JP5732346B2 - Energy sum suppression control device, power sum suppression control device and method - Google Patents

Description

  The present invention relates to a control device and a control method of a multi-loop control system including a plurality of control loops, and in particular, in step response control, energy usage (for example, power usage) does not exceed a specified constant value. In addition, the present invention relates to an energy sum suppression control device, a power sum suppression control device, and a method for performing control so that follow-up characteristics to a set value are not impaired as much as possible.

With the revision of the law caused by the global warming problem, there is a strong demand for energy usage management in factories and production lines. Since heating devices and air conditioners in factories are equipment devices that use a large amount of energy, they are often managed so that the upper limit of the amount of energy used is lower than the original maximum amount. For example, in an equipment device that uses electric power, an operation is performed in which the electric power demand management system restricts the electric power usage to within a specific amount of electric power consumption based on an instruction from the electric power demand management system.
In particular, in a heating apparatus having a plurality of electric heaters, the following method is used to suppress the total power supplied simultaneously at the time of start-up (when simultaneously raising the temperature of a region where a plurality of electric heaters are installed). Proposed.

In the reflow device disclosed in Patent Document 1, in order to reduce the current consumption at the time of start-up, the next heater is started after the vicinity of the heater is thermally saturated and the start-up time zone is shifted. It was like that.
In the semiconductor wafer processing apparatus disclosed in Patent Document 2, power is supplied to each heater while being shifted in time so that large power is not consumed at one time when the apparatus is started up.

In the substrate processing apparatus disclosed in Patent Document 3, in order to reduce the maximum power supplied simultaneously from the power supply unit, each heat treatment unit is sequentially started up one by one in accordance with a predetermined startup sequence. It was.
In the heating device disclosed in Patent Document 4, in order to prevent power failure due to excessive current consumption at the time of starting up the device, first, the necessary power is supplied to the heater located below the conveyor, and from the conveyor. By limiting the power supplied to the heater located above, the total power consumption is controlled to a certain value or less, and the temperature is switched as the temperature inside the furnace rises. Control was made to reduce the power supply.

Japanese Patent No. 2885047 JP-A-11-126743 JP-A-11-204412 Japanese Patent No. 4426155

  Since all of the techniques disclosed in Patent Documents 1 to 4 are systems that supply power by providing a time difference to a plurality of heaters, the temperature rise efficiency deteriorates, that is, the control amount PV (temperature at the time of step response). ) Has a problem that the follow-up characteristic to the set value SP is deteriorated.

  In manufacturing equipment, when supplying power with a time difference between multiple heaters, there is always some variation in the time required to start up the equipment and the power required to start up. It is necessary to make a switching decision. Therefore, for example, when starting up (heating up) a heating apparatus having four systems of heating control systems, if the heating control systems are sequentially started up separately, the result is that the startup time of one system is simply 4 More than doubled time will be used.

  Further, in order to make it easy to make a startup switching determination, a technique for supplying power in a predetermined order to a heater at a specific position as in the technique disclosed in Patent Document 4 can be considered. . However, the technique disclosed in Patent Document 4 is a method that can be applied only at the time of starting up exactly the same pattern, and cannot be applied when the temperature increase request changes according to manufacturing conditions. As the method deviates from the most efficient method of normal simultaneous heating, which supplies power to multiple heaters at the same time, there is a problem that either heating efficiency decreases or the application target is limited. Arise.

  The present invention has been made to solve the above-described problem, and relates to a plurality of control systems, so that an energy usage amount (for example, power usage amount) does not exceed a specified constant value in step response control, and a set value. It is an object of the present invention to provide an energy sum suppression control device, a power sum suppression control device, and a method capable of performing control so that the following characteristic is not impaired as much as possible.

An energy sum suppression control apparatus according to the present invention includes an allotted total energy input unit that receives information on an allotted total energy that defines energy usage of control actuators of a plurality of control loops Li (i = 1 to n), and each control loop. Control amount change for estimating the control amount change time TLi when the Li manipulated variable MVi is changed from the current value to a specific output value, and selecting the control amount change time TL that is the maximum value of the control amount change times TLi A time estimation means and a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by an amount corresponding to the change of the set value SPi during the control amount change time TL ; calculating the total energy used is the sum of the energy used in the control actuator from the required output MUi, while sequentially changing the control amount change time TL, the Searching for a combination of the required outputs MUi whose total energy amount does not exceed the allocated total energy, and energy suppression means for setting the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li; In the total energy actual value acquisition means for acquiring the total energy actual value that is the sum of the energy consumption values of the control loops Li and the output saturation state after the operation amount output upper limit value OHi is set, the total energy actual value is A first correction coefficient updating means for updating a correction coefficient by a predetermined first ratio so that the actual measured value of the total energy becomes smaller when it is larger than the allocated total energy; and output saturation after the operation amount output upper limit value OHi is set In the state, the measured total energy is large when the measured total energy is smaller than the allocated total energy. Second correction coefficient updating means for updating the correction coefficient by a predetermined second ratio so that the operation amount output upper limit value OHi calculated by the energy suppression means, and the total allocation used by the energy suppression means A correction means for multiplying either the energy value or the maximum output consumption energy value used by the energy suppression means by the correction coefficient, and provided for each control loop Li, is controlled using the set value SPi and the control amount PVi as inputs. An operation amount MVi is calculated by calculation, an upper limit process for limiting the operation amount MVi to the operation amount output upper limit value OHi is executed, and the operation amount MVi after the upper limit process is output to the control actuator of the corresponding control loop Li. And a control means.

In addition, the power sum suppression control device of the present invention includes an allocated total power input unit that receives information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n), A control amount change time TLi is estimated when the operation amount MVi of each control loop Li is changed from a current value to a specific output value, and a control amount change time TL that is the maximum value of the control amount change times TLi is selected . Control amount change time estimation means and a required output MUi that is an operation amount required to change the control amount PVi of each control loop Li by an amount corresponding to the change of the set value SPi during the control amount change time TL. estimated, calculates from this required output MUi is the sum of electric power used for each control actuator using electric power amount TW, while sequentially changing the control amount change time TL, the power consumption amount TW is the Searching for a combination of the required outputs MUi that does not exceed the total power PW, and setting the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li, and each control loop In the total power actual value acquisition means for acquiring the total power actual value PR that is the sum of the power consumption values of Li, and in the output saturation state after the operation amount output upper limit value OHi is set, the total power actual value PR is the allocated total A first correction coefficient updating means for updating the correction coefficient HS by a predetermined first ratio so that the total electric power actual measurement value PR becomes smaller when the electric power is greater than the power PW; and an output after the operation amount output upper limit value OHi is set In the saturated state, when the total power actual value PR is smaller than the allocated total power PW, the correction coefficient HS is updated by a predetermined second ratio so that the total power actual value PR becomes large. A second correction coefficient updating unit that operates, an operation amount output upper limit value OHi calculated by the power suppression unit, a value of the allocated total power PW used by the power suppression unit, or a maximum output time used by the power suppression unit A correction unit that multiplies any of the power values CTmi by the correction coefficient HS, and is provided for each control loop Li. The operation amount MVi is calculated by a control calculation using the set value SPi and the control amount PVi as inputs, and the operation amount MVi is calculated as described above. Control means for executing an upper limit process for limiting the operation amount output to an upper limit value OHi or less and outputting the operation amount MVi after the upper limit process to a control actuator of the corresponding control loop Li.

  In addition, the power sum suppression control device of the present invention includes an allocated total power input unit that receives information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n), Control amount change amount calculation means for calculating a change amount ΔPVi of the control amount PVi of each control loop Li from the set value SPi after change of each control loop Li and the control amount PVi before change of the set value, Control amount change rate calculation means for calculating the change rate THi of the control amount PVi from the operation amount MVi before the set value change, and each control loop when the operation amount MVi of each control loop Li is changed from the current value to a specific output value A temperature increase time calculating means for estimating a temperature increase time TLi of Li from the change amount ΔPVi and the change rate THi, and selecting a temperature increase time TL which is the maximum value of the temperature increase times TLi; Required output estimation means for estimating a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL; A total used power calculating means for calculating a total used power TW, which is a sum of used power of each control actuator, from a known maximum output power value CTmi of each control loop Li, while sequentially changing the temperature increase time TL Necessary output estimating means and the used power total calculating means execute processing, search for a combination of the required output MUi in which the total used power TW does not exceed the allocated total power PW, and finally the required output obtained The search processing means for setting MUi as the manipulated variable output upper limit value OHi of each control loop Li, and the total power actual measurement value P that is the sum of the power consumption values of each control loop Li In the output saturation state after the start of temperature increase, when the total power actual value PR is larger than the allocated total power PW, the correction coefficient HS is updated by a predetermined first ratio. In the output saturation state after the start of temperature rise, when the total power actual measurement value PR is smaller than the assigned total power PW, the correction coefficient HS is updated by a predetermined second ratio. Second correction coefficient updating means for performing, an output upper limit value correcting means for calculating an operation amount output upper limit value OHxi corrected by multiplying the operation amount output upper limit value OHi of each control loop Li by the correction coefficient HS, and a control loop Li An operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, and when the correction processing by the output upper limit correction means is not performed, the operation is performed. An upper limit process for limiting the amount MVi to the manipulated variable output upper limit value OHi is executed, and when the correction process by the output upper limit correction means is performed, the manipulated variable MVi is limited to the manipulated variable output upper limit value OHxi or less. Control means for executing the upper limit processing to output the manipulated variable MVi after the upper limit processing to the control actuator of the corresponding control loop Li.

  In addition, the power sum suppression control device of the present invention includes an allocated total power input unit that receives information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n), From the allocated total power correction means for calculating the allocated total power PWx corrected by multiplying the allocated total power PW by the correction coefficient HS, the set value SPi after the change of each control loop Li, and the control amount PVi before the set value is changed Control amount change amount calculating means for calculating the change amount ΔPVi of the control amount PVi of each control loop Li, and control amount change for calculating the change rate THi of the control amount PVi from the operation amount MVi before changing the set value of each control loop Li The rate calculation means, the temperature rise time TLi of each control loop Li when the operation amount MVi of each control loop Li is changed from the current value to a specific output value, the change amount ΔPVi and the change rate TH i, and a temperature rise time calculating means for selecting a temperature rise time TL that is the maximum value among the temperature rise times TLi, and a control amount PVi of each control loop Li during the temperature rise time TL. Necessary output estimation means for estimating the required output MUi that is an operation amount required to change by the change amount ΔPVi, and each control actuator from the necessary output MUi and the known maximum output power value CTmi of each control loop Li A used power total calculating means for calculating a used power total amount TW that is a sum of used power, and causing the necessary output estimating means and the used power total calculating means to execute processing while sequentially changing the temperature rise time TL, A search is made for a combination of the required outputs MUi where the total power consumption TW does not exceed the allocated total power PWx, and finally the required output MUi obtained is obtained as the manipulated variable of each control loop Li. A search processing means that is set as an upper limit value OHi, provided for each control loop Li, calculates an operation amount MVi by a control operation with the set value SPi and the control amount PVi as inputs, and sets the operation amount MVi as the operation amount output upper limit value OHi. Control means for executing an upper limit process limited to the following and outputting the manipulated variable MVi after the upper limit process to a control actuator of the corresponding control loop Li is provided.

  In addition, the power sum suppression control device of the present invention includes an allocated total power input unit that receives information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n), Maximum output power value correction means for calculating a maximum output power value CTmxi corrected by multiplying the known maximum output power value CTmi of each control loop Li by the correction coefficient HS, and a set value after changing each control loop Li Control amount change amount calculating means for calculating the change amount ΔPVi of the control amount PVi of each control loop Li from the SPi and the control amount PVi before the set value change, and control from the operation amount MVi before the set value change of each control loop Li Control amount change rate calculating means for calculating the change rate THi of the amount PVi, and when the temperature of each control loop Li rises when the operation amount MVi of each control loop Li is changed from the current value to a specific output value A temperature rise time calculating means for estimating TLi from the change amount ΔPVi and the change rate THi and selecting a temperature rise time TL which is the maximum value of the temperature rise time TLi, and a control amount PVi of each control loop Li Required output estimating means for estimating a required output MUi, which is an operation amount required to change the change amount ΔPVi by the change amount ΔPVi during the temperature rising time TL, the required output MUi, and the maximum output power value CTmxi To a used power total calculating means for calculating a used power total amount TW, which is a sum of used power of each control actuator, and the necessary output estimating means and the used power total calculating means while sequentially changing the temperature rise time TL. To search for a combination of the required outputs MUi that does not exceed the allocated total power PW, and finally determine the required output MUi obtained. The search processing means for setting the operation amount output upper limit value OHi of the control loop Li, provided for each control loop Li, calculates the operation amount MVi by the control calculation with the set value SPi and the control amount PVi as inputs, and calculates the operation amount MVi. Control means for executing an upper limit process for limiting the operation amount output to an upper limit value OHi or less and outputting the operation amount MVi after the upper limit process to a control actuator of a corresponding control loop Li. .

Further, the energy sum suppression control method of the present invention includes an allotted total energy input step for receiving information on an allotted total energy that defines energy usage of control actuators of a plurality of control loops Li (i = 1 to n), A control amount change time TLi is estimated when the manipulated variable MVi of the control loop Li is changed from a current value to a specific output value, and a control amount change time TL that is the maximum value of the control amount change times TLi is selected . Estimating a required output MUi, which is an operation amount required to change the control amount PVi of each control loop Li by an amount corresponding to the change of the set value SPi during the control amount change time TL. and calculates the total amount of energy used used is the sum of the energy of each control actuator from the required output MUi, sequentially changing the control amount change time TL While, the energy the energy use amount is searched a combination of the required output MUi not exceed the allocated total energy, sets the finally obtained the required output MUi as manipulated variable output upper limit value OHi of each control loop Li In the suppression step, the total energy actual value acquisition step for acquiring the total energy actual value that is the sum of the energy consumption values of each control loop Li, and the output energy saturation state after the operation amount output upper limit value OHi is set, the total energy actual measurement A first correction coefficient updating step of updating a correction coefficient by a predetermined first ratio so that the actual total energy measurement value becomes smaller when the value is larger than the allocated total energy, and after the operation amount output upper limit value OHi is set When the total energy measured value is smaller than the allocated total energy in the output saturation state of A second correction coefficient updating step for updating the correction coefficient by a predetermined second ratio so that the total energy actual measurement value becomes large; the manipulated variable output upper limit value OHi calculated in the energy suppression step; and the energy suppression step A correction step of multiplying either the value of the allocated total energy used in the above or the maximum energy consumption value at the time of output used in the energy suppression step by the correction coefficient, and a set value SPi and a control amount PVi as inputs. A control step of calculating the operation amount MVi, executing an upper limit process for limiting the operation amount MVi to the operation amount output upper limit value OHi or less, and outputting the operation amount MVi after the upper limit process to the control actuator of the corresponding control loop Li. Are provided.

Further, the power sum suppression control method of the present invention includes an allocated total power input step for receiving information on an allocated total power PW that defines a power usage amount of a control actuator of a plurality of control loops Li (i = 1 to n), A control amount change time TLi is estimated when the operation amount MVi of each control loop Li is changed from a current value to a specific output value, and a control amount change time TL that is the maximum value of the control amount change times TLi is selected . A required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by an amount corresponding to the change of the set value SPi during the control amount change time TL. estimated calculates the power consumption amount TW is the sum of the power used in each control actuator from the required output MUi, while sequentially changing the control amount change time TL, the power consumption amount T Searching for a combination of the required outputs MUi that does not exceed the allocated total power PW, and setting the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li; In the total power actual value acquisition step for acquiring the total power actual value PR that is the sum of the power consumption values of the control loop Li, and the output saturation state after the operation amount output upper limit value OHi is set, the total power actual value PR is A first correction coefficient updating step of updating the correction coefficient HS by a predetermined first ratio so that the total actual power measurement value PR becomes smaller when the total allocated power PW is larger, and after the operation amount output upper limit value OHi is set In the output saturation state, the correction coefficient HS is set so that the total power actual value PR becomes larger when the total power actual value PR is smaller than the allocated total power PW. A second correction coefficient updating step for updating the second ratio, an operation amount output upper limit value OHi calculated in the power suppression step, a value of the allocated total power PW used in the power suppression step, or the power suppression A correction step of multiplying any one of the maximum output power values CTmi used in the step by the correction coefficient HS, a set value SPi and a control amount PVi as inputs, an operation amount MVi is calculated by a control operation, and an operation amount MVi is calculated as the operation amount A control step of executing an upper limit process that limits the amount output upper limit value OHi or less and outputting the manipulated variable MVi after the upper limit process to the control actuator of the corresponding control loop Li.

  Further, the power sum suppression control method of the present invention includes an allocated total power input step for receiving information on an allocated total power PW that defines a power usage amount of a control actuator of a plurality of control loops Li (i = 1 to n), A control amount change amount calculating step for calculating a change amount ΔPVi of the control amount PVi of each control loop Li from the set value SPi after the change of each control loop Li and the control amount PVi before the change of the set value; A control amount change rate calculating step for calculating the change rate THi of the control amount PVi from the operation amount MVi before the set value change, and each control loop when the operation amount MVi of each control loop Li is changed from the current value to a specific output value. A temperature rising time TLi is estimated from the change amount ΔPVi and the change rate THi, and a temperature rising time TL which is the maximum value among the temperature rising times TLi is selected. A required output estimating step for estimating a required output MUi that is an operation amount required to change the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL; A used power total calculating step for calculating a used power total amount TW that is a sum of used power of each control actuator from the necessary output MUi and the known maximum output power value CTmi of each control loop Li, and the temperature increase time TL sequentially The process of the required output estimation step and the used power total calculation step is executed while changing, and the combination of the required outputs MUi whose total used power TW does not exceed the allocated total power PW is searched and finally obtained. The search processing step for setting the necessary output MUi as the manipulated variable output upper limit value OHi of each control loop Li, and the elimination of each control loop Li A total power actual value acquisition step for acquiring a total power actual value PR that is a sum of power values, and a correction coefficient when the total power actual value PR is greater than the allocated total power PW in the output saturation state after the start of temperature increase In the first correction coefficient updating step for updating HS by a predetermined first ratio, and in the output saturation state after the start of temperature increase, the correction coefficient is calculated when the total power measurement value PR is smaller than the allocated total power PW. A second correction coefficient updating step for greatly updating HS by a predetermined second ratio; and calculating an operation amount output upper limit value OHxi corrected by multiplying the operation amount output upper limit value OHi of each control loop Li by the correction coefficient HS. The output upper limit correction step, the set value SPi and the control amount PVi are input, the manipulated variable MVi is calculated by control calculation, and the correction processing by the output upper limit correction step is performed. If not, the upper limit process for limiting the manipulated variable MVi to the manipulated variable output upper limit value OHi is executed, and when the correction process in the output upper limit correction step is performed, the manipulated variable MVi is used as the manipulated variable. A control step of performing an upper limit process that limits the output upper limit value to OHxi or less, and outputting the manipulated variable MVi after the upper limit process to a control actuator of the corresponding control loop Li.

  Further, the power sum suppression control method of the present invention includes an allocated total power input step for receiving information on an allocated total power PW that defines a power usage amount of a control actuator of a plurality of control loops Li (i = 1 to n), From the allocated total power correction step of calculating the allocated total power PWx corrected by multiplying the allocated total power PW by the correction coefficient HS, the set value SPi after the change of each control loop Li, and the control amount PVi before the set value change A control amount change amount calculating step for calculating the change amount ΔPVi of the control amount PVi of each control loop Li, and a control amount change for calculating the change rate THi of the control amount PVi from the operation amount MVi before the setting value change of each control loop Li In the rate calculation step, the temperature rise time TLi of each control loop Li when the operation amount MVi of each control loop Li is changed from the current value to a specific output value is set to the change amount ΔPVi and the previous amount A temperature increase time calculating step for selecting a temperature increase time TL that is the maximum value among the temperature increase times TLi, estimated from the change rate THi, and a control amount PVi of each control loop Li is calculated from the temperature increase time TL. From the necessary output estimation step for estimating the required output MUi, which is an operation amount necessary for changing the change amount ΔPVi in the meantime, from the necessary output MUi and the known maximum output power value CTmi of each control loop Li Execute the processing of the total power consumption calculation step for calculating the total power consumption amount TW, which is the sum of the power consumption of each control actuator, and the necessary output estimation step and the total power consumption calculation step while sequentially changing the temperature rise time TL. And search for a combination of the required outputs MUi in which the total power consumption TW does not exceed the allocated total power PWx, and finally the required output obtained A search processing step for setting Ui as an operation amount output upper limit value OHi of each control loop Li, an operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, and the operation amount MVi is set as the operation amount output upper limit. And a control step of executing an upper limit process that limits the value OHi or less and outputting the manipulated variable MVi after the upper limit process to the control actuator of the corresponding control loop Li.

  Further, the power sum suppression control method of the present invention includes an allocated total power input step for receiving information on an allocated total power PW that defines a power usage amount of a control actuator of a plurality of control loops Li (i = 1 to n), Maximum output power value correction step for calculating the maximum output power value CTmxi corrected by multiplying the known maximum output power value CTmi of each control loop Li by the correction coefficient HS, and the set value after the change of each control loop Li Control amount change amount calculation step for calculating the change amount ΔPVi of the control amount PVi of each control loop Li from SPi and the control amount PVi before the set value change, and control from the operation amount MVi before the set value change of each control loop Li A control amount change rate calculating step for calculating the change rate THi of the amount PVi, and each control level when the operation amount MVi of each control loop Li is changed from the current value to a specific output value. A temperature rise time calculating step for estimating a temperature rise time TL of Li, based on the change amount ΔPVi and the change rate THi, and selecting a temperature rise time TL which is the maximum value of the temperature rise time TLi; A required output estimation step for estimating a required output MUi that is an operation amount required to change the control amount PVi of the loop Li by the change amount ΔPVi during the temperature increase time TL, and the required output MUi and the maximum A used power total calculating step for calculating a used power total amount TW that is a sum of used power of each control actuator from the output power value CTmxi, the required output estimating step and the used power while sequentially changing the temperature increase time TL. The total calculation step is executed to search for a combination of the necessary output MUi that does not exceed the total allocated power PW. A search processing step for setting the finally obtained required output MUi as an operation amount output upper limit value OHi for each control loop Li, and an operation amount MVi is calculated by a control operation with the set value SPi and the control amount PVi as inputs. A control step of executing an upper limit process for limiting the amount MVi to the operation amount output upper limit value OHi or less and outputting the operation amount MVi after the upper limit process to a control actuator of the corresponding control loop Li. Is.

According to the present invention, the control amount change time when the operation amount MVi of each control loop Li is changed from the current value to a specific output value is estimated, and the control amount PVi of each control loop Li is set between the control amount change times. A required output MUi, which is an operation amount required to change by the amount corresponding to the change of the set value SPi, is estimated, and a used energy total amount that is a sum of used energy of each control actuator is calculated from the required output MUi. By searching for a combination of necessary outputs MUi whose total used energy does not exceed the allocated total energy, and finally setting the required output MUi obtained as the manipulated variable output upper limit value OHi for each control loop Li, a plurality of controls are performed. Step response control (step change of set value SPi is performed, and a control function is used to follow control value PVi to set value SPi. As energy consumption does not exceed the total allocated energy in're state), and as tracking characteristic of the setting value SPi of the controlled variable PVi is not impaired as far as possible, it is possible to perform control. Further, in the present invention, in the output saturation state after setting the manipulated variable output upper limit value OHi, when the total energy measured value is larger than the allocated total energy, or when the total energy measured value is smaller than the allocated total energy, the energy suppressing means By correcting either the calculated manipulated variable output upper limit value OHi, the value of the allocated total energy used by the energy suppression means, or the maximum power consumption value at the time of output used by the energy suppression means, the deviation is made sequentially and stably. Can be realized.
As described above, in the present invention, in the output saturation state after the operation amount output upper limit value OHi is set, the total energy actual measured value is larger than the allocated total energy or the total energy actual measured value is smaller than the allocated total energy. Means a situation where the measured total energy value does not match the allocated total energy, and the error between them is referred to as “deviation”.

  In the present invention, the control amount change time when the operation amount MVi of each control loop Li is changed from the current value to a specific output value is estimated, and the control amount PVi of each control loop Li is set between the control amount change times. A required output MUi, which is an operation amount required to change by the amount corresponding to the change of the set value SPi, is estimated, and a used power total amount TW, which is a sum of used power of each control actuator, is calculated from the required output MUi. By searching for a combination of necessary outputs MUi that does not exceed the total allocated power PW, the finally used necessary output MUi is set as the manipulated variable output upper limit value OHi of each control loop Li. With respect to a plurality of control systems, the follow-up characteristic of the control amount PVi to the set value SPi is as low as possible so that the power usage amount does not exceed the allocated total power PW in the step response control. As no, control can be performed. In the present invention, in the output saturation state after setting the manipulated variable output upper limit value OHi, when the total power actual value PR is larger than the allocated total power PW or when the total power actual value PR is smaller than the allocated total power PW, By correcting any one of the manipulated variable output upper limit value OHi calculated by the power suppression unit, the value of the allocated total power PW used by the power suppression unit, or the maximum output power value CTmi used by the power suppression unit, And the operation | movement which correct | amends a deviation stably can be implement | achieved.

It is a figure which shows the change of the total electric power accompanying the temperature change of 3 zones. It is a block diagram which shows the structure of the heating apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the electric power total suppression control apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram of the control system which concerns on the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the electric power total suppression control apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the electric power total suppression control apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the operation example of the electric power total suppression control apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the electric power total suppression control apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the electric power total suppression control apparatus which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the electric power total suppression control apparatus which concerns on the 3rd Embodiment of this invention. It is a flowchart which shows operation | movement of the electric power total suppression control apparatus which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the structure of the energy sum total suppression control apparatus which concerns on the 4th Embodiment of this invention. It is a block diagram which shows the other structure of the energy sum total suppression control apparatus which concerns on the 4th Embodiment of this invention. It is a block diagram which shows the other structure of the energy sum total suppression control apparatus which concerns on the 4th Embodiment of this invention.

[Principle of the Invention]
As an example, a heating device will be described. For example, if time is set up sequentially with multiple heating control systems, it is inevitable that a time zone with sufficient power will be generated as a result, so the power margin will cause inefficiency that delays the start-up completion of the device. The inventor focused on becoming. Simply speaking, when the set value SP is step-changed, a large number of states in which the follow-up control of the control amount PV to the set value SP is not performed.

  In addition, in a heating control system with interference between control loops, a temperature rise disturbance due to interference from a control loop that starts up later occurs in the control loop that has been started up first, so extra time is required until control stabilization. It becomes inefficient. Therefore, it is most efficient to adjust the “completion timing” so that each control loop completes the temperature increase as much as possible while keeping the total power used within a certain value and simultaneously increasing the temperature of each control loop. How to start a new device.

Therefore, a typical temperature increase capability (for example, temperature increase rate at the maximum output) of the control loop is stored in advance, and the manipulated variable MV is changed from a value (current value) before the set value is changed to a specific output value (for example, maximum Value), the estimated time until the completion of the temperature increase and the power used corresponding to the manipulated variable output upper limit are simply obtained. Alternatively, an estimation formula for estimating the temperature increase rate when the manipulated variable MV is changed from a value before changing the set value (current value) to a specific output value (for example, maximum value) is obtained based on experimental data, and the relatively high value is obtained. An accurate estimation formula may be provided.
If the combination of the manipulated variable output upper limit where the temperature increase completion time of each control loop is approximately equal and the total power used is the maximum within the allocated total power is obtained while appropriately correcting the estimated time until the temperature increase is completed , You can approach the most efficient startup.

  In a small controller, the algorithm storage capacity and the amount of calculation per control cycle are limited. Accordingly, the temperature rise time at the time of maximum output in each control loop (when the manipulated variable MVi is the maximum value) is first calculated, the maximum one is extracted from the calculated temperature rise times of each loop, and the vicinity of the temperature rise time is calculated. If the required time is set, determine the degree to which the output upper limit of each loop can be lowered, determine whether the total is within the allocated total power, and if it exceeds the allocated total power, increase the required time by several percent. The calculation procedure of obtaining again the degree to which the output upper limit of each loop can be lowered is preferable. The above is the basic principle of the present invention.

  However, in order to obtain a combination of the manipulated variable output upper limit values in which the total used power is the maximum within the allocated total power, the maximum output power value CTmi when the manipulated variable MVi of each control loop is 100% maximum is obtained. It is necessary to calculate the total value of power used. As the maximum output power value CTmi of each control loop, a value stored in advance is used, but the maximum output power value CTmi is not always obtained with high accuracy. Further, the resistance value of the heater may change due to the influence of the heater temperature or heater deterioration. FIG. 1 shows a heating apparatus that heats each of the three control zones with a heater. The resistance value of the heater changes as the temperature of the control zone changes. As a result, the total power that is the sum of the power consumption values of the heaters is It is a figure which shows a mode that it changes. 100 in FIG. 1 indicates a change in total power. Thus, when the resistance value of the heater changes, it becomes difficult to maintain the accuracy of the maximum output power value CTmi. Accordingly, since the actual power used may not match the allocated total power PW (that is, a deviation occurs), it is necessary to correct the operation amount output upper limit value calculated based on the above basic principle. When correcting the quantity output upper limit value, it is necessary to strictly consider such a deviation.

Considering the purpose of total power suppression, the situation where a deviation requiring correction of the manipulated variable output upper limit value is limited to the following situation where the total power should be evaluated.
(A) In the output saturation state after the operation amount output upper limit value is calculated and the temperature rise is started (a state in which all operation amounts match the operation amount output upper limit value), the total power actual measurement value is assigned total power The situation that exceeds PW.
(B) A situation where the total power actual measurement value is below the allocated total power PW in the output saturation state after the operation amount output upper limit value is calculated and the temperature rise is started.

Here, the inventors focused on the following points.
(A) Since the situations (a) and (b) described above occur continuously in time, it is possible to sequentially correct each PID control cycle. That is, the manipulated variable output upper limit value may not be accurately corrected by any one process.
(B) Further, since the elimination of the situations (a) and (b) is not a problem if the book ends finally match, it is not necessary to specify the cause of the shift accurately. That is, for example, which control loop is causing the deviation, and which one of the heater temperature, heater deterioration, non-linearity, etc. is causing the deviation may not be clarified.
(C) Since the cause of the shift itself is not a phenomenon that suddenly occurs in any case, an immediate correction operation of the manipulated variable output upper limit value is not necessary. That is, if the gentle correction operation is continuously executed, it can be sufficiently handled.

  From the above points (A), (B), and (C), only the occurrence of the situation (a) and (b) is constantly detected every PID control cycle, and the above (a) and (b) ) When the situation of () occurs, a minute correction process of the manipulated variable output upper limit value is executed, and if the minute correction processes are continuously stacked, an operation for correcting the deviation sequentially and stably. I was able to realize that.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 2 is a block diagram showing the configuration of the heating apparatus according to the first embodiment of the present invention. The heating device includes a heat treatment furnace 1 for heating an object to be heated, heaters H1 to H4 that are a plurality of control actuators installed in the heat treatment furnace 1, and heating heated by the heaters H1 to H4, respectively. A plurality of temperature sensors S1 to S4 that measure the temperature PV of the control zones Z1 to Z4 in the processing furnace 1, a power sum suppression control device 2 that calculates operation amounts MV1 to MV4 output to the heaters H1 to H4, and a power sum It is comprised from the electric power regulators 3-1 to 3-4 which supply the electric power according to the operation amount MV1-MV4 output from the suppression control apparatus 2 to heater H1-H4, respectively. In the heating device shown in FIG. 2, four control loops are formed in which the power sum suppression control device 2 controls the temperature PV of the control zones Z1 to Z4.

  FIG. 3 is a block diagram showing the configuration of the power sum suppression control device 2. The power sum suppression control device 2 includes an allocated total power input unit 10 that receives information on the allocated total power PW from the host PC 4, and each control loop Li (i = 1 to n, where n is an integer equal to or greater than 2, FIG. In this example, the temperature rise time estimation unit 11 for estimating the maximum value TL of the temperature rise times TLi of each control loop Li when the manipulated variable MVi of n = 4) is increased from the current value to the maximum value 100.0%; A required output estimation unit 15 that estimates a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by an amount corresponding to the change of the set value SPi during the temperature increase time TL; A total used power calculation unit 16 that calculates a total used power TW that is the sum of the used power of each heater Hi from the required output MUi and the maximum output power value CTmi of each control loop Li, and the total used power TW is the allocated total power Required output not exceeding PW A search processing unit 17 that searches for a combination of Ui and sets the finally obtained required output MUi as an operation amount output upper limit value OHi of each control loop Li, and a total that is a sum of power consumption values of each control loop Li Total power actual value input unit 20 for acquiring the actual power measurement value PR, and a first correction for updating the correction coefficient HS to be smaller when the total power actual value PR is larger than the allocated total power PW in the output saturation state after the start of temperature increase. A coefficient updating unit 21; a second correction coefficient updating unit 22 that greatly updates the correction coefficient HS when the total power measured value PR is smaller than the allocated total power PW in the output saturation state after the start of temperature increase; and each control loop Li An output upper limit correction unit 23 that calculates an operation amount output upper limit value OHxi corrected by multiplying the operation amount output upper limit value OHi by the correction coefficient HS, and a control unit 24-i provided for each control loop Li. It consists of.

The temperature increase time estimation unit 11 includes a control amount PVi change amount calculation unit 12, a control amount PVi change rate calculation unit 13, and a temperature increase time calculation unit 14. The temperature increase time estimation unit 11 constitutes a control amount change time estimation unit.
The search processing unit 17 includes a temperature increase time setting unit 18 and an allocated total power determination unit 19. The necessary output estimation unit 15, the total power consumption calculation unit 16, and the search processing unit 17 constitute a power suppression unit.

  The control unit 24-i includes a set value SPi input unit 25-i, a control amount PVi input unit 26-i, a PID control calculation unit 27-i, an output upper limit processing unit 28-i, and an operation amount MVi output unit. 29-i.

  FIG. 4 is a block diagram of the control system of the present embodiment. Each control loop Li includes a control unit 24-i and a control object Pi. As will be described later, the control unit 24-i calculates an operation amount MVi from the set value SPi and the control amount PVi, and outputs the operation amount MVi to the control target Pi. In the example of FIG. 2, the control target Pi is the heat treatment furnace 1 heated by the heater Hi, but the actual output destination of the manipulated variable MVi is the power regulator 3-i, and the power corresponding to the manipulated variable MVi is power. It is supplied to the heater Hi from the regulator 3-i.

The maximum output power value CTmi when the operation amount MVi of each control loop Li is 100% can be estimated from the power consumption value of each control loop Li (specifically, the power consumption value of the heater Hi). It is. However, in the present embodiment, since it is assumed that unknown nonlinearity is included in this estimation and causes a shift, the process of estimating the maximum output power value CTmi is not adopted.
In the present embodiment, the correction coefficient HS (initial value 1.0) is introduced, the correction coefficient HS is sequentially updated, and the operation amount output upper limit value OHi of each control loop Li is multiplied by the same correction coefficient HS.

Hereinafter, the operation of the power sum suppression control device 2 of the present embodiment will be described. 5 and 6 are flowcharts showing the operation of the power sum suppression control device 2. Needless to say, A and B in FIG. 5 are connected to A and B in FIG. 6, respectively.
The allocated total power input unit 10 receives information on the allocated total power PW that defines the power usage of the heater from the host PC 4 that is a computer of the power demand management system that manages power (step S100 in FIG. 5).

  The temperature increase time setting unit 18 of the search processing unit 17 changes the set value SPi of each control loop Li by a user of the heating device and the like, and starts the temperature increase (YES in step S101). The processing for obtaining the maximum value TL of the temperature rise times TLi of each control loop Li when the maximum value is 100.0% is performed as follows.

First, the control amount PVi change amount calculation unit 12 of the temperature increase time estimation unit 11 acquires the set value SPi after the change of each control loop Li and the control amount PVi before the set value change, and The change amount ΔPVi of the control amount PVi is calculated for each control loop Li by the following equation (step S102).
ΔPVi = SPi−PVi (1)

  The control amount PVi (temperature) is measured by the temperature sensor Si and input to the control unit 24-i. Note that the control according to the set value SPi and the control amount PVi is performed in a step subsequent to step S102. Therefore, if the control amount PVi input to the control unit 24-i is acquired at the time of step S102, this The control amount PVi is a control amount before the set value is changed.

Subsequently, the control amount PVi change rate calculation unit 13 of the temperature increase time estimation unit 11 acquires the operation amount MVi before the set value change from the control unit 24-i of each control loop Li, and accompanies the change of the set value SPi. A change rate (speed) THi of the control amount PVi is calculated for each control loop Li by the following equation (step S103).
THi = THoi {100.0 / (100.0-MVi)} (2)

  Since the control according to the set value SPi and the control amount PVi is performed in a step after step S103, if the operation amount MVi output from the control unit 24-i is acquired at the time of step S103, this operation is performed. The amount MVi is an operation amount before the set value is changed. In Expression (2), THoi is a value stored in advance for each control loop Li, and when the maximum output MVi = 100.0% from the state where the operation amount MVi = 0.0% (that is, the operation amount increase range). Is the change rate value of the control amount PVi). That is, Expression (2) is an expression that converts the change rate value THoi with the operation amount increase width (100.0−MVi). In the present embodiment, the example of the heating device is described. Therefore, the change rate THi of the control amount PVi is the temperature increase rate [sec. / ° C].

Next, the temperature rise time calculation unit 14 of the temperature rise time estimation unit 11 sets the temperature rise time TLi, which is a control amount change time required to change the control amount PVi of each control loop Li by ΔPVi, to the control amount PVi. Is estimated for each control loop Li by the following equation from the change rate THi and the change amount ΔPVi (step S104).
TLi = THiΔPVi (3)

Then, the temperature increase time calculation unit 14 selects the maximum value TL among the temperature increase times TLi of each control loop Li (step S105).
TL = max (TLi) (4)
In Expression (4), max () is a maximum value selection calculation function. The temperature increase time TL can be estimated by the processes in steps S102 to S105.

  Next, the total allocated power determination unit 19 of the search processing unit 17 calculates the power consumption TW of all heaters when the control amount PVi is changed by the change amount ΔPVi during the temperature increase time TL as follows. Let me do it.

First, the required output estimation unit 15 acquires the operation amount MVi before the set value change of each control loop Li, and changes the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL. The required output MUi, which is the amount of operation required for the control loop Li, is calculated for each control loop Li by the following equation (step S106).
MUi = {100.0THoi / (TL / ΔPVi)} + MVi (5)
Expression (5) is an expression obtained by solving for MUi by replacing 100.0 in the denominator with MUi and replacing THi with TL / ΔPVi in Expression (2).

  Subsequently, the total power consumption calculation unit 16 calculates the total power consumption TW, which is the sum of the power consumption of each heater Hi, from the required output MUi of each control loop Li (step S107).

In Equation (6), CTmi is a value stored in advance for each control loop Li, and is a power usage value of the heater Hi when the operation amount MVi is the maximum value 100.0%.
The allocated total power determination unit 19 of the search processing unit 17 sets the required output MUi of each control loop Li to TW ≦ PW, that is, when the total used power TW does not exceed the allocated total power PW (YES in step S108), respectively. The operation amount output upper limit value OHi of the control loop Li is set (step S109).

  Further, the total allocated power determination unit 19 instructs the temperature increase time setting unit 18 to set the temperature increase time TL to the current value, for example, when TW> PW, that is, the total power consumption TW exceeds the total allocated power PW. The number is extended by 1.05 (step S110), and the process returns to step S106. Thus, the processes of steps S106 to S108 and S110 are repeated until the total power consumption TW becomes equal to or less than the total allocated power PW.

Next, the total electric power actual value input unit 20 determines whether or not a predetermined time (for example, several seconds) has elapsed since the start of temperature increase (step S111 in FIG. 6). If the predetermined time has elapsed, step S112 is performed. If the predetermined time has not elapsed, the process proceeds to step S120.
The total power actual measurement value input unit 20 is a total power actual measurement that is the sum of the current power consumption values of each control loop Li (specifically, the power consumption value of the heater Hi) when a predetermined time has elapsed since the start of temperature increase. The total power actual measurement value PR is acquired from the measuring means (not shown) that measures the value PR in real time (step S112). The measuring means may be provided in the power sum suppression control device 2.

  The first correction coefficient updating unit 21 determines whether or not the output saturation state after the start of temperature increase is based on the operation amount MVi output from the control unit 24-i (step S113). The first correction coefficient updating unit 21 determines that the output saturation state after the start of temperature increase is reached when all the operation amounts MVi have reached the corresponding operation amount output upper limit values OHi or OHxi. When the current control state by the power sum suppression control device 2 is the output saturation state after the start of temperature increase, the first correction coefficient updating unit 21 compares the total power actual value PR and the allocated total power PW (Step S1). S114) When it is determined that the total measured power value PR is larger than the allocated total power PW, the correction coefficient HS is made smaller by a predetermined first ratio (1% in the present embodiment) than the current numerical value. Update (step S115).

The first correction coefficient updating unit 21 sets the manipulated variable output upper limit value OHi at the start of temperature increase, and when the manipulated variable output upper limit value OHxi for correcting this OHi is not set, the determination in step S113 is performed. The operation amount output upper limit value OHi is adopted as That is, the first correction coefficient updating unit 21 performs the following processing as the processing of steps S113 to S115.
IF MVi = OHi AND PR> PW THEN HS ← 0.99HS
... (7)

Further, the first correction coefficient updating unit 21 employs the operation amount output upper limit value OHxi for the determination in step S113 after the operation amount output upper limit value OHxi is set by the output upper limit value correction unit 23 as described later. . That is, the first correction coefficient updating unit 21 performs the following processing as the processing of steps S113 to S115.
IF MVi = OHxi AND PR> PW THEN HS ← 0.99HS
... (8)

  The second correction coefficient updating unit 22 determines whether or not the output saturation state after the start of temperature increase is based on the operation amount MVi output from the control unit 24-i (step S116). Similar to the first correction coefficient updating unit 21, the second correction coefficient updating unit 22, after all the operation amounts MVi have reached the corresponding operation amount output upper limit values OHi or OHxi, It is determined that the output is saturated. The second correction coefficient updating unit 22 compares the total power measured value PR with the allocated total power PW when the current control state by the power sum suppression control device 2 is the output saturation state after the start of temperature increase (Step S S117) When it is determined that the total measured power value PR is smaller than the allocated total power PW, the correction coefficient HS is larger than the current numerical value by a predetermined second ratio (0.1% in the present embodiment). (Step S118).

Note that the second correction coefficient updating unit 22 sets the manipulated variable output upper limit value OHi at the start of temperature increase, and determines that the manipulated variable output upper limit value OHxi for correcting this OHi is not set in step S116. The operation amount output upper limit value OHi is adopted as That is, the second correction coefficient update unit 22 performs the following processing as the processing of steps S116 to S118.
IF MVi = OHi AND PR <PW THEN HS ← 1.001HS
... (9)

Further, after the operation amount output upper limit value OHxi is set by the output upper limit value correction unit 23, the second correction coefficient update unit 22 employs the operation amount output upper limit value OHxi for the determination in step S116. That is, the second correction coefficient update unit 22 performs the following processing as the processing of steps S116 to S118.
IF MVi = OHxi AND PR <PW THEN HS ← 1.001HS
(10)

  In the present embodiment, increasing the correction coefficient HS means increasing the power used. However, since the present invention aims to suppress power consumption, the degree of decreasing the correction coefficient HS (1%). ), The degree of increase of the correction coefficient HS (0.1%) is moderated.

The output upper limit correction unit 23 calculates an operation amount output upper limit value OHxi obtained by correcting the operation amount output upper limit value OHi set by the allocated total power determination unit 19 by the following equation for each control loop Li (step S119).
OHxi = OHiHS (11)

Next, the control unit 24-i calculates the operation amount MVi of the control loop Li as follows. The set value SPi of each control loop Li is set by the user of the heating device and input to the PID control calculation unit 27-i via the set value SPi input unit 25-i (step S120).
The control amount PVi (temperature) of each control loop Li is measured by the temperature sensor Si and is input to the PID control calculation unit 27-i via the control amount PVi input unit 26-i (step S121).

Based on the set value SPi and the control amount PVi, the PID control calculation unit 27-i calculates a manipulated variable MVi by performing a PID control calculation like the following transfer function equation (step S122).
MVi = (100 / PBi) {1+ (1 / TIis) + TDis} (SPi−PVi)
(12)
PBi is a proportional band, TIi is an integration time, TDi is a differentiation time, and s is a Laplace operator.

When the operation amount output upper limit value OHi is set at the start of temperature rise and the operation amount output upper limit value OHxi for correcting this OHi is not set, the output upper limit processing unit 28-i operates as shown in the following equation. An upper limit process of the amount MVi is performed (step S123).
IF MVi> OHi THEN MVi = OHi (13)
That is, when the manipulated variable MVi is larger than the manipulated variable output upper limit value OHi, the output upper limit processing unit 28-i performs an upper limit process for setting the manipulated variable MVi = OHi.

Further, after the operation amount output upper limit value OHxi is set by the output upper limit correction unit 23, the output upper limit processing unit 28-i performs an upper limit process of the operation amount MVi as in the following equation (step S123).
IF MVi> OHxi THEN MVi = OHxi (14)
That is, when the manipulated variable MVi is larger than the manipulated variable output upper limit value OHxi, the output upper limit processing unit 28-i performs an upper limit process for setting the manipulated variable MVi = OHxi.

The operation amount MVi output unit 29-i outputs the operation amount MVi subjected to the upper limit processing by the output upper limit processing unit 28-i to the control target (the actual output destination is the power adjuster 3-i) (step S124). Since the control unit 24-i is provided for each control loop Li, the processes in steps S120 to S124 are performed for each control loop Li.
The power sum suppression control device 2 performs the processes in steps S101 to S124 as described above at regular intervals until the control is terminated by a user instruction (YES in step S125), for example. Note that the processes in steps S102 to S110 are performed when at least one of the set values SPi of each control loop Li is changed.

  The correction coefficient HS is sequentially updated by the processing in steps S112 to S118, and approaches an appropriate correction amount. When another temperature increase operation (operation for changing the set value SPi) is performed once the temperature increase is completed, the correction coefficient HS may be returned to the initial value 1.0, or the correction coefficient updated sequentially. The HS value may be used continuously. The method of continuously using the correction coefficient HS without returning it to the initial value 1.0 is effective in a situation where the value of the correction coefficient HS converges reflecting the universal characteristics of the apparatus.

  It should be noted that the operation amount output upper limit value OHi is corrected several seconds after the start of temperature increase. It is preferable not to implement until it has passed. The reason is that the total power actual measurement value PR measured in real time does not always follow the change (increase) in the manipulated variable MVi instantaneously, and normally follows a delay of several seconds. This is because a time zone in which the comparison with the total power PW cannot be accurately performed occurs for several seconds. Therefore, in the present embodiment, the processing in steps S112 to S119 is not performed until a predetermined time (for example, several seconds) elapses from the start of temperature increase by the determination processing in step S111.

  FIG. 7 (A) and FIG. 7 (B) show simulation results in which the total allocated power PW is 300 W in a three-loop control system. In the figure, the left axis is the set values SP1, SP2, SP3, the control amounts PV1, PV2, PV3 and the manipulated variables MV1, MV2, MV3, the right axis is the allocated total power PW and the total power measured value PR, and the horizontal axis is the time. It is. Here, not only the operation amounts MV1, MV2 and MV3 but also the set values SP1, SP2 and SP3 and the control amounts PV1, PV2 and PV3 are displayed in% units.

  In the example of FIGS. 7A and 7B, 500 sec. At this point, the set values SP1, SP2 and SP3 are changed from 20% to 46%, and the temperature rise is started. At this time, the high output state of the operation amount MVi gradually changes with the minute update processing of the operation amount output upper limit value OHi. In the example of FIG. Thereafter, since the total power actual measurement value PR is less than the allocated total power PW = 300 W, when a predetermined time (20 sec.) Elapses from the start of temperature increase, the manipulated variable output upper limit value OHi is sequentially increased in the direction of increasing the total power actual measurement value PR. An updating operation is performed. On the other hand, in the example of FIG. Since the total power actual value PR subsequently exceeds the allocated total power PW = 300 W, the manipulated variable output upper limit value OHi is sequentially updated so as to decrease the total power actual value PR when a predetermined time (20 sec.) Has elapsed since the start of temperature increase. The operation is performed.

Thus, in the present embodiment, with respect to a plurality of control systems, the power usage amount does not exceed the allocated total power PW in step response control, and the follow-up characteristic of the control amount PVi to the set value SPi is impaired as much as possible. Control can be done so that there is no.
Further, in the present embodiment, when the above conditions (a) and (b) occur, the minute correction processing of the manipulated variable output upper limit value OHi is continuously executed, so that it is sequentially and stably performed. It is possible to realize an operation for correcting the deviation.

  Further, in the present embodiment, the manipulated variable MVi itself is not directly changed, but the manipulated variable output upper limit value OHi is changed. Therefore, meaningless vertical movement does not occur in the manipulated variable MVi. That is, a control response waveform having no unnaturalness can be obtained without adversely affecting the PID control calculation.

  It goes without saying that the order of processing in the power sum suppression control device 2 of the present embodiment may not be as shown in FIGS. In the examples of FIGS. 5 and 6, the information on the allocated total power PW is received only once. However, the upper PC 4 transmits information as necessary, and thereby the value of the allocated total power PW. May be updated from time to time.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. In the present embodiment, in the situation where the value of the correction coefficient HS has converged to reflect the universal characteristics of the apparatus according to the first embodiment, another temperature raising operation (setting value SPi changing operation) is performed again. In this case, the operation amount output upper limit value OHi is calculated by reflecting the correction amount, and the total allocated power PW is multiplied by the correction coefficient HS. As a result, the deviation can be corrected more stably. In the present embodiment as well, the configuration of the entire heating device is the same as that of the first embodiment, and therefore, description will be made using the reference numerals in FIG.

  FIG. 8 is a block diagram showing a configuration of the power sum suppression control device 2 of the present embodiment. The power sum suppression control device 2 of the present embodiment is provided for each of the allocated total power input unit 10, the temperature increase time estimation unit 11, the required output estimation unit 15, the total power consumption calculation unit 16, and the control loop Li. The assigned control unit 24-i, the allocated total power correction unit 30 for calculating the allocated total power PWx corrected by multiplying the allocated total power PW by the correction coefficient HS, and the total used power TW need not exceed the allocated total power PWx. The search processing unit 17a searches for a combination of the output MUi and sets the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li.

The search processing unit 17a includes a temperature increase time setting unit 18a and an allocated total power determination unit 19a. The necessary output estimation unit 15, the total power consumption calculation unit 16, and the search processing unit 17a constitute a power suppression unit.
Note that, in the present embodiment, it is assumed that another temperature raising operation is performed again in the situation where the value of the correction coefficient HS has converged according to the first embodiment as described above. It is preferable to combine the configuration of and the configuration of the first embodiment. In this case, it is needless to say that overlapping configurations with the same reference numerals in FIGS. 3 and 8 may be omitted. Specifically, as the configuration of the power sum suppression control device 2, the allocated total power input unit 10, the temperature rise time estimation unit 11, the necessary output estimation unit 15, the total power consumption calculation unit 16, and the search processing unit 17 are arranged. , 17a, the actual power actual value input unit 20, the first correction coefficient update unit 21, the second correction coefficient update unit 22, the output upper limit correction unit 23, the control unit 24-i, What is necessary is just to provide the electric power correction | amendment part 30. FIG.

Hereinafter, the operation of the power sum suppression control device 2 of the present embodiment will be described. FIG. 9 is a flowchart showing the operation of the power sum suppression control device 2.
The processing of the allocated total power input unit 10 (step S200 in FIG. 9) is the same as step S100 in FIG.

The allocated total power correction unit 30 corrects the allocated total power PW by the following equation when the set value SPi of each control loop Li is changed by a user of the heating device or the like and the temperature rise is started (YES in step S201). The allocated total power PWx is calculated (step S202).
PWx = PWHS (15)

  Process of control amount PVi change amount calculation unit 12 of temperature increase time estimation unit 11 (step S203), process of control amount PVi change rate calculation unit 13 of temperature increase time estimation unit 11 (step S204), temperature increase time estimation unit 11 The processing (steps S205 and S206) of the temperature rise time calculation unit 14 is the same as steps S102, S103, S104, and S105 in FIG. Further, the processing of the required output estimation unit 15 (step S207) and the processing of the total used power calculation unit 16 (step S208) are the same as steps S106 and S107 of FIG.

  The allocated total power determining unit 19a of the search processing unit 17a sets the required output MUi of each control loop Li to TW ≦ PWx, that is, when the total used power TW does not exceed the allocated total power PWx (YES in step S209), respectively. The operation amount output upper limit value OHi of the control loop Li is set (step S210).

  Also, the total allocated power determination unit 19a instructs TW> PWx, that is, when the total power consumption TW exceeds the allocated total power PWx, instructs the temperature increase time setting unit 18a to set the temperature increase time TL to a current value, for example, The number is extended by 1.05 (step S211), and the process returns to step S207. Thus, the processes of steps S207 to S209 and S211 are repeated until the total power consumption TW becomes equal to or less than the total allocated power PWx.

  Next, the control unit 24-i calculates the operation amount MVi of the control loop Li as follows. The process of the set value SPi input unit 25-i (step S212), the process of the control amount PVi input unit 26-i (step S213), and the process of the PID control calculation unit 27-i (step S214) are shown in FIG. Since it is the same as S120, S121, and S122, description is abbreviate | omitted.

  The processing (step S215) of the output upper limit processing unit 28-i is the same as step S123 of FIG. 6, but in the present embodiment, in the situation where the value of the correction coefficient HS has converged according to the first embodiment, Since it is assumed that another temperature raising operation is performed again, the processes in steps S112 to S119 in FIG. 6 are not performed. Therefore, the output upper limit processing unit 28-i performs the upper limit process of the operation amount MVi by the above equation (13) based on the operation amount output upper limit value OHi set by the allocated total power determination unit 19a (step S215). .

The process (step S216) of the manipulated variable MVi output unit 29-i is the same as step S124 in FIG. Since the control unit 24-i is provided for each control loop Li, the processes in steps S212 to S216 are performed for each control loop Li.
The power sum suppression control device 2 performs the processes in steps S201 to S216 as described above at regular intervals until the control is terminated by, for example, a user instruction (YES in step S217).
Thus, in this embodiment, it is possible to correct the deviation more stably than in the first embodiment.

  In the present embodiment, it is assumed that another temperature raising operation is performed again in the situation where the value of the correction coefficient HS has converged according to the first embodiment as described above. Therefore, in the first temperature raising operation, the processing in FIGS. 5 and 6 may be performed without performing the processing in FIG. 9, and the temperature raising operation after the value of the correction coefficient HS has converged (for example, after the second time). 9), the process of FIG. 9 may be performed, and the processes of FIGS. 5 and 6 may not be performed.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. In the present embodiment, in the situation where the value of the correction coefficient HS has converged to reflect the universal characteristics of the apparatus according to the first embodiment, another temperature raising operation (setting value SPi changing operation) is performed again. In this case, the operation amount output upper limit value OHi is calculated by reflecting the correction amount, and the maximum output power value CTmi of each control loop Li is multiplied by the reciprocal of the same correction coefficient HS. As a result, the deviation can be corrected more stably. In the present embodiment as well, the configuration of the entire heating device is the same as that of the first embodiment, and therefore, description will be made using the reference numerals in FIG.

  FIG. 10 is a block diagram showing a configuration of the power sum suppression control device 2 of the present embodiment. The power sum suppression control device 2 of the present embodiment is provided for each of the allocated total power input unit 10, the temperature rise time estimation unit 11, the necessary output estimation unit 15, the search processing unit 17, and each control loop Li. The control unit 24-i, the maximum output power value correction unit 31 for calculating the maximum output power value CTmxi corrected by multiplying the maximum output power value CTmi of each control loop Li by the correction coefficient HS, and each control loop Li Of the required power MUi and the maximum output power value CTmxi, and a total used power calculating unit 16b that calculates the total used power TW that is the sum of the used power of each heater Hi.

The necessary output estimation unit 15, the total power consumption calculation unit 16b, and the search processing unit 17 constitute a power suppression unit.
Note that, in the present embodiment, it is assumed that another temperature raising operation is performed again in the situation where the value of the correction coefficient HS has converged according to the first embodiment as described above. It is preferable to combine the configuration of and the configuration of the first embodiment. In this case, it is needless to say that overlapping configurations with the same reference numerals in FIGS. 3 and 10 may be omitted. Specifically, the configuration of the power sum suppression control device 2 includes an allocated total power input unit 10, a temperature rise time estimation unit 11, a required output estimation unit 15, power consumption total calculation units 16 and 16b, search processing, and the like. Unit 17, total power actual value input unit 20, first correction coefficient update unit 21, second correction coefficient update unit 22, output upper limit correction unit 23, control unit 24-i, maximum output The hour power value correction unit 31 may be provided.

Hereinafter, the operation of the power sum suppression control device 2 of the present embodiment will be described. FIG. 11 is a flowchart showing the operation of the power sum suppression control device 2.
Since the process of the allocated total power input unit 10 (step S300 in FIG. 11) is the same as step S100 in FIG. 5, the description thereof is omitted.

When the set value SPi of each control loop Li is changed by the user of the heating device or the like and the temperature rise is started (YES in step S301), the maximum output power value correction unit 31 is at the maximum output time of each control loop Li. A maximum output power value CTmxi obtained by correcting the power value CTmi by the following equation is calculated for each control loop Li (step S302).
CTmxi = CTmi / HS (16)

  Process of control amount PVi change amount calculation unit 12 of temperature increase time estimation unit 11 (step S303), process of control amount PVi change rate calculation unit 13 of temperature increase time estimation unit 11 (step S304), temperature increase time estimation unit 11 Since the processing (steps S305 and S306) of the temperature increase time calculation unit 14 is the same as steps S102, S103, S104, and S105 of FIG. Moreover, since the process (step S307) of the required output estimation part 15 is the same as step S106 of FIG. 5, description is abbreviate | omitted.

  Next, the total used power calculation unit 16b calculates the total used power TW, which is the sum of the used power of each heater Hi, from the required output MUi of each control loop Li by the following equation (step S308).

Since the processing (steps S309 to S311) of the allocated total power determination unit 19 is the same as steps S108 to S110 in FIG.
Next, the control unit 24-i calculates the operation amount MVi of the control loop Li as follows. The process of the set value SPi input unit 25-i (step S312), the process of the control amount PVi input unit 26-i (step S313), and the process of the PID control calculation unit 27-i (step S314) are the steps of FIG. Since it is the same as S120, S121, and S122, description is abbreviate | omitted.

  The processing (step S315) of the output upper limit processing unit 28-i is the same as step S123 of FIG. 6, but in the present embodiment, in the situation where the value of the correction coefficient HS has converged according to the first embodiment, Since it is assumed that another temperature raising operation is performed again, the processes in steps S112 to S119 in FIG. 6 are not performed. Therefore, the output upper limit processing unit 28-i performs the upper limit process of the operation amount MVi by the above equation (13) based on the operation amount output upper limit value OHi set by the allocated total power determination unit 19 (step S315). .

The process (step S316) of the manipulated variable MVi output unit 29-i is the same as step S124 in FIG. Since the control unit 24-i is provided for each control loop Li, the processes in steps S312 to S316 are performed for each control loop Li.
The power sum suppression control device 2 performs the processes in steps S301 to S316 as described above at regular intervals until the control is terminated by a user instruction (YES in step S317), for example.
Thus, in this embodiment, it is possible to correct the deviation more stably than in the first embodiment.

  In the present embodiment, it is assumed that another temperature raising operation is performed again in the situation where the value of the correction coefficient HS has converged according to the first embodiment as described above. Therefore, in the first temperature raising operation, the processing in FIG. 5 and FIG. 6 may be performed without performing the processing in FIG. 11, and the temperature raising operation after the value of the correction coefficient HS has converged (for example, after the second time). 11), the process of FIG. 11 may be performed, and the processes of FIGS. 5 and 6 may not be performed.

[Fourth Embodiment]
In the first to third embodiments, the manipulated variable output upper limit value OHi, the allocated total power PW, and the maximum output power value CTmi are corrected based on the power amount. However, the present invention is not limited to this. You may make it correct | amend based on energy amount, such as usage-amount. That is, the scope of the present invention includes a form in which the physical quantity “power” used in the power sum suppression control device 2 of the first to third embodiments is replaced with “energy” or “power”.

  FIG. 12 shows the configuration of an energy sum suppression control device in which the physical quantity “power” used in the power sum suppression control device 2 of the first embodiment is replaced with “energy”. FIG. 12 shows the power sum suppression of the second embodiment. FIG. 13 shows the configuration of the energy sum suppression control device in which the physical quantity “power” used in the control device 2 is replaced with “energy”, and the physical quantity “power” used in the power sum suppression control device 2 of the third embodiment. FIG. 14 shows the configuration of the energy sum suppression control device in which is replaced with “energy”.

  The energy sum suppression control device of FIG. 12 includes a temperature rise time estimation unit 11, a required output estimation unit 15, an output upper limit correction unit 23, a control unit 24-i, an allocated total energy input unit 110, and energy used. The total calculation unit 116, the search processing unit 117, the total energy actual value input unit 120, the first correction coefficient update unit 121, and the second correction coefficient update unit 122 are configured. The search processing unit 117 includes a temperature increase time setting unit 18 and an allocated total energy determination unit 119. The necessary output estimation unit 15, the used energy total calculation unit 116, and the search processing unit 117 constitute an energy suppression unit. The configuration of the energy sum suppression control device shown in FIG. 12 corresponds to the configuration in which “electric power” is replaced with “energy” in the first embodiment, and thus detailed description thereof is omitted.

  The energy sum suppression control apparatus in FIG. 13 includes a temperature rise time estimation unit 11, a required output estimation unit 15, a control unit 24-i, an allocated total energy input unit 110, an allocated total energy correction unit 130, and used energy. The total calculation part 116 and the search process part 117a are comprised. The search processing unit 117a includes a temperature increase time setting unit 18a and an allocated total energy determination unit 119a. The required output estimation unit 15, the total use energy calculation unit 116, and the search processing unit 117a constitute an energy suppression unit. The configuration of the energy sum suppression control device shown in FIG. 13 corresponds to the configuration in which “electric power” is replaced with “energy” in the second embodiment, and thus detailed description thereof is omitted.

  The energy sum suppression control device in FIG. 14 includes a temperature rise time estimation unit 11, a required output estimation unit 15, a control unit 24-i, an allocated total energy input unit 110, a total use energy calculation unit 116b, and a search process. Part 117 and a maximum output energy value correction part 131. The required output estimation unit 15, the used energy total calculation unit 116b, and the search processing unit 117 constitute an energy suppression unit. The configuration of the energy sum suppression control device shown in FIG. 14 corresponds to the configuration in which “electric power” is replaced with “energy” in the third embodiment, and thus detailed description thereof is omitted.

  Note that the present invention is not limited to heating control, for example, cooling temperature control by a cooling device, environmental control by ventilation air volume (control of harmful substances VOC (Volatile Organic Compounas), bacteria, etc.), power sum suppression, energy sum suppression. Can also be applied.

  The power sum suppression control device and the energy sum suppression control device described in the first to fourth embodiments are realized by a computer having a CPU, a storage device, and an interface, and a program for controlling these hardware resources. be able to. The CPU executes the processes described in the first to fourth embodiments in accordance with a program stored in the storage device.

  The present invention can be applied to a control device and a control method of a multi-loop control system including a plurality of control loops.

  DESCRIPTION OF SYMBOLS 10 ... Allocation total electric power input part, 11 ... Temperature increase time estimation part, 12 ... Control amount PVi change amount calculation part, 13 ... Control amount PVi change rate calculation part, 14 ... Temperature increase time calculation part, 15 ... Necessary output estimation part , 16, 16b... Used power total calculation unit, 17, 17a, 117, 117a ... search processing unit, 18, 18a ... temperature increase time setting unit, 19, 19a ... assigned total power determination unit, 20 ... total power actual value input , 21, 121 ... first correction coefficient update unit, 22, 122 ... second correction coefficient update unit, 23 ... output upper limit correction unit, 24-i ... control unit, 25-i ... set value SPi input unit , 26-i ... control amount PVi input unit, 27-i ... PID control calculation unit, 28-i ... output upper limit processing unit, 29-i ... manipulated variable MVi output unit, 30 ... total allocated power correction unit, 31 ... maximum Output power value correction unit, 110 ... allocated total energy input unit 116,116B ... use energy sum computing unit, 119 ... total allocated energy determination unit, 120 ... total energy measured value input unit, 130 ... total allocated energy correction unit, 131 ... maximum output during energy value correcting unit.

Claims (10)

An allocated total energy input means for receiving information of allocated total energy that defines the energy usage of the control actuators of the plurality of control loops Li (i = 1 to n);
A control amount change time TLi is estimated when the operation amount MVi of each control loop Li is changed from a current value to a specific output value, and a control amount change time TL that is the maximum value of the control amount change times TLi is selected . Control amount change time estimation means;
A required output MUi, which is an operation amount required to change the control amount PVi of each control loop Li by the amount corresponding to the change of the set value SPi during the control amount change time TL , is estimated, and from this required output MUi The total amount of energy used, which is the sum of the energy used by each control actuator, is calculated, and the combination of the required outputs MUi that does not exceed the allocated total energy is searched while sequentially changing the control amount change time TL. Energy suppression means for setting the required output MUi finally obtained as the manipulated variable output upper limit value OHi of each control loop Li,
A total energy actual value acquisition means for acquiring a total energy actual value that is a sum of energy consumption values of each control loop Li;
In the output saturation state after the operation amount output upper limit value OHi is set, the correction coefficient is updated by a predetermined first ratio so that the total energy actual measurement value becomes smaller when the total energy actual measurement value is larger than the allocated total energy. First correction coefficient updating means for
In the output saturation state after the operation amount output upper limit value OHi is set, the correction coefficient is set to a predetermined second ratio so that the total energy actual value becomes large when the total energy actual value is smaller than the allocated total energy. Second correction coefficient updating means for updating;
The correction coefficient is set to any one of the manipulated variable output upper limit value OHi calculated by the energy suppression unit, the value of the allocated total energy used by the energy suppression unit, or the maximum output power consumption value used by the energy suppression unit. Correction means to multiply,
Provided for each control loop Li, the operation value MVi is calculated by control calculation with the set value SPi and the control amount PVi as inputs, and an upper limit process for limiting the operation amount MVi to the operation amount output upper limit value OHi or less is executed, And a control means for outputting the manipulated variable MVi after the upper limit process to the control actuator of the corresponding control loop Li. An allocated total power input means for receiving information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n);
A control amount change time TLi is estimated when the operation amount MVi of each control loop Li is changed from a current value to a specific output value, and a control amount change time TL that is the maximum value of the control amount change times TLi is selected . Control amount change time estimation means;
A required output MUi, which is an operation amount required to change the control amount PVi of each control loop Li by the amount corresponding to the change of the set value SPi during the control amount change time TL , is estimated, and from this required output MUi A combination of the required outputs MUi that calculates the total power consumption TW, which is the sum of the power consumption of each control actuator, and sequentially changes the control amount change time TL so that the total power consumption TW does not exceed the allocated total power PW. And a power suppression means for setting the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li,
A total power actual value acquisition means for acquiring a total power actual value PR that is the sum of the power consumption values of each control loop Li;
In the output saturation state after the operation amount output upper limit value OHi is set, the correction coefficient HS is set to a predetermined first value so that the total power actual value PR becomes smaller when the total power actual value PR is larger than the allocated total power PW. First correction coefficient updating means for updating the ratio of
In the output saturation state after the operation amount output upper limit value OHi is set, the correction coefficient HS is set to a predetermined value so that the total power actual value PR becomes large when the total power actual value PR is smaller than the allocated total power PW. Second correction coefficient updating means for updating by a ratio of 2,
The correction coefficient may be any one of the manipulated variable output upper limit value OHi calculated by the power suppression unit, the value of the allocated total power PW used by the power suppression unit, or the maximum output power value CTmi used by the power suppression unit. Correction means for multiplying HS;
Provided for each control loop Li, the operation value MVi is calculated by control calculation with the set value SPi and the control amount PVi as inputs, and an upper limit process for limiting the operation amount MVi to the operation amount output upper limit value OHi or less is executed, And a control means for outputting the manipulated variable MVi after the upper limit processing to the control actuator of the corresponding control loop Li. An allocated total power input means for receiving information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n);
Control amount change amount calculation means for calculating a change amount ΔPVi of the control amount PVi of each control loop Li from the set value SPi after change of each control loop Li and the control amount PVi before change of the set value;
Control amount change rate calculating means for calculating the change rate THi of the control amount PVi from the operation amount MVi before changing the set value of each control loop Li;
The temperature rise time TLi of each control loop Li when the manipulated variable MVi of each control loop Li is changed from the current value to a specific output value is estimated from the change amount ΔPVi and the change rate THi, and the temperature rise time TLi A temperature rising time calculating means for selecting a temperature rising time TL which is the maximum value of the above;
Necessary output estimation means for estimating a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL;
A used power total calculating means for calculating a used power total amount TW that is a sum of used power of each control actuator from the necessary output MUi and a known maximum output power value CTmi of each control loop Li;
The necessary output estimating means and the used power total calculating means are caused to execute processing while sequentially changing the temperature rise time TL, and the combination of the required outputs MUi in which the used power total amount TW does not exceed the allocated total power PW. Search processing means for searching and setting the finally obtained required output MUi as an operation amount output upper limit value OHi of each control loop Li;
A total power actual value acquisition means for acquiring a total power actual value PR that is the sum of the power consumption values of each control loop Li;
First correction coefficient updating means for updating the correction coefficient HS by a predetermined first ratio when the total power actual measurement value PR is larger than the allocated total power PW in the output saturation state after the start of temperature increase;
Second correction coefficient updating means for updating the correction coefficient HS by a predetermined second ratio when the total power actual measurement value PR is smaller than the allocated total power PW in the output saturation state after the start of temperature increase;
Output upper limit correction means for calculating an operation amount output upper limit value OHxi corrected by multiplying the operation amount output upper limit value OHi of each control loop Li by the correction coefficient HS;
Provided for each control loop Li, a set value SPi and a control amount PVi are input to calculate an operation amount MVi by a control calculation, and when the correction processing by the output upper limit correction means is not performed, the operation amount MVi is An upper limit process for limiting the manipulated variable output upper limit value OHi is performed, and when the correction process by the output upper limit value correcting means is performed, an upper limit process for limiting the manipulated variable MVi to the manipulated variable output upper limit value OHxi or less. And a control unit that executes and outputs the manipulated variable MVi after the upper limit process to the control actuator of the corresponding control loop Li. An allocated total power input means for receiving information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n);
A total allocated power correcting means for calculating a total allocated power PWx corrected by multiplying the total allocated power PW by a correction coefficient HS;
Control amount change amount calculation means for calculating a change amount ΔPVi of the control amount PVi of each control loop Li from the set value SPi after change of each control loop Li and the control amount PVi before change of the set value;
Control amount change rate calculating means for calculating the change rate THi of the control amount PVi from the operation amount MVi before changing the set value of each control loop Li;
The temperature rise time TLi of each control loop Li when the manipulated variable MVi of each control loop Li is changed from the current value to a specific output value is estimated from the change amount ΔPVi and the change rate THi, and the temperature rise time TLi A temperature rising time calculating means for selecting a temperature rising time TL which is the maximum value of the above;
Necessary output estimation means for estimating a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL;
A used power total calculating means for calculating a used power total amount TW that is a sum of used power of each control actuator from the necessary output MUi and a known maximum output power value CTmi of each control loop Li;
The required output estimating means and the used power total calculating means are caused to execute processing while sequentially changing the temperature increase time TL, and the combination of the required outputs MUi in which the used power total amount TW does not exceed the allocated total power PWx. Search processing means for searching and setting the finally obtained required output MUi as an operation amount output upper limit value OHi of each control loop Li;
Provided for each control loop Li, the operation value MVi is calculated by control calculation with the set value SPi and the control amount PVi as inputs, and an upper limit process for limiting the operation amount MVi to the operation amount output upper limit value OHi or less is executed, And a control means for outputting the manipulated variable MVi after the upper limit processing to the control actuator of the corresponding control loop Li. An allocated total power input means for receiving information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n);
Maximum output power value correction means for calculating a maximum output power value CTmxi corrected by multiplying the known maximum output power value CTmi of each control loop Li by a correction coefficient HS;
Control amount change amount calculation means for calculating a change amount ΔPVi of the control amount PVi of each control loop Li from the set value SPi after change of each control loop Li and the control amount PVi before change of the set value;
Control amount change rate calculating means for calculating the change rate THi of the control amount PVi from the operation amount MVi before changing the set value of each control loop Li;
The temperature rise time TLi of each control loop Li when the manipulated variable MVi of each control loop Li is changed from the current value to a specific output value is estimated from the change amount ΔPVi and the change rate THi, and the temperature rise time TLi A temperature rising time calculating means for selecting a temperature rising time TL which is the maximum value of the above;
Necessary output estimation means for estimating a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL;
A used power total calculating means for calculating a used power total amount TW that is a sum of used power of each control actuator from the required output MUi and the maximum output power value CTmxi;
The necessary output estimating means and the used power total calculating means are caused to execute processing while sequentially changing the temperature rise time TL, and the combination of the required outputs MUi in which the used power total amount TW does not exceed the allocated total power PW. Search processing means for searching and setting the finally obtained required output MUi as an operation amount output upper limit value OHi of each control loop Li;
Provided for each control loop Li, the operation value MVi is calculated by control calculation with the set value SPi and the control amount PVi as inputs, and an upper limit process for limiting the operation amount MVi to the operation amount output upper limit value OHi or less is executed, And a control means for outputting the manipulated variable MVi after the upper limit processing to the control actuator of the corresponding control loop Li. An allocated total energy input step of receiving information on allocated total energy that defines energy usage of control actuators of a plurality of control loops Li (i = 1 to n);
A control amount change time TLi is estimated when the operation amount MVi of each control loop Li is changed from a current value to a specific output value, and a control amount change time TL that is the maximum value of the control amount change times TLi is selected . A control amount change time estimation step;
A required output MUi, which is an operation amount required to change the control amount PVi of each control loop Li by the amount corresponding to the change of the set value SPi during the control amount change time TL , is estimated, and from this required output MUi The total amount of energy used, which is the sum of the energy used by each control actuator, is calculated, and the combination of the required outputs MUi that does not exceed the allocated total energy is searched while sequentially changing the control amount change time TL. An energy suppression step of setting the finally obtained required output MUi as the operation amount output upper limit value OHi of each control loop Li;
A total energy actual value acquisition step of acquiring a total energy actual value that is a sum of energy consumption values of each control loop Li;
In the output saturation state after the operation amount output upper limit value OHi is set, the correction coefficient is updated by a predetermined first ratio so that the total energy actual measurement value becomes smaller when the total energy actual measurement value is larger than the allocated total energy. A first correction coefficient updating step,
In the output saturation state after the operation amount output upper limit value OHi is set, the correction coefficient is set to a predetermined second ratio so that the total energy actual value becomes large when the total energy actual value is smaller than the allocated total energy. A second correction coefficient updating step for updating;
The correction coefficient is set to any one of the operation amount output upper limit value OHi calculated in the energy suppression step, the value of the allocated total energy used in the energy suppression step, or the maximum energy consumption value at the time of output used in the energy suppression step. A correction step to multiply,
An operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, an upper limit process is performed to limit the operation amount MVi to the operation amount output upper limit value OHi or less, and the operation amount MVi after the upper limit process is calculated. And a control step of outputting to the control actuator of the corresponding control loop Li. An allocated total power input step of receiving information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n);
A control amount change time TLi is estimated when the operation amount MVi of each control loop Li is changed from a current value to a specific output value, and a control amount change time TL that is the maximum value of the control amount change times TLi is selected . A control amount change time estimation step;
A required output MUi, which is an operation amount required to change the control amount PVi of each control loop Li by the amount corresponding to the change of the set value SPi during the control amount change time TL , is estimated, and from this required output MUi A combination of the required outputs MUi that calculates the total power consumption TW, which is the sum of the power consumption of each control actuator, and sequentially changes the control amount change time TL so that the total power consumption TW does not exceed the allocated total power PW. And a power suppression step of setting the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li;
A total power actual value acquisition step for acquiring a total power actual value PR that is the sum of the power consumption values of each control loop Li;
In the output saturation state after the operation amount output upper limit value OHi is set, the correction coefficient HS is set to a predetermined first value so that the total power actual value PR becomes smaller when the total power actual value PR is larger than the allocated total power PW. A first correction coefficient updating step for updating by a ratio of
In the output saturation state after the operation amount output upper limit value OHi is set, the correction coefficient HS is set to a predetermined value so that the total power actual value PR becomes large when the total power actual value PR is smaller than the allocated total power PW. A second correction coefficient updating step for updating by a ratio of 2,
The correction coefficient may be any one of the manipulated variable output upper limit value OHi calculated in the power suppression step, the value of the allocated total power PW used in the power suppression step, or the maximum output power value CTmi used in the power suppression step. A correction step for multiplying HS;
An operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, an upper limit process is performed to limit the operation amount MVi to the operation amount output upper limit value OHi or less, and the operation amount MVi after the upper limit process is calculated. And a control step of outputting to the control actuator of the corresponding control loop Li. An allocated total power input step of receiving information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n);
A control amount change amount calculation step of calculating a change amount ΔPVi of the control amount PVi of each control loop Li from the set value SPi after change of each control loop Li and the control amount PVi before change of the set value;
A control amount change rate calculating step for calculating a change rate THi of the control amount PVi from the operation amount MVi before changing the set value of each control loop Li;
The temperature rise time TLi of each control loop Li when the manipulated variable MVi of each control loop Li is changed from the current value to a specific output value is estimated from the change amount ΔPVi and the change rate THi, and the temperature rise time TLi A temperature rising time calculating step for selecting a temperature rising time TL which is the maximum value of the above;
A required output estimation step of estimating a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL;
A used power total calculating step of calculating a used power total amount TW that is a sum of used power of each control actuator from the necessary output MUi and a known maximum output power value CTmi of each control loop Li;
The necessary output estimation step and the total used power calculation step are executed while sequentially changing the temperature increase time TL, and the combination of the required outputs MUi in which the total used power amount TW does not exceed the allocated total power PW is searched. And a search processing step for setting the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li;
A total power actual value acquisition step for acquiring a total power actual value PR that is the sum of the power consumption values of each control loop Li;
A first correction coefficient updating step for updating the correction coefficient HS by a predetermined first ratio when the total power actual measurement value PR is larger than the allocated total power PW in the output saturation state after the start of temperature increase;
A second correction coefficient updating step for updating the correction coefficient HS by a predetermined second ratio when the total power actual measurement value PR is smaller than the allocated total power PW in the output saturation state after the start of temperature increase;
An output upper limit correction step for calculating an operation amount output upper limit value OHxi corrected by multiplying the operation amount output upper limit value OHi of each control loop Li by the correction coefficient HS;
An operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, and when the correction process by the output upper limit correction step is not performed, the operation amount MVi is made equal to or less than the operation amount output upper limit OHi. An upper limit process to be limited is executed, and when the correction process by the output upper limit correction step is performed, an upper limit process to limit the operation amount MVi to the operation amount output upper limit value OHxi or less is executed, And a control step of outputting the manipulated variable MVi to the control actuator of the corresponding control loop Li. An allocated total power input step of receiving information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n);
A total allocated power correction step of calculating a total allocated power PWx corrected by multiplying the total allocated power PW by a correction coefficient HS;
A control amount change amount calculation step of calculating a change amount ΔPVi of the control amount PVi of each control loop Li from the set value SPi after change of each control loop Li and the control amount PVi before change of the set value;
A control amount change rate calculating step for calculating a change rate THi of the control amount PVi from the operation amount MVi before changing the set value of each control loop Li;
The temperature rise time TLi of each control loop Li when the manipulated variable MVi of each control loop Li is changed from the current value to a specific output value is estimated from the change amount ΔPVi and the change rate THi, and the temperature rise time TLi A temperature rising time calculating step for selecting a temperature rising time TL which is the maximum value of the above;
A required output estimation step of estimating a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL;
A used power total calculating step of calculating a used power total amount TW that is a sum of used power of each control actuator from the necessary output MUi and a known maximum output power value CTmi of each control loop Li;
The required power estimation step and the total used power calculation step are executed while sequentially changing the temperature increase time TL, and a search is made for a combination of the required outputs MUi that does not exceed the total allocated power PWx. And a search processing step for setting the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li;
An operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, an upper limit process is performed to limit the operation amount MVi to the operation amount output upper limit value OHi or less, and the operation amount MVi after the upper limit process is calculated. And a control step of outputting to the control actuator of the corresponding control loop Li. An allocated total power input step of receiving information of an allocated total power PW that defines the power usage of control actuators of a plurality of control loops Li (i = 1 to n);
A maximum output power value correction step for calculating a maximum output power value CTmxi corrected by multiplying the known maximum output power value CTmi of each control loop Li by a correction coefficient HS;
A control amount change amount calculation step of calculating a change amount ΔPVi of the control amount PVi of each control loop Li from the set value SPi after change of each control loop Li and the control amount PVi before change of the set value;
A control amount change rate calculating step for calculating a change rate THi of the control amount PVi from the operation amount MVi before changing the set value of each control loop Li;
The temperature rise time TLi of each control loop Li when the manipulated variable MVi of each control loop Li is changed from the current value to a specific output value is estimated from the change amount ΔPVi and the change rate THi, and the temperature rise time TLi A temperature rising time calculating step for selecting a temperature rising time TL which is the maximum value of the above;
A required output estimation step of estimating a required output MUi that is an operation amount necessary to change the control amount PVi of each control loop Li by the change amount ΔPVi during the temperature increase time TL;
A used power total calculating step of calculating a used power total amount TW that is a sum of used power of each control actuator from the required output MUi and the maximum output power value CTmxi;
The necessary output estimation step and the total used power calculation step are executed while sequentially changing the temperature increase time TL, and the combination of the required outputs MUi in which the total used power amount TW does not exceed the allocated total power PW is searched. And a search processing step for setting the finally obtained required output MUi as the manipulated variable output upper limit value OHi of each control loop Li;
An operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, an upper limit process is performed to limit the operation amount MVi to the operation amount output upper limit value OHi or less, and the operation amount MVi after the upper limit process is calculated. And a control step of outputting to the control actuator of the corresponding control loop Li.