response data non-application signal is received.

  FIG. 8 is a schematic diagram showing the configuration of the test monitoring apparatus 20T according to the present embodiment.

  The test monitoring device 20T has a function of determining whether or not the response data is noise, and when determining that the response data is noise, has a function of transmitting a “response data non-applied signal” to the control parameter adjustment device 10. . Specifically, the response data calculation unit (dY / dt) 231 obtains a value obtained by differentiating the response data Y with respect to time t. Here, when noise enters the response data Y, it becomes a signal having a higher frequency than the normal response data Y. Then, the absolute value output unit 232 and the high value comparison unit 233 compare whether or not the absolute value of the differential of the response data Y is greater than or equal to the set value, and if it is greater than or equal to the set value, it is determined that the response data is noise. The response data non-application signal 29 is sent to the control parameter adjustment device 10T.

  Further, the test monitoring device 20T has a function of sending the test forced stop signal 28 to the control parameter adjusting device 10T and the control parameter limiting device 30T when the time for sending the response data non-application signal is equal to or longer than a preset time. Have.

  As described above, in the control parameter adjustment system according to the present embodiment, it is possible not to apply the response data while detecting noise to the calculation of the control parameter. Therefore, the optimal control parameter can be calculated.

  In addition, according to the control parameter adjustment system according to the present embodiment, when the time when the test monitoring device 20T sends the response data non-application signal is equal to or longer than a preset time, the test forced stop signal is transmitted to the control parameter adjustment device. When the noise is detected for a long time, the adjustment test can be automatically forcibly stopped.

<Others>
Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine a component suitably in different embodiment.

It is a schematic diagram which shows the structure of the control parameter adjustment system which concerns on the 1st Embodiment of this invention. It is a schematic diagram which shows the structure of the test monitoring apparatus 20 which concerns on the same embodiment. It is a flowchart for demonstrating operation | movement of the control parameter adjustment system which concerns on the same embodiment. It is a schematic diagram which shows the structure of the control parameter adjustment system which concerns on the 2nd Embodiment of this invention. It is a schematic diagram which shows the structure of the control parameter limiting apparatus 30 which concerns on the same embodiment. It is a schematic diagram which shows the structure of the test monitoring apparatus 20S which concerns on this embodiment. It is a schematic diagram which shows the structure of the control parameter adjustment system which concerns on the 3rd Embodiment of this invention. It is a schematic diagram which shows the structure of the test monitoring apparatus 20T which concerns on the same embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 5 ... Control object, 6 ... Control apparatus to control, 10 ... Control parameter adjustment apparatus, 20 ... Test monitoring apparatus, 30 ... Control parameter limiting apparatus, 111 ... Response data detection part , 112... Control parameter calculation unit, 113... Control parameter determination unit, 211... High value comparison unit, 212. Control parameter calculation unit, 216, 217 ... Absolute value output unit, 221, 222 ... Digital switch, 231 ... Response data calculation unit, 232 ... Absolute value output unit, 233 ... High value comparison , 311 ... High value limiting unit, 312 ... Low value limiting unit, 313 ... Previous value output unit, 314 ... Multiplication unit, 315 ... Low value selection unit, 316 ... Initial value Output unit, 317 ... Press transfer.

Claims (8)

A control device that controls the control target so that the control amount matches the target value, a control parameter adjustment device that adjusts the control parameter based on response data by repeating the adjustment test with the control target in a closed-loop state, and the adjustment A control parameter adjustment system comprising a test monitoring device for monitoring test response data and a control parameter limiting device ,
The control parameter adjustment device includes:
Response data detecting means for detecting response data for each adjustment test;
Control for calculating a new control parameter based on the response data, an initial value of the control parameter, and an evaluation function based on a deviation amount indicating the difference between the control amount and the target value, an operation amount, and a weighting factor Parameter calculation means;
Means for applying a control parameter calculated at the time of receiving the test end signal to the control device when a test end signal is received from the test monitoring device;
Means for terminating a control parameter adjustment test when a test forced stop signal is received from the test monitoring device ;
The test monitoring device includes:
A test end signal sending means for sending a test end signal to the control parameter adjusting device when the adjustment test satisfies a predetermined end condition ;
Means for transmitting a test forced stop signal to the control parameter adjusting device and the control parameter limiting device when the adjustment test satisfies a predetermined forced stop condition ;
The control parameter limiting device includes:
Means for applying an initial value of a control parameter, which is a control parameter before starting a test, to the control device when a test forced stop signal is received from the test monitoring device
With
The test end signal transmission means includes:
When a preset number of adjustment tests have been performed, sending a test end signal to the control parameter adjusting device;
Calculating a value obtained by differentiating the evaluation function by the number of tests, and if the differentiated value is smaller than a preset value, sending a test end signal to the control parameter adjusting device;
Calculating a value obtained by differentiating the control parameter calculated by the control parameter calculating unit by the number of tests, and sending the test end signal to the control parameter adjusting device when the differentiated value is smaller than a preset value; Control parameter adjustment system characterized by A control device that controls the control target so that the control amount matches the target value, a control parameter adjustment device that adjusts the control parameter based on response data by repeating the adjustment test with the control target in a closed-loop state, and the adjustment A control parameter adjustment system comprising a test monitoring device for monitoring test response data and a control parameter limiting device ,
The control parameter adjustment device includes:
Response data detecting means for detecting response data for each adjustment test;
Control for calculating a new control parameter based on the response data, an initial value of the control parameter, and an evaluation function based on a deviation amount indicating the difference between the control amount and the target value, an operation amount, and a weighting factor Parameter calculation means;
Means for applying a control parameter calculated at the time of receiving the test end signal to the control device when a test end signal is received from the test monitoring device;
Means for terminating a control parameter adjustment test when a test forced stop signal is received from the test monitoring device ;
The test monitoring device includes:
A test end signal sending means for sending a test end signal to the control parameter adjusting device when the adjustment test satisfies a predetermined end condition ;
Means for transmitting a test forced stop signal to the control parameter adjusting device and the control parameter limiting device when the adjustment test satisfies a predetermined forced stop condition ;
The control parameter limiting device includes:
Means for applying an initial value of a control parameter, which is a control parameter before starting a test, to the control device when a test forced stop signal is received from the test monitoring device
With
The test end signal transmission means includes:
A control parameter adjustment system, wherein a value obtained by differentiating the evaluation function by the number of tests is calculated, and when the differentiated value is smaller than a preset value, a test end signal is sent to the control parameter adjustment device. A control device that controls the control target so that the control amount matches the target value, a control parameter adjustment device that adjusts the control parameter based on response data by repeating the adjustment test with the control target in a closed-loop state, and the adjustment A control parameter adjustment system comprising a test monitoring device for monitoring test response data and a control parameter limiting device ,
The control parameter adjustment device includes:
Response data detecting means for detecting response data for each adjustment test;
Control for calculating a new control parameter based on the response data, an initial value of the control parameter, and an evaluation function based on a deviation amount indicating the difference between the control amount and the target value, an operation amount, and a weighting factor Parameter calculation means;
Means for applying a control parameter calculated at the time of receiving the test end signal to the control device when a test end signal is received from the test monitoring device;
Means for terminating a control parameter adjustment test when a test forced stop signal is received from the test monitoring device ;
The test monitoring device includes:
A test end signal sending means for sending a test end signal to the control parameter adjusting device when the adjustment test satisfies a predetermined end condition ;
Means for transmitting a test forced stop signal to the control parameter adjusting device and the control parameter limiting device when the adjustment test satisfies a predetermined forced stop condition;
With
The control parameter limiting device includes:
A control parameter adjustment comprising: means for applying, to the control device, an initial value of a control parameter that is a control parameter before starting the test when a test forced stop signal is received from the test monitoring device. system. The control parameter adjustment system according to any one of claims 1 to 3 ,
The control parameter limiting device, when the value of the new control parameter calculated by the control parameter adjustment device exceeds a preset range, sends a control parameter designation range deviation signal to the test monitoring device;
When the test monitoring device receives the control parameter designation range deviation signal, the test monitoring device sends a test forced stop signal to the control parameter adjustment device. The control parameter adjustment system according to any one of claims 1 to 4 ,
The control parameter limiting device calculates an update amount of a new control parameter calculated by the control parameter adjustment device, and when the update amount exceeds a preset value, a control parameter designated update amount deviation signal is calculated by the test. Sent to the monitoring device,
When the test monitoring device receives the control parameter designation update amount deviation signal, the test monitoring device sends a test forced stop signal to the control parameter adjustment device. The control parameter adjustment system according to any one of claims 1 to 5 ,
The control parameter adjustment device includes:
When receiving a response data non-applied signal from the test monitoring device, comprising: means for preventing calculation of a control parameter based on response data when the response data non-applied signal is received;
The test monitoring device includes:
Noise determining means for determining whether or not the response data is noise;
A control parameter adjustment system, comprising: means for sending a response data non-applied signal to the control parameter adjustment device when the noise determination means determines that the response data is noise. The control parameter adjustment system according to claim 6 , wherein
The test monitoring device sends a test forced stop signal to the control parameter adjusting device and the control parameter limiting device when the time for sending the response data non-application signal is equal to or longer than a preset time. Control parameter adjustment system. In the control parameter adjustment system according to claim 6 or 7 ,
The control parameter adjustment system according to claim 1, wherein the noise determination means of the test monitoring device determines that the noise is noise when the rate of change of the response data is equal to or greater than a preset value.

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