JP5965793B2 - Control apparatus and control method - Google Patents

Description

  The present invention relates to a control device and a control method for realizing hybrid control in which higher-order control such as advanced control and lower-order control such as PID control are combined.

  Conventionally, advanced control (for example, Advanced Process Control used in a large-scale plant) based on a technique such as multivariable model predictive control is known. Multivariable model predictive control is control for optimal operation and economic operation by modeling the relationship between multivariables such as control variables and manipulated variables, and giving mutual relationships such as constraint conditions and economic efficiency. . The upper side of such multivariable model predictive control (see Patent Document 1) or multipoint temperature equalization control (see Patent Document 2), the upper side of target value shaping control (see Patent Document 3), and the opening of a simulation base As a technique for realizing hybrid control of altitude control such as loop control (see Patent Document 4) and PID control, there is a technique of setting the output of the higher-level altitude control as the set value SP of the lower-level PID control. Conceivable.

  FIG. 8 is a block diagram showing the configuration of a hybrid control system combining altitude control and PID control. In many cases, the advanced control calculation unit 100 employs a multi-input algorithm that takes in a plurality of state observation values, and values to be maintained for state quantities such as temperature and pressure (target) through simulations and optimization calculations. Value). In order to maintain a single variable state quantity such as temperature and pressure at a target value, the PID control calculation unit 101 uses the target value calculated by the altitude control calculation unit 100 as a set value SP and sets the power regulator 102 and the valve. An operation amount MV that is an instruction value to the above is calculated.

  Therefore, even if the hardware of the high-level altitude control arithmetic unit 100 fails or the input value is not covered because of the multi-input system, the set value SP is maintained. Since the PID control continues, the state quantities such as temperature and pressure do not run out of control. That is, the control algorithm has a backup structure that compensates for abnormalities in advanced control with PID control.

  Further, if the advanced control is, for example, simulation-based open loop control, there is a possibility that the correction operation based on the state quantity observation value is insufficient. If such advanced control is combined with PID control as a lower-level control algorithm, a minimum correction operation is provided at the end, so that the safety of the entire control system is improved. Become. In other words, the control algorithm has a complementary relationship.

  The effective combination as described above is satisfied on the condition that the PID control enters a position for receiving the set value SP from the altitude control. In other words, unless the PID control can share the advanced control and the set value SP, the control algorithm backup structure and mutual complementarity will not be achieved.

Japanese Patent No. 3758862 Japanese Patent No. 4358673 Japanese Patent No. 4639821 JP-A-10-285804

It is theoretically possible to set the output on the altitude control side to the operation amount MV that is an instruction value to the power regulator or the valve. At this time, if the operation amount MV of the advanced control becomes the same variable as the operation amount MV of the PID control and overlaps, the single structure of the advanced control is unavoidable as shown in FIG.
In many cases, altitude control employs a multi-input algorithm that takes in a plurality of state observations, but the amount of computation is therefore large. And since advanced control with a large amount of computation (computation is intensive), the risk that the computation function is down cannot be ignored, so implementing the algorithm for advanced control alone is a risky instrumentation. It turns out that.

Further, when the altitude control is not control that feeds back the state quantity observation value, an error may occur between a target value (equivalent to the set value SP) such as temperature and pressure and an actual value (equivalent to the control amount PV). Becomes higher. This error cannot be absorbed when the altitude control algorithm is implemented alone.
Therefore, it is preferable to implement hybrid control that combines advanced control and PID control, but a method that combines advanced control and PID control has not been established in practice, and backup that compensates for abnormalities in advanced control with PID control. However, the error absorption technique that absorbs the error of this technique and the altitude control by the PID control has not been realized.

  The present invention has been made in order to solve the above-mentioned problems, and realizes hybrid control combining advanced control and feedback control such as PID, and provides backup technology and advanced control for compensating for abnormalities in advanced control by feedback control. An object of the present invention is to provide a control device and a control method capable of realizing an error absorption technique for absorbing an error by feedback control.

The control device according to the present invention includes a higher-level control calculation unit that calculates the operation amount MV1 from the set value SP by advanced control calculation, and an operation amount range that is defined in advance to the operation amount MV1 calculated by the higher-level control calculation unit. The operation amount converting means for calculating at least one of the operation amount lower limit value OL and the operation amount upper limit value OH, and the operation amount lower limit value OL and the operation amount upper limit value OH used in the lower limit processing are used as the operation amount. Upper / lower limit value setting means for changing to a value calculated by the conversion means, lower-order control calculation means for calculating the operation amount MV2 from the set value SP by feedback control calculation, and the operation amount calculated by this lower-order control calculation means Limit processing means for performing the limit processing for limiting MV2 to a value that is greater than or equal to the operation amount lower limit value OL and less than or equal to the operation amount upper limit value OH, and controls the operation amount MV2 that has been subjected to the limit process. A manipulated variable output means for outputting the target, when an abnormality occurs in the upper side control arithmetic unit, and the abnormality of notifying means for notifying that an abnormality has occurred, when an abnormality of the upper side control arithmetic unit has been eliminated And a normalization notification means for notifying that the abnormality has been resolved, and a minimum value allowed as the numerical value of the operation amount lower limit value OL used in the limit processing means when receiving the notification from the abnormality notification means. An upper / lower limit value changing means for setting and setting a maximum allowable value as a numerical value of the operation amount upper limit value OH used in the limit processing means, and stopping the processing of the upper / lower limit value setting means; and the normalization notifying means And an activation instructing unit that activates the processing of the upper and lower limit value setting unit when receiving a notification from the above .

Further, the control method of the present invention includes an upper control calculation step for calculating the operation amount MV1 from the set value SP by advanced control calculation, and an operation amount that is defined in advance in the operation amount MV1 calculated in the upper control calculation step. The operation amount conversion step for calculating at least one of the operation amount lower limit value OL and the operation amount upper limit value OH by giving a width, and the operation amount lower limit value OL and the operation amount upper limit value OH used in the lower limit processing are described above. Upper / lower limit value setting step for changing to the value calculated in the amount conversion step, lower level control calculation step for calculating the operation amount MV2 from the set value SP by feedback control calculation, and the operation amount MV2 calculated in this lower side control calculation step A limit processing step for performing the limit processing for limiting the operation amount to a value that is greater than or equal to the operation amount lower limit value OL and less than or equal to the operation amount upper limit value OH; A manipulated variable output step of outputting Tsu preparative process manipulated variable MV2 to the controlled object, when an abnormality occurs in the upper side control arithmetic unit for executing said upper side control arithmetic step, the abnormality notifying that an abnormality has occurred A normalization notification step for notifying that the abnormality has been resolved when the abnormality of the higher-level control calculation means is resolved, and the limit processing step when receiving the notification by the abnormality notification step Is set as the minimum value allowed as the numerical value of the operation amount lower limit value OL used in the above, and is set as the maximum value allowed as the numerical value of the operation amount upper limit value OH used in the limit processing step. When the upper / lower limit value changing step for stopping the processing and the notification by the normalization notification step are received, the processing of the upper / lower limit value setting step is performed. It is characterized in that including the activation instruction step of moving.

  According to the present invention, an operation for calculating at least one of the operation amount lower limit value OL and the operation amount upper limit value OH by giving a predetermined operation amount range to the operation amount MV1 calculated by the higher-level control calculation means. By providing the amount conversion means and the upper and lower limit value setting means for changing the operation amount lower limit value OL and the operation amount upper limit value OH used in the lower limit processing to the values calculated by the operation amount conversion means, Hybrid control combined with feedback control such as PID can be realized, backup technology to compensate for abnormalities in advanced control with feedback control, and error absorption technology to absorb errors in advanced control with feedback control it can. In the present invention, a commercially available controller such as a temperature controller can be used as the lower-level control calculation means, the limit processing means, and the operation amount output means.

  Further, in the present invention, when an abnormality occurs in the upper control calculation means, an abnormality notification means for notifying that an abnormality has occurred, and when receiving a notification from the abnormality notification means, the limit processing means Set the minimum allowable value as the numerical value of the operation amount lower limit value OL to be used, set the maximum allowable value as the numerical value of the operation amount upper limit value OH used in the limit processing means, and stop the processing of the upper and lower limit value setting means By providing the upper / lower limit value changing means, it is possible to prevent the backup function that compensates for the abnormality of the altitude control by feedback control from receiving unnecessary restrictions.

It is a block diagram which shows the structure of the control system which concerns on the reference example of this invention. It is a block diagram which shows the detailed structure of the control apparatus which concerns on the reference example of this invention. It is a flowchart explaining operation | movement of the control apparatus which concerns on the reference example of this invention. It is a figure explaining operation | movement of the control apparatus which concerns on the reference example of this invention. It is a block diagram which shows the detailed structure of the control apparatus which concerns on embodiment of this invention. It is a flowchart explaining operation | movement of the control apparatus which concerns on embodiment of this invention. It is a figure explaining operation | movement of the control apparatus which concerns on embodiment of this invention. It is a block diagram which shows the structure of the hybrid control system which combined altitude control and PID control. It is a block diagram which shows the structure of the control system of single advanced control.

[Principle of Invention 1]
The fact that an error absorption function is required for the type of advanced control that directly calculates the manipulated variable MV means that an implicit error range is substantially assumed for this manipulated variable MV. I focused on. And they came up with the following problem solving method.
A range that assumes an error range is considered in the operation amount MV of the advanced control. If this operation amount width is given to the PID control loop as the operation amount lower limit value OL and the operation amount upper limit value OH of the PID control loop, the PID control loop can absorb errors by feedback calculation. At this time, the same variable as the set value SP that should be set on the altitude control side may be assigned to the set value SP of the PID control loop. In addition, this causes the PID control loop to always operate, so that it also functions as a backup structure for when the advanced control becomes malfunctioning or invalid.

Furthermore, if the operation amount width (difference between the upper limit value OH and the lower limit value OL) is made close to zero, the operation amount MV can be brought closer to the state in which the operation amount MV is directly applied to the power regulator or the like from the altitude control side. . That is, adjustable hybrid control can be realized so that the influence ratio (domination rate) of the altitude control can be substantially adjusted by adjusting the operation amount range.
Since the operation amount lower limit value OL and the operation amount upper limit value OH are general parameters provided in a commercially available temperature controller or the like, a commercially available controller such as a temperature controller can be used as a PID control calculation unit. This is advantageous in terms of cost.

[Principle of Invention 2]
In principle 1 of the invention described above, if the manipulated variable range is always maintained at an appropriate range, it is possible to realize an appropriate backup that compensates for abnormalities in altitude control with PID control. However, if a malfunction occurs in the altitude control in a state where the operation amount range is close to zero in order to increase the influence ratio (control ratio) of the altitude control, the operation amount lower limit value OL and the operation amount upper limit value OH are not updated as they are. There is a problem that the variable range of the operation amount MV by PID control remains extremely narrow, and the function as a backup is restricted.

In order to solve this problem, the inventor is configured to notify the PID control side when a failure occurs in the high-level altitude control, and notifies that a failure has occurred in the altitude control. Then, it is conceived that the operation amount lower limit value OL and the operation amount upper limit value OH of the PID control are automatically changed to an allowable minimum value and a maximum value (for example, the lower limit value OL is 0% and the upper limit value OH is 100%). did. As a result, the PID control loop operates as a continuous operation on the lower side, and becomes an ideal distributed arrangement that is not subject to unnecessary restrictions as an emergency backup.
Not only the failure of advanced control but also the suspension of advanced control due to operator's operation (including erroneous operation), invalidation due to deviation from the normal range of the operation amount calculated by advanced control, etc. are similarly reported as abnormal. It is preferable to do this.

[ Reference example ]
Hereinafter, reference examples of the present invention will be described with reference to the drawings. This reference example corresponds to principle 1 of the invention described above. FIG. 1 is a block diagram showing a configuration of a control system according to this reference example . The control system of this reference example includes an advanced control calculation unit 1, a temperature controller 2, and a power regulator 3 such as an SSR (Solidstate Relay) or an SCR (Silicon Controlled Rectifier). In FIG. 1, the power regulator 3 is taken as an example of the control target that is the output destination of the operation amount MV, but the present invention is not limited to this, and a valve or the like may be the control target.

FIG. 2 is a block diagram showing a detailed configuration of the control device of this reference example . The control device of this reference example includes the altitude control calculation unit 1 and the temperature controller 2 shown in FIG.
The advanced control calculation unit 1 gives a specified operation amount range to the upper control calculation unit 10 that calculates the operation amount MV1 by, for example, advanced control calculation, and the operation amount MV1 calculated by the upper control calculation unit 10. The manipulated variable lower limit value OL and the manipulated variable upper limit value OH, and the manipulated variable lower limit value OL and the manipulated variable upper limit value OH obtained by the manipulated variable converted unit 11 are described later in the temperature controller 2. And an upper / lower limit value setting unit 12 set as a value used in the limit processing unit.

  The temperature controller 2 includes, for example, a lower-level control calculation unit 20 that calculates an operation amount MV2 by a feedback control calculation such as a PID control calculation, and an operation amount MV2 calculated by the lower-level control calculation unit 20 greater than or equal to an operation amount lower limit value OL. The limit processing unit 21 performs a limit process for limiting the operation amount to a value equal to or less than the operation amount upper limit value OH, and the operation amount output unit 22 outputs the operation amount MV2 subjected to the limit process to a control target.

Next, the operation of the control device of this reference example will be described with reference to FIG. In this reference example , in order to simplify the description, the control arithmetic expression of the upper control arithmetic unit 10 is a simple first-order polynomial of multiple inputs and one output. Further, the furnace temperature is set as a state quantity to be controlled. That is, a heater (not shown) for heating the furnace is connected to the power regulator 3 in FIG. 1, and the power regulator 3 supplies power to the heater according to the operation amount MV2 output from the temperature controller 2. Adjust.

The higher-level control calculation unit 10 calculates an operation amount MV1 that is assumed to be output to the power regulator 3 by the following control calculation formula (step S1 in FIG. 3).
MV1 = ASP + BX1 + CX2 + DX3 (1)
In Equation (1), SP is a set value for the temperature in the furnace to be controlled, which is set by the operator of the control device, and X1 is a first state quantity (for example, furnace pressure) to be considered in order to determine the manipulated variable MV1. (Measured value), X2 is a second state quantity (for example, a furnace humidity measurement value) to be considered for determining the manipulated variable MV1, and X3 is a third state quantity (to be considered for determining the manipulated variable MV1) For example, outside ambient temperature measurement values), A, B, C, and D are first-order polynomial coefficients defined in advance.

Subsequently, the operation amount conversion unit 11 adds or subtracts a predetermined operation amount range to the operation amount MV1 calculated by the higher-order side control calculation unit 10 to obtain the operation amount lower limit value OL and the operation amount of the temperature controller 2. The upper limit value OH is calculated as follows (step S2 in FIG. 3).
OL = MV1-αL (2)
OH = MV1 + αH (3)
In Expressions (2) and (3), αL is a predetermined operation amount width for a lower limit value, and αH is an operation amount width for a predetermined upper limit value. The operation amount widths αL and αH may be the same value or different values.

  The upper / lower limit setting unit 12 sets the operation amount lower limit value OL and the operation amount upper limit value OH obtained by the operation amount conversion unit 11 to the limit processing unit 21 of the temperature controller 2 through a communication function or the like. (FIG. 3, step S3).

Next, the lower-level control calculation unit 20 calculates the manipulated variable MV2 by the PID control calculation as in the following transfer function equation (step S4 in FIG. 3).
MV2 = (100 / Pb) {1+ (1 / Tis) + Tds} (SP-PV)
... (4)
In Expression (4), SP is a set value for the furnace temperature to be controlled, and is the same as the value used by the upper control calculation unit 10. PV is a furnace temperature measurement value (control amount) to be controlled, which is measured by a temperature sensor (not shown), Pb is a predefined proportional band, Ti is a predefined integration time, Td is a predefined differential time, s is a Laplace operator.

Subsequently, the limit processing unit 21 performs upper / lower limit processing for limiting the operation amount MV2 calculated by the lower-level control calculation unit 20 to a value that is greater than or equal to the operation amount lower limit value OL and less than or equal to the operation amount upper limit value OH (FIG. 3). Step S5).
IF MV2 <OL THEN MV2 = OL (5)
IF MV2> OH THEN MV2 = OH (6)
That is, the limit processing unit 21 sets the operation amount MV2 = OL when the operation amount MV2 is smaller than the operation amount lower limit value OL, and sets the operation amount MV2 = OH when the operation amount MV2 is larger than the operation amount upper limit value OH.

Then, the operation amount output unit 22 outputs the operation amount MV2 subjected to limit processing by the limit processing unit 21 to the power regulator 3 to be controlled (step S6 in FIG. 3).
The processes in steps S1 to S6 as described above are repeatedly executed for each control cycle until the control is terminated by, for example, an instruction from the operator (YES in step S7 in FIG. 3).

  In the configuration of the control system shown in FIGS. 1 and 2, the manipulated variable MV1 calculated by the higher-level control arithmetic unit 10 is determined with reference to a multi-input condition value. It is effective to realize efficient control for the system. However, since the manipulated variable MV1 is uniquely calculated by a predetermined mathematical formula, it does not act to correct a control error caused by a condition change. That is, the value of the operation amount for realizing accurate control exists around the operation amount MV1.

  The PID control calculation by the temperature controller 2 acts to search for the operation amount MV2 in the range of MV1−αL to MV1 + αH based on the operation amount lower limit value OL and the operation amount upper limit value OH. Since the range of the manipulated variable MV2 is limited, feedback control by the PID control loop is performed in a state where the risk that the manipulated variable MV2 diverges is reduced for complex multivariable systems and nonlinear systems.

  When the values of the operation amount ranges αL and αH are set to zero, MV2 = OL = OH = MV1 is established, and the PID control calculation of the temperature controller 2 does not correct the operation amount MV1 calculated by the upper control calculation unit 10 at all. It will be. That is, the influence ratio (control ratio) on the upper side can be adjusted to 100%. Even if such an adjustment is made, since the PID control calculation is always continued, the backup function and the upper side error for compensating the higher-side abnormality by the PID control calculation only by increasing the values of the operation amount widths αL and αH. It is possible to realize an error absorbing function that absorbs the error by PID control calculation.

4A and 4B are diagrams for explaining the operation of the control device of this reference example . FIG. 4A shows an operation amount lower limit value OL and an operation amount upper limit value that accompany changes in the operation amount MV1. FIG. 4B is a diagram illustrating a change in the operation amount MV2 restricted by the operation amount lower limit value OL and the operation amount upper limit value OH. In FIG. 4A, the manipulated variable MV1 increases linearly from 8% to 92% over time, and the manipulated variable lower limit value OL is increased from 0% to 84% based on the setting αL = αH = 8%. An example is shown in which the operating amount upper limit OH increases linearly from 16% to 100%.

  FIG. 4 (B) shows that the manipulated variable lower limit value OL increases linearly from 0% to 84% and the manipulated variable upper limit value OH increases linearly from 16% to 100% as time elapses. An example is shown in which the manipulated variable MV2 is calculated within the range of the amount upper limit value OH. In this way, the global operation amount change is given by the higher-level altitude control, and the adjustment (change) of the operation amount to the extent of error absorption is always continued by the lower-side PID control.

Thus, in this reference example , hybrid control combining advanced control and PID control can be realized, and backup technology that compensates for abnormalities in advanced control with PID control and error absorption that absorbs errors in advanced control with PID control. Technology can be realized.

[ Embodiment ]
Next, an embodiment of the present invention will be described. This embodiment corresponds to Principle 2 of the invention described above. Also in the present embodiment, the configuration of the control system is as shown in FIG. FIG. 5 is a block diagram showing a detailed configuration of the control device of the present embodiment.

The altitude control calculation unit 1 of the present embodiment has an abnormality (failure, stop, invalidation) in the upper control calculation unit 10, the operation amount conversion unit 11, the upper / lower limit value setting unit 12, and the upper control calculation unit 10. ) Occurs, an abnormality notifying unit 13 for notifying that an abnormality has occurred, and a normalization notifying unit 14 for notifying that the abnormality has been resolved when the abnormality of the higher-level control arithmetic unit 10 is resolved, When the notification from the abnormality notification unit 13 is received, a minimum value (for example, 0%) allowed as the numerical value of the operation amount lower limit value OL of the limit processing unit 21 is set, and the numerical value of the operation amount upper limit value OH is set. When the maximum allowable value (for example, 100%) is set and the upper / lower limit value changing unit 15 for stopping the processing of the upper / lower limit value setting unit 12 and the notification from the normalization notification unit 14 are received, An activation instructing unit 16 that activates the processing of the value setting unit 12; A. The configuration of the temperature controller 2 is the same as in the reference example .

Next, the operation of the control device of the present embodiment will be described with reference to FIG. Also in the present embodiment, the furnace temperature is set as a state quantity to be controlled.
Since the processing of steps S1 to S7 is a normal repetitive processing and is as described in the reference example , the description thereof is omitted.

  Next, processing when an abnormality occurs will be described. The abnormality notifying unit 13 determines whether the calculation (update) of the operation amount MV1 by the higher-level control calculation unit 10 has stopped after a predetermined time, or the operation amount MV1 deviates from a predetermined normal range. If it is determined that an abnormality has occurred in the upper control calculation unit 10 (YES in step S8 in FIG. 6), the upper / lower limit value changing unit 15 is notified that an abnormality has occurred (step S9 in FIG. 6).

  When receiving the notification from the abnormality notifying unit 13, the upper / lower limit changing unit 15 sets a minimum value (for example, 0%) allowed as the numerical value of the operation amount lower limit value OL of the limit processing unit 21, and operates the operation. A maximum value (for example, 100%) allowed as a numerical value of the amount upper limit value OH is set (step S10 in FIG. 6). Furthermore, the upper / lower limit value changing unit 15 stops the processing of the upper / lower limit value setting unit 12 when receiving the notification from the abnormality notifying unit 13 (step S11 in FIG. 6).

Since the processes of steps S12, S13, and S14 in FIG. 6 are the same as the processes of steps S4, S5, and S6, respectively, description thereof is omitted.
The processes in steps S9 to S14 as described above are repeatedly executed for each control period until the abnormality of the higher-level control calculation unit 10 is resolved (YES in step S15 in FIG. 6).

  Next, the process at the time of abnormality elimination is demonstrated. The normalization notification unit 14 is in a state in which the operation amount MV1 is calculated (updated) by the higher-level control calculation unit 10 at intervals within a predetermined time after the abnormality notification unit 13 determines that an abnormality has occurred. And the operation amount MV1 shifts to a state where it does not deviate from the predetermined normal range, it is determined that the abnormality of the higher-order control calculation unit 10 has been resolved (YES in step S15 in FIG. 6). Is notified to the activation instructing unit 16 (step S16 in FIG. 6).

When receiving the notification from the normalization notification unit 14, the activation instruction unit 16 activates the processing of the upper and lower limit value setting unit 12 (step S17 in FIG. 6). Then, the process returns to step S1. The processing in steps S1 to S7 is as described in the reference example .

  FIGS. 7A and 7B are diagrams for explaining the operation of the control device of the present embodiment. FIG. 7A shows an operation amount lower limit value OL and an operation amount upper limit value that accompany the abnormality of the operation amount MV1. FIG. 7B is a diagram illustrating a change in the value OH, and FIG. 7B is a diagram illustrating a change in the operation amount MV2 that is constrained by the operation amount lower limit value OL and the operation amount upper limit value OH in a normal state and that is not subject to unnecessary restrictions in an abnormal state.

In FIG. 7A, the abnormality notification unit 13 determines that an abnormality has occurred due to the update of the operation amount MV1 being stopped after a specified time, and the operation amount lower limit value OL is changed to 0%, and the operation amount upper limit value is changed. An example is shown in which the value OH is changed to 100%. FIG. 7B shows a case where the operation amount MV2 is calculated within the range between the operation amount lower limit value OL and the operation amount upper limit value OH when normal, and the operation amount MV2 is calculated without any unnecessary restrictions when an abnormality occurs. It is shown.
In this way, in this embodiment, it is possible to prevent the backup function that compensates for the abnormality of the advanced control with the PID control from receiving unnecessary restrictions.

In the reference example and the embodiment , the operation amount conversion unit 11 calculates both the operation amount lower limit value OL and the operation amount upper limit value OH, and changes the value used in the limit processing unit 21. The operation amount conversion unit 11 may calculate only one of the operation amount lower limit value OL and the operation amount upper limit value OH. In this case, the upper / lower limit setting unit 12 does not change the value that is not calculated by the operation amount conversion unit 11 among the operation amount lower limit value OL and the operation amount upper limit value OH that are used in the limit processing unit 21, Only the value calculated by the operation amount conversion unit 11 is changed.

The control device described in the reference examples and the embodiments can be realized by a computer including a CPU, a storage device, and an interface, and a program that controls these hardware resources. The CPU executes the processing described in the reference example and the embodiment in accordance with a program stored in the storage device.

  The present invention can be applied to hybrid control in which higher-order control such as advanced control and lower-order control such as PID control are combined.

  DESCRIPTION OF SYMBOLS 1 ... Altitude control calculating part, 2 ... Temperature controller, 3 ... Electric power regulator, 10 ... High-order side control calculating part, 11 ... Operation amount conversion part, 12 ... Upper / lower limit value setting part, 13 ... Abnormalization notification part, 14 ... normalization notification part, 15 ... upper and lower limit value changing part, 16 ... start instruction part, 20 ... lower side control calculation part, 21 ... limit processing part, 22 ... manipulated variable output part.

Claims (2)

Upper control calculation means for calculating the operation amount MV1 from the set value SP by altitude control calculation;
An operation amount conversion means for calculating at least one of the operation amount lower limit value OL and the operation amount upper limit value OH by giving a predetermined operation amount range to the operation amount MV1 calculated by the higher-level control calculation means;
Upper and lower limit value setting means for changing the operation amount lower limit value OL and the operation amount upper limit value OH used in the lower limit processing to the values calculated by the operation amount conversion means;
Low-order side control calculation means for calculating the operation amount MV2 from the set value SP by feedback control calculation;
Limit processing means for performing the limit processing for limiting the operation amount MV2 calculated by the lower-level control calculation means to a value not less than the operation amount lower limit value OL and not more than the operation amount upper limit value OH;
An operation amount output means for outputting the operation amount MV2 subjected to the limit process to a control target ;
An abnormality notification means for notifying that an abnormality has occurred when an abnormality has occurred in the higher-level control calculation means;
Normalization notifying means for notifying that the abnormality has been resolved when the abnormality of the higher-level control calculation means has been resolved;
When receiving a notification from the abnormality notifying means, a minimum allowable value is set as a numerical value of the manipulated variable lower limit value OL used in the limit processing means, and a numerical value of the manipulated variable upper limit value OH used in the limit processing means Upper and lower limit value changing means for stopping the processing of the upper and lower limit value setting means,
A control apparatus comprising: an activation instructing unit that activates processing of the upper and lower limit value setting unit when receiving a notification from the normalization notifying unit . A high-order side control calculation step for calculating the manipulated variable MV1 from the set value SP by an altitude control calculation;
An operation amount conversion step for calculating at least one of the operation amount lower limit value OL and the operation amount upper limit value OH by giving a predetermined operation amount range to the operation amount MV1 calculated in the upper control calculation step;
Upper / lower limit value setting step for changing the manipulated variable lower limit value OL and manipulated variable upper limit value OH used in the lower limit processing to the values calculated in the manipulated variable conversion step;
A lower-level control calculation step of calculating the manipulated variable MV2 from the set value SP by feedback control calculation;
A limit processing step for performing the limit processing for limiting the manipulated variable MV2 calculated in the lower control calculation step to a value not less than the manipulated variable lower limit value OL and not more than the manipulated variable upper limit value OH;
An operation amount output step for outputting the limit-processed operation amount MV2 to the control target ;
An abnormality notification step for notifying that an abnormality has occurred when an abnormality has occurred in the upper control calculation means for executing the upper control calculation step;
A normalization notification step of notifying that the abnormality has been resolved when the abnormality of the higher-level control calculation means is resolved;
When the notification in the abnormality notification step is received, a minimum value allowed as the numerical value of the operation amount lower limit value OL used in the limit processing step is set, and the numerical value of the operation amount upper limit value OH used in the limit processing step is set. An upper and lower limit value changing step for setting an allowable maximum value and stopping the processing of the upper and lower limit value setting step;
And a starting instruction step for starting the processing of the upper and lower limit value setting step when receiving the notification in the normalization notifying step .

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