JP6280309B2 - Cooperative operation apparatus and method - Google Patents

Description

  The present invention is a multi-loop in which there are a plurality of main control systems for the main purpose of control, and only one sub-control system for adjusting an equilibrium point, which is a desired manipulated variable output in the main control settling state. The present invention relates to a cooperative operation apparatus and method capable of realizing energy saving in a control system.

  In a process control system for controlling a process quantity such as temperature and pressure, for example, if the temperature is a control target, one heater, a temperature sensor, and a temperature controller are used for each control quantity PV. The basic combination is one actuator.

  On the other hand, a method of controlling the temperature by cooperatively operating two actuators called a heating actuator (heater) and a cooling actuator (cooler) has been proposed (see Patent Document 1). FIG. 7 is a diagram showing an example in which the control device disclosed in Patent Document 1 is applied to temperature control of a heat treatment furnace, and FIG. 8 is a block diagram showing the configuration of the control device disclosed in Patent Document 1. In the heat treatment furnace 100, air heated by the heater 101 and cooled by the cooler 102 is circulated.

  The controller 104 calculates the operation amount MV_A for heating by PID control calculation based on the control amount (temperature measurement value) PV_A measured by the temperature sensor 103 in the heat treatment furnace 100 and the set value SP_A. The controller 105 employs a desirable value of the heating operation amount MV_A of the controller 104 as the set value SP_B, employs the heating operation amount MV_A of the controller 104 as the control amount, and calculates the cooling operation amount MV_B by PID control calculation. To do.

  According to the technique disclosed in Patent Document 1, it is possible not only to control the temperature but also to reduce the offset between heating and cooling to improve energy efficiency. The feature of the technique disclosed in Patent Document 1 is to adjust while constantly monitoring the heater output (operation amount MV_A) by focusing on the equilibrium point between the heater output and the cooler output, which is a factor affecting energy efficiency. This is the addition of a control loop.

Japanese Patent No. 3805957

  The technique disclosed in Patent Document 1 is a control technique based on a combination of one heating system (one heating actuator) and one cooling system (one cooling actuator). However, the number of actuators that affect energy efficiency is not necessarily two. For example, as shown in FIG. 9, there are a plurality of zones 106-1 to 106-4 to be heated in the heat treatment furnace 100, and heaters 101-1 to 101-4 are provided for each of the zones 106-1 to 106-4. In addition, there may be a case where one cooler 102 for cooling the air in the heat treatment furnace 100 is provided, that is, a combination of one cooling system and a plurality of heating systems.

  The configuration shown in FIG. 9 is a configuration that can be achieved without any problem unless energy efficiency is taken into consideration because a plurality of control amounts (temperatures) can be controlled if there are a plurality of normal control systems for the purpose of heating. In addition, this configuration is rather a reasonable configuration in terms of the manufacturing cost of the manufacturing apparatus. In this way, the main control system for the main purpose of control has a plurality of systems, and the sub-control system for adjusting the equilibrium point, which is a desired operation amount output in the main control settling state, has only one system. On the other hand, the technique disclosed in Patent Document 1 cannot be applied.

  The present invention has been made in order to solve the above-described problems. The main control system has a plurality of systems, and there is one sub-control system for adjusting an equilibrium point which is a desired operation amount output in the settling state of the main control. An object of the present invention is to provide a cooperative operation apparatus and method capable of realizing energy saving in a multi-loop control system of only a system.

The cooperative operation device according to the present invention is provided corresponding to a plurality of main control systems, and receives a set value of main control and a control amount of main control as inputs, and calculates a plurality of first operations by a control calculation. And a plurality of first operation units that are provided for each main control system and that output the first operation amount calculated by the first control calculation unit of the corresponding main control system to the corresponding main control system actuator. Manipulated variable output means, variable generating means for generating the same or different manipulated variable variables from the plurality of first manipulated variables calculated by the plurality of first control computing means, and the manipulated variable system It is provided for each variable, and calculates the difference between the manipulated variable system variable and a predetermined manipulated variable system setting value indicating an equilibrium point, which is a desired value in the settling state of the manipulated variable system variable. Multiple operation amount calculations to calculate the second manipulated variable And a plurality of second manipulated variables calculated by the plurality of manipulated variable calculating means and combining the plurality of second manipulated variables to output a third manipulated variable. Combining means and one sub-control system for operating so as to maintain the equilibrium point are provided, and a third operation amount output from the combining means is used as a control amount input to obtain a first by control calculation. And a second operation amount output means for outputting the fourth operation amount calculated by the second control operation means to the sub-control system actuator. The main control system actuator is a damper for adjusting a supply air amount in a central air conditioning system, and the sub control system actuator is an air conditioner for adjusting a supply air temperature in a central air conditioning system, The first operation amount is an air supply air amount, the sum of the first operation amounts is a total air amount, and the operation amount system variable includes at least a part of the first operation amount and the first operation amount. And the sum of the manipulated variables .

In addition, one configuration example of the cooperative operation device according to the present invention further includes an alignment unit that rearranges the plurality of second operation amounts calculated by the plurality of operation amount calculation units in ascending order or in descending order. Is characterized in that the plurality of second operation amounts are synthesized by performing a weighting operation on the plurality of second operation amounts rearranged by the aligning means.
Moreover, in one configuration example of the cooperative operation device according to the present invention, the manipulated variable system variable includes at least a part of the first manipulated variable and a total sum of the first manipulated variable.
In the configuration example of the cooperative operation device according to the present invention, the manipulated variable system variable further includes an amount obtained by adding a part of the first manipulated variable .

The coordinated operation method of the present invention includes a first control calculation step for calculating a first operation amount for each main control system by a control calculation using a set value of the main control and a control amount of the main control as inputs. A first manipulated variable output step for outputting a plurality of first manipulated variables calculated in one control computation step to the corresponding main control system actuator, and a plurality of first manipulated variables computed in the first control computation step. A variable generation step for generating the same or different manipulated variable variables from the manipulated variable, the manipulated variable generated in the variable generation step, and an equilibrium point that is a desired value in the settling state of the manipulated variable An operation amount calculation step of calculating a second operation amount normalized by a predetermined coefficient for each operation amount system variable, and calculating the difference from a predetermined operation amount system setting value indicating Multiple calculated A combination step of combining the plurality of second operation amounts by performing a weighting operation on the second operation amount to obtain a third operation amount; and a third operation amount obtained in the combining step. As the control amount input, the second control calculation step for calculating the fourth operation amount by the control calculation and the fourth operation amount calculated in the second control calculation step are operated so as to maintain the equilibrium point. look including a second manipulated variable output step of outputting one of the sub-control system of the actuator for the actuator of the main control system is a damper for adjusting the supply air flow rate in a central air conditioning system, said sub-control The actuator of the system is an air conditioner that adjusts the supply air temperature in a central air conditioning system, the first operation amount is the supply air amount, and the sum of the first operation amounts is the total air amount, The amount based variables are those comprising at least part of the first operation amount, a sum of the first manipulated variable.

  According to the present invention, an operation amount system variable that is a variable to be adjusted related to an operation amount is generated from a plurality of first operation amounts calculated by the first control calculation means, and the operation amount system variable and a desired equilibrium point are generated. By calculating the second manipulated variable, which is a value obtained by normalizing the difference from the manipulated variable system setting value indicating the difference between the equilibrium points, the second manipulated variable is synthesized, and the second manipulated variable is synthesized. By calculating the fourth operation amount based on the third operation amount and outputting it to the sub-control system actuator, the equilibrium point can be adjusted to a desired value. Therefore, if the first manipulated variable of each main control system is set as a part of the manipulated variable system variable, energy saving can be achieved in a multi-loop control system in which the main control system has a plurality of systems and the sub-control system has only one system. Can be realized. At the same time, if a total manipulated variable, which is the sum of the first manipulated variables, is set as a part of the manipulated variable, the equilibrium point adjustment including the total manipulated variable can be realized, which is desirable for each main control system. The present invention can be applied to a system in which a second equilibrium point such as the total manipulated variable exists separately from the first equilibrium point that is the manipulated variable output. Further, the present invention is not limited to a common first equilibrium point that is a desired manipulated variable output of each main control system, but can be applied to a multi-loop control system in which these first equilibrium points are different. it can.

It is a block diagram which shows the structure of the cooperative operation apparatus which concerns on the reference example of this invention. It is a block diagram of the control system which concerns on the reference example of this invention. It is a flowchart which shows operation | movement of the cooperative operation apparatus which concerns on the reference example of this invention. It is a block diagram which shows the structure of the central air conditioning system which concerns on embodiment of this invention. It is a figure which shows the operation example of the cooperative operation apparatus of a prior application. It is a figure which shows the operation example of the cooperative operation apparatus which concerns on embodiment of this invention. It is a figure which shows the example which applied the conventional control apparatus to the temperature control of a heat processing furnace. It is a block diagram which shows the structure of the conventional control apparatus. It is a figure which shows the combination of heating multiple systems and 1 cooling system.

[Principle of the Invention]
Assuming an object in which the equilibrium points to be adjusted are not necessarily shared by multiple main control systems, first sort out the differences between the equilibrium points in the multiple main control systems, and then The basic principle is to combine the organizing operation amount obtained by the processing of organizing the difference by the selector and then apply the processing (adjustment of the operation amount) disclosed in Patent Document 1. According to this basic principle, only the difference between the equilibrium points in the plurality of main control systems is targeted for rearrangement in the forefront stage, so that the total calculation amount can be prevented from increasing more than necessary. According to the basic principle, by providing a selector that selects a sort operation amount with high priority in the equilibrium point condition, a sort operation amount selection method / combination method that is a substantial manipulated variable from a stable main control system is provided. As it becomes operation to decide, it is easy to handle. And if it can respond to a thing with high priority, it will become a multiloop control system application method with a high practical value.

  Based on the basic principle as described above, the inventor has a plurality of main control systems, and only one sub-control system for adjusting an equilibrium point, which is a desired manipulated variable output in the main control settling state. A cooperative operation apparatus and method that can realize energy saving in a multi-loop control system have been proposed (Japanese Patent Application No. 2013-020129). In the central air conditioning system described as an application example of the cooperative operation device in Japanese Patent Application No. 2013-020129, a plurality of supply air volume control systems that are main control systems for indoor temperature control in a plurality of zones, and a plurality of main control systems It has a supply air temperature control system, which is a sub-control system for adjusting the equilibrium point, and the difference between the operation amount (supply air volume) of each main control system and the operation amount set value indicating the desired equilibrium point By calculating a certain sort operation amount for each main control system, the difference between the equilibrium points in each main control system is sorted out, and the sort operation amount is synthesized by a selector. By applying the disclosed processing, the equilibrium point is adjusted to a desired value.

In the cooperative operation device proposed in Japanese Patent Application No. 2013-020129, only a plurality of main control systems are targets for multi-processing. In other words, the design premise is to handle only homogeneous main control systems that only need to sort out the differences between the equilibrium points.
However, in the central air conditioning system, the restriction on the supply air volume is not limited to the individual main control system, and further diversification is required. For example, not only the operation amount (supply air flow) of each main control system is individually adjusted to a desired value, but also an equilibrium point different from the operation amount of each main control system, specifically, It is required to adjust the total operation amount (total air amount), which is the sum of the individual operation amounts (supply air amount), to a desired value.

In this way, for a system in which an equilibrium point such as the total manipulated variable exists separately from the equilibrium point that is the desired manipulated variable output of each main control system, the cooperative operation device proposed in Japanese Patent Application No. 2013-020129 is used. It cannot be applied.
In the present invention, in order to realize a cooperative operation apparatus and method applicable to such a system, a balance point including the total operation amount (total air volume) is also obtained by incorporating the total operation amount (total air volume) into the selector. Allow adjustments.

  However, the cooperative operation device proposed in Japanese Patent Application No. 2013-020129 can handle only devices that only need to sort out the difference between the equilibrium points. A second equilibrium point (total air volume setting value) that is a desirable value of the total manipulated variable (total air volume) is a first equilibrium point (air volume setting) that is a desirable value of the manipulated variable (supply air volume) of each main control system. The total air volume setting value and the air volume setting value are handled fairly fairly by the selector simply by organizing the difference between the second equilibrium point and the first equilibrium point. It becomes difficult to say that it is.

  Accordingly, the inventor has conceived that the numerical value related to the total manipulated variable is subjected to magnification conversion in order to match the numerical range that the total manipulated variable can take with the numerical range that the manipulated variable can take. For this magnification conversion, a total manipulated variable set value (total air volume set value) may be used, or an arbitrary coefficient may be used. As a more versatile and easy-to-use configuration, calculate the differences from the corresponding set values for all the adjustment target values related to the manipulated variable, and then normalize by dividing the difference by the set value. Is preferred.

[ Reference example ]
Hereinafter, reference examples of the present invention will be described with reference to the drawings. This reference example is an example realized as a more general-purpose and easy-to-handle configuration. Figure 1 is a block diagram showing the configuration of a cooperative operation device is the control device according to the present embodiment, FIG. 2 is a block diagram of a control system according to the present embodiment. The cooperative operation apparatus is configured such that n (n is an integer of 2 or more) main control units 1-1 to 1-n, an operation amount expansion unit 2, and m generated by the operation amount expansion unit 2 (m is 2 or more). It is composed of m normalization units 3-1 to 3 -m provided for every (integer) variables, a selector 4, and an operation amount adjustment control unit 5.

  Each main control unit 1-i (i = 1 to n) has a set value input unit 10-i that inputs a set value SP_Ai, a control amount input unit 11-i that inputs a control amount PV_Ai, and a set value SP_Ai. And a control calculation unit 12-i (first control calculation means) that calculates an operation amount MV_Ai (first operation amount) based on the control amount PV_Ai, and outputs the operation amount MV_Ai to the corresponding main control system actuator. And an operation amount output unit 13-i (first operation amount output means).

  The operation amount expansion unit 2 generates an operation amount system variable MV_Cj (j = 1 to m) from the operation amount acquisition unit 20-i provided for each main control unit 1-i and the operation amount MV_Ai. A quantity system variable generation unit 21 (variable generation means) and an operation quantity system output unit 22-j that outputs an operation quantity system variable MV_Cj are provided.

  Each normalizing unit 3-j (j = 1 to m) inputs an operation amount system setting value SP_Cj indicating an equilibrium point, which is a desirable value in the set state of the operation amount system variable MV_Cj. Unit 30-j, manipulated variable system variable acquisition unit 31-j for obtaining manipulated variable system variable MV_Cj, difference between manipulated variable system variable MV_Cj and manipulated variable system setting value SP_Cj, and manipulated variable system setting A normalized operation amount calculator 32-j (operation amount calculator) that calculates a normalized operation amount MV_Cej (second operation amount) normalized by a coefficient such as a value SP_Cj, and a normal that outputs a normalized operation amount MV_Cej The operation amount output unit 33-j.

  The selector 4 includes a normalization operation amount acquisition unit 40-j provided for each normalization unit 3-j, an alignment unit 41 that rearranges the m normalization operation amounts MV_Cej in ascending order or large order, and an alignment unit 41. The combined operation amount MV_Cej (third operation amount) by the combining unit 42 is output by combining the normalized operation amount MV_Cej by performing a weighting operation on the normalized operation amount MV_Cej rearranged by And a synthetic operation amount output unit 43.

  The operation amount adjustment control unit 5 includes an operation amount setting value input unit 50 that inputs a predetermined operation amount setting value SP_BS = 0, a combined operation amount acquisition unit 51 that acquires a combined operation amount MV_CS output from the selector 4, An adjustment control calculation unit 52 (second control calculation means) that calculates an adjustment operation amount MV_BS (fourth operation amount) based on the combined operation amount MV_CS, and an adjustment operation amount MV_BS by the adjustment control calculation unit 52 as a sub-control system And an adjustment operation amount output unit 53 (second operation amount output means) for outputting to the actuator.

  FIG. 2 shows the configuration of the control system when n = 4 and m = 4. 2, 6-1 to 6-4 are main control system actuators, 7 are sub-control system actuators, and 8-1 to 8-4 are control targets. The main control unit 1-1, the actuator 6-1 and the control target 8-1 constitute a first main control system, and the main control unit 1-2, the actuator 6-2 and the control target 8-2 are the second. The main control unit 1-3, the actuator 6-3, and the controlled object 8-3 constitute a third main control system, and the main control unit 1-4, the actuator 6-4, and the control The object 8-4 constitutes a fourth main control system. Further, the operation amount adjustment control unit 5 and the actuator 7 constitute a sub control system.

Hereinafter, the operation of the cooperative operation device of this reference example will be described with reference to FIG. The set value SP_Ai of each main control unit 1-i (i = 1 to n) is set by an operator or the like and is input to the control calculation unit 12-i via the set value input unit 10-i (step in FIG. 3). S100).
The control amount PV_Ai of each main control unit 1-i is measured by a sensor or the like, and is input to the control calculation unit 12-i via the control amount input unit 11-i (step S101 in FIG. 3).

Based on the set value SP_Ai and the control amount PV_Ai, the control calculation unit 12-i of each main control unit 1-i performs a PID control calculation like the following transfer function equation to calculate the manipulated variable MV_Ai (FIG. 3). Step S102).
MV_Ai = (100 / PB_Ai) {1+ (1 / TI_Ais) + TD_Ais}
× (SP_Ai-PV_Ai) (1)
In Equation (1), PB_Ai is a proportional band, TI_Ai is an integration time, TD_Ai is a differentiation time, and s is a Laplace operator.

  The operation amount output unit 13-i of each main control unit 1-i outputs the operation amount MV_Ai calculated by the control calculation unit 12-i to the corresponding main control system actuator 6-i (step S103 in FIG. 3). . Since the set value input unit 10-i, the control amount input unit 11-i, the control calculation unit 12-i, and the operation amount output unit 13-i are provided for each main control unit 1-i, steps S100 to S103 are performed. This process is performed individually for each main control unit 1-i.

Next, the operation amount acquisition unit 20-i of the operation amount expansion unit 2 acquires the operation amount MV_Ai from the corresponding operation amount output unit 13-i of the main control unit 1-i (step S104 in FIG. 3).
The manipulated variable system variable generation unit 21 generates an manipulated variable MV_Cj (j = 1 to m) that is a variable to be adjusted related to the manipulated variable (step S105 in FIG. 3). As the manipulated variable system variable MV_Cj, for example, there is an manipulated variable MV_Ai. Another manipulated variable system variable MV_Cj includes a total manipulated variable MV_Cm that is the sum of manipulated variables MV_Ai.

Furthermore, as another operation amount system variable MV_Cj, there is an addition amount of a part of the operation amount MV_Ai.
Each manipulated variable output unit 22-j outputs an manipulated variable variable MV_Cj (step S106 in FIG. 3).

Next, an operation amount system setting value SP_Cj (j = 1 to m) indicating an equilibrium point to be adjusted of the operation amount system variable MV_Cj is set by an operator or the like, and the operation amount system setting of each normalization unit 3-j. The value is input to the normalized manipulated variable calculator 32-j via the value input unit 30-j (step S107 in FIG. 3).
The operation amount system variable acquisition unit 31-j of each normalization unit 3-j acquires the operation amount system variable MV_Cj from the corresponding operation amount system output unit 22-j of the operation amount expansion unit 2 (step S108 in FIG. 3). ).

The normalized manipulated variable calculating unit 32-j of each normalizing unit 3-j determines the difference between the manipulated variable system variable MV_Cj and the corresponding manipulated variable system setting value SP_Cj by a coefficient such as the manipulated variable system set value SP_Cj. The normalized value is calculated as a normalized operation amount MV_Cej (step S109 in FIG. 3).
MV_Cej = (MV_Cj−SP_Cj) / SP_Cj (3)

  Each normalized manipulated variable calculator 32-j is provided for the purpose of normalizing the difference between the m equilibrium points. The normalized manipulated variable MV_Cej is obtained by normalizing the difference between the manipulated variable system variable MV_Cj generated from the manipulated variable MV_Ai output from each main control unit 1-i and the equilibrium point indicated by the manipulated variable system setting value SP_Cj. The quantity is substantially similar to the control deviation.

However, the normalized manipulated variable MV_Cej is not a quantity limited to the calculation formula of Formula (3), but may be normalized by an arbitrary coefficient Yj as shown in Formula (4) or as shown in Formula (5). Or may be normalized by an arbitrary coefficient Zj.
MV_Cej = (MV_Cj−SP_Cj) Yj (4)
MV_Cej = (MV_Cj−SP_Cj) / Zj (5)

  The normalization operation amount output unit 33-j of each normalization unit 3-j outputs the normalized operation amount MV_Cej calculated by the normalization operation amount calculation unit 32-j to the selector 4 (step S110 in FIG. 3). The operation amount system set value input unit 30-j, the operation amount system variable acquisition unit 31-j, the normalized operation amount calculation unit 32-j, and the normalized operation amount output unit 33-j are provided for each normalization unit 3-j. Therefore, the processing in steps S107 to S110 in FIG. 3 is performed individually for each normalization unit 3-j.

Next, each normalized operation amount acquisition unit 40-j of the selector 4 acquires the normalized operation amount MV_Cej from the corresponding normalized operation amount output unit 33-j of the normalization unit 3-j (step in FIG. 3). S111).
The alignment unit 41 rearranges the normalized operation amount MV_Cej in ascending or descending order to obtain the normalized operation amount MV_CXk (k = 1 to m) after the rearrangement (step S112 in FIG. 3).

  The synthesizing unit 42 performs a weighting operation (weighted average operation) such as the following expression on the normalized operation amount MV_CXk rearranged by the aligning unit 41 to obtain a combined operation amount MV_CS (step S113 in FIG. 3). Thereby, the synthesis unit 42 selectively synthesizes the normalized manipulated variable MV_Cej.

In Expression (6), αk is a predetermined weight, and the sum of the weights αk (j = 1 to m) is 1.0. For example, assuming that the alignment unit 41 rearranges the normalized operation amount MV_Cej in ascending order, the weight α1 corresponding to the smallest normalized operation amount MV_Ce1 is 1.0, and the weight α2 corresponding to the other normalized operation amounts MV_Ce2 to MV_Cem. When .about..alpha.m is set to 0, the synthesis unit 42 functions as a minimum value selection unit. Further, assuming that the alignment unit 41 rearranges the normalized operation amount MV_Cej in descending order, the weight α1 corresponding to the largest normalized operation amount MV_Ce1 is 1.0, and the weight α2 corresponding to the other normalized operation amounts MV_Ce2 to MV_Cem. If .about..alpha.m is set to 0, the synthesis unit 42 functions as a maximum value selection unit.
The combined operation amount output unit 43 outputs the combined operation amount MV_CS calculated by the combining unit 42 to the operation amount adjustment control unit 5 (step S114 in FIG. 3).

Next, the operation amount setting value input unit 50 of the operation amount adjustment control unit 5 inputs a predetermined operation amount setting value SP_BS = 0 to the adjustment control calculation unit 52 (step S115 in FIG. 3).
The composite operation amount acquisition unit 51 acquires the composite operation amount MV_CS from the selector 4 (step S116 in FIG. 3).

As is well known, the PID control calculation is an operation for calculating the operation amount so that the control deviation obtained by subtracting the control amount from the set value becomes zero. In the PID control calculation in the adjustment control calculation unit 52 described later, the composite operation amount MV_CS is handled as the control amount. Here, in this reference example , the normalized manipulated variable calculation unit 32-j normalizes the difference between the manipulated variable system variable MV_Cj and the manipulated variable system setting value SP_Cj as shown in the equations (3) to (5). The normalized manipulated variable MV_Cej is calculated, and the normalized manipulated variable MV_Cej is synthesized by the synthesizing unit 42 and input to the adjustment control calculating unit 52 as the synthesized manipulated variable MV_CS. As described above, in the PID control calculation in the adjustment control calculation unit 52, the composite operation amount MV_CS is handled as the control amount. However, since the composite operation amount MV_CS is calculated as a quantity similar to the control deviation, It is not necessary to give the manipulated variable setting value to be applied again. Therefore, the operation amount setting value SP_BS input by the operation amount setting value input unit 50 is always set to 0.

Based on the operation amount set value SP_BS = 0 and the combined operation amount MV_CS, the adjustment control calculation unit 52 performs the PID control calculation as in the following transfer function equation to calculate the adjustment operation amount MV_BS (step S117 in FIG. 3). .
MV_BS = (100 / PB_B) {1+ (1 / TI_Bs) + TD_Bs}
× (0-MV_CS) (7)
In Expression (7), PB_B is a proportional band, TI_B is an integration time, TD_B is a differentiation time, and s is a Laplace operator. As described above, the control deviation calculation part is the difference (0−MV_CS) between the manipulated variable set value SP_BS = 0 and the composite manipulated variable MV_CS.

The adjustment operation amount output unit 53 outputs the adjustment operation amount MV_BS calculated by the adjustment control calculation unit 52 to the corresponding sub-control system actuator 7 (step S118 in FIG. 3).
The processes in steps S100 to S118 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 S119 in FIG. 3).

As described above, in this reference example , the operation amount system variables MV_C1 to MV_Cm, which are adjustment target variables related to the operation amount, are generated from the operation amounts MV_A1 to MV_An calculated by the main control units 1-1 to 1-n. By calculating normalized operation amounts MV_Ce1 to MV_Cem, which are values obtained by normalizing the differences between the operation amount system variables MV_C1 to MV_Cm and the operation amount system setting values SP_C1 to SP_Cm indicating the desired equilibrium point, the difference between the equilibrium points is calculated. Is normalized, the normalized manipulated variables MV_Ce1 to MV_Cem are synthesized, the adjusted manipulated variable MV_BS is calculated based on the synthesized manipulated variable MV_CS, and is output to the actuator of the sub-control system, thereby adjusting the equilibrium point to a desired value. be able to. Therefore, if the operation amounts MV_A1 to MV_An of each main control system are set as a part of the operation amount system variables MV_C1 to MV_Cm, a multi-loop control system in which the main control system has a plurality of systems and the sub control system has only one system. Thus, energy saving can be realized.

At the same time, in this reference example , if the total operation amount that is the sum of the operation amounts MV_A1 to MV_An of each main control system is set as a part of the operation amount system variables MV_C1 to MV_Cm, the equilibrium point adjustment including the total operation amount is performed. The present invention can be applied to a system in which a second equilibrium point such as a total manipulated variable exists separately from the first equilibrium point that is a desired manipulated variable output of each main control system. it can. Further, in this reference example , the present invention is not limited to a common first balance point that is a desired operation amount output of each main control system, but can be applied to a multi-loop control system in which these first balance points are different. Can do.

[ Embodiment ]
Next, an embodiment of the present invention will be described. FIG. 4 is a block diagram showing the configuration of the central air conditioning system according to the present embodiment. This embodiment is a cooperative operation apparatus of a reference example in a central air-conditioning system composed of n = 4 supply air volume control systems which are main control systems and one supply air temperature control system which is one sub control system. An example in which is applied is shown. The room 400 has four zones 405-1 to 405-4 whose temperature is desired to be controlled, and the air supply dampers 402-1 to 402-4 (air supply air volume actuators of the main control system) are provided for each of the zones 405-1 to 405-4. ) Is provided. The air conditioner 401 constitutes an auxiliary control system supply air temperature actuator.

The main control units 1-1 to 1-4 perform indoor temperature control based on the supply air volume on the zones 405-1 to 405-4. The configuration and operation (steps S100 to S103 in FIG. 3) of the main control units 1-1 to 1-4 according to the present embodiment correspond to the case where n = 4 in the reference example , and thus detailed description thereof is omitted. The indoor temperature set values SP_A1 to SP_A4 are set by a building manager, an indoor occupant, or the like, and control calculation is performed via the set value input units 10-1 to 10-4 of the main control units 1-1 to 1-4. Input to the sections 12-1 to 12-4. The temperatures PV_A1 to PV_A4 (control amounts) of the zones 405-1 to 405-4 are individually measured by the temperature sensors 403-1 to 403-4 and are input to the control amounts of the main control units 1-1 to 1-4. It inputs into the control calculating parts 12-1 to 12-4 via the parts 11-1 to 11-4. The air conditioner 401 common to the four zones cools the supply air to a specified temperature in the case of cooling, and heats the supply air to a specified temperature in the case of heating. Only the case of cooling will be described below.

  The air supplied from the air conditioner 401 is supplied to the zones 405-1 to 405-4 from the outlets 407-1 to 407-4 through the duct 406. The supply air temperature is measured by the supply air temperature sensor 404. The air supply dampers 402-1 to 402-4 supply air to the zones 405-1 to 405-4 according to the operation amounts MV_A1 to MV_A4 output from the main control units 1-1 to 1-4. Adjust the airflow. The air conditioner 401 adjusts the supply air temperature by adjusting the amount of the heat medium flowing through the heat exchanger inside the air conditioner according to the adjustment operation amount MV_BS output from the operation amount adjustment control unit 5. The return air returned from the room 400 passes through the duct 408 and the return air damper 409, is mixed with the outside air introduced from the intake port 410, and is returned to the air conditioner 401.

The configuration and operation (steps S104 to S106 in FIG. 3) of the operation amount expansion unit 2 of the present embodiment correspond to the case where n = 4 and m = 5 in the reference example . The minimum required manipulated variables MV_A1 to MV_A4 (supply air volume) that can be controlled in each main control system are manipulated variable variables MV_C1 to MV_C4 corresponding to manipulated variable system set values SP_C1 to SP_C4, that is, the first adjustment target variable MV_C1 to MV_C4. It becomes an equilibrium point. The manipulated variable system variable generator 21 of the manipulated variable extender 2 generates manipulated variable variables MV_C1 to MV_C4 as shown in the following equation (step S105 in FIG. 3).
MV_C1 = MV_A1 (8)
MV_C2 = MV_A2 (9)
MV_C3 = MV_A3 (10)
MV_C4 = MV_A4 (11)

The manipulated variable system setting values SP_C1 to SP_C4 are, for example, SP_C1 = 10 m ³ / min. , SP_C2 = 11 m ³ / min. , SP_C3 = 12 m ³ / min. , SP_C4 = 13 m ³ / min. It is. In the example of the present embodiment, the operation amounts MV_A1 to MV_A4 (supply air flow amount) of the main control system are of the same quality so that the difference between the first equilibrium points of the respective main control systems is sufficient. The manipulated variable system setting values SP_C1 to SP_C4 are determined in advance in consideration of the energy efficiency and the minimum required amount of airflow in each zone. Typical reasons for determining the manipulated variable system set values SP_C1 to SP_C4 are as follows. The air supply is widely circulated in the zone to obtain the effect of air conditioning.

On the other hand, the total operation amount (total air amount), which is the sum of the operation amounts MV_A1 to MV_A4 (supply air amount) of each main control system, corresponds to the operation amount system variable MV_C5 corresponding to the operation amount system setting value SP_C5, that is, the first adjustment target variable. 2 equilibrium point. The manipulated variable system variable generation unit 21 of the manipulated variable expansion unit 2 generates the manipulated variable system variable MV_C5 as shown in the following equation (step S105 in FIG. 3).
MV_C5 = MV_A1 + MV_A2 + MV_A3 + MV_A4 (12)

The manipulated variable system set value SP_C5 is, for example, 50 m ³ / min. It is. Therefore, the total manipulated variable (total air volume) is a degree of organizing the difference between the first equilibrium point and the second equilibrium point when compared with the manipulated variables MV_A1 to MV_A4 (supply air volume) of other main control systems. It's not the same quality that you can get away with. The manipulated variable system setting value SP_C5 is determined in advance for convenience of ventilation or the like. A typical reason for determining the manipulated variable system set value SP_C5 is to ventilate the carbon dioxide concentration in the entire room 400 so as not to increase. is there. Therefore, SP_C1 + SP_C2 + SP_C3 + SP_C4 = SP_C5 is not always satisfied.

Since the configuration and operation (steps S107 to S110 in FIG. 3) of the normalization units 3-1 to 3-4 of the present embodiment correspond to the case where m = 5 in the reference example , description thereof is omitted.

The configuration and operation (steps S111 to S114 in FIG. 3) of the selector 4 of the present embodiment correspond to the case where m = 5 in the reference example . Among the four main control systems, the one in the most unfavorable control state is one in which the operation amounts MV_A1 to MV_A4 show the minimum values. Therefore, the selector 4 may function as a minimum value selection unit. Needless to say, since the normalized operation amount MV_Ce5 obtained by normalizing the total operation amount (total air volume) is also input to the selector 4, MV_Ce5 is more than the normalized operation amounts MV_Ce1 to MV_Ce4 obtained by normalizing the operation amounts MV_A1 to MV_A4. If it is smaller, MV_Ce5 is selected.

The configuration and operation (steps S115 to S118 in FIG. 3) of the operation amount adjustment control unit 5 are the same as those in the reference example . The adjustment operation amount MV_BS calculated by the operation amount adjustment control unit 5 is output to the air conditioner 401 that is an actuator of the sub-control system. In order to increase the operation amount MV_A1 to MV_A4 of the main control system, it is necessary to increase the supply air temperature which is the adjustment operation amount MV_BS. Conversely, to decrease the operation amount MV_A1 to MV_A4 of the main control system, the adjustment operation is performed. It is necessary to lower the supply air temperature, which is the amount MV_BS. Generally, it is known that if the air volume is reduced, the conveyance power can be reduced, which leads to energy saving.

  Next, FIGS. 5A to 5C and FIGS. 6A to 6C show simulation results showing the effects of this embodiment. Here, the number of main control systems is n = 4, the number of manipulated variables is m = 5, the temperatures PV_A1 to PV_A4 of the zones 405-1 to 405-4 are decreased from 28 ° C. to 26 ° C., and 26 The numerical value when the temperature was lowered from 25 ° C. to 25 ° C. was obtained by simulation.

  FIGS. 5A to 5C show the operation of the cooperative operation device proposed in Japanese Patent Application No. 2013-020129. The cooperative operation device proposed in Japanese Patent Application No. 2013-020129 deletes the operation amount expansion unit 2 and normalization units 3-1 to 3-5 from the cooperative operation device of the present embodiment, and the main control units 1-1 to 1-1. Between the 1-4 and the selector 4, there is provided an equilibrium point difference organizing unit that calculates the organizing manipulation amount, which is the difference between the manipulation amounts MV_A1 to MV_A4 and the manipulation amount setting value (equilibrium point) for each main control system. This corresponds to a configuration in which four organizing operation amounts are combined.

  FIG. 5A shows the temperature PV_A1 when a step input of room temperature set values SP_A1 to SP_A4 = 26 ° C. is added at 100 seconds and a step input of room temperature set values SP_A1 to SP_A4 = 25 ° C. is added at 1000 seconds. FIG. 5B shows changes in the operation amounts MV_A1 to MV_A4 (supply air volume) output from the main control units 1-1 to 1-4 at the time of these step inputs, FIG. 5C shows the total manipulated variable MV_T (total air volume).

As a result, in the cooperative operation device proposed in Japanese Patent Application No. 2013-020129, the minimum required amount of operation amount MV_A1 to MV_A4 (supply air amount) is 10 m ³ / min. Is only maintained. Until the time 1000 seconds when the room temperature set values SP_A1 to SP_A4 = 26 ° C., the total operation amount MV_T (total air volume) in the settling state is barely 50 m ³ / min. Is over. On the other hand, in the state where the indoor temperature set values SP_A1 to SP_A4 = 25 ° C. after 1000 seconds, the minimum required amount 10 m ³ / min. Is maintained, the total air volume is reduced, and the total manipulated variable MV_T (total air volume) in the settling state is 50 m ³ / min. Less than. As described above, the cooperative operation device proposed in Japanese Patent Application No. 2013-020129 does not consider the adjustment of the total operation amount MV_T (total air volume), and therefore cannot maintain the total operation amount MV_T at a desired value.

  6 (A) to 6 (C) show the operation of the cooperative operation device according to the present embodiment. FIG. 6 (A) shows a step input of room temperature set values SP_A1 to SP_A4 = 26 ° C. in 100 seconds. Furthermore, the change of the temperature PV_A1 to PV_A4 (control amount) when a step input of room temperature set values SP_A1 to SP_A4 = 25 ° C. is added in 1000 seconds is shown. FIG. FIGS. 6A to 6C show changes in the operation amounts MV_A1 to MV_A4 (supply air volume) output from the units 1-1 to 1-4, and FIG. 6C shows the operation amount system variable MV_C5 (total air volume).

In the cooperative operation device of the present embodiment, the minimum required amount of the operation amount system variables MV_C1 to MV_C5 including the total operation amount is maintained. Up to 1000 seconds at room temperature set values SP_A1 to SP_A4 = 26 ° C., the manipulated variable system variable MV_C5 (total air volume) in the settling state is barely 50 m ³ / min. As a result, the minimum required amount of the manipulated variable system variables MV_C1 to MV_C4 (supply air volume) is 10 m ³ / min. This is the operation of adjusting the equilibrium point to maintain. On the other hand, in the state where the indoor temperature set values SP_A1 to SP_A4 = 25 ° C. after 1000 seconds, the minimum required amount 10 m ³ / min. Of the manipulated variable system variables MV_C1 to MV_C4 (supply air flow rate). Since the air flow is reduced as a whole, the minimum required amount 50 m ³ / min. Of the manipulated variable system variable MV_C5 (total air flow) in the set state. This is the operation of adjusting the equilibrium point to maintain.

In the present embodiment, only the total manipulated variable (total air volume) that is the sum of the manipulated variables MV_A1 to MV_A4 (supply air volume) and the manipulated variables MV_A1 to MV_A4 is adopted as the manipulated variable system variable MV_Cj. The operation amount system variable MV_Cj is not limited thereto, and for example, the following partial addition amounts of operation amounts MV_A1 to MV_A4 (supply air amount) can be added.
MV_C6 = MV_A1 + MV_A2 (13)
MV_C7 = MV_A3 + MV_A4 (14)

  In the example of the central air conditioning system, such a partial addition amount can be applied to the case where it is desired to perform room temperature control while ensuring the minimum air volume in the medium-scale individual area. In this case, the individual operation amounts MV_A1, MV_A2, etc. do not have to be included in the operation amount system variable MV_Cj. That is, any manipulated variable MV_Cj can be selected.

  In this embodiment, the central air conditioning system has been described as an example. However, in principle, any control system that handles an equilibrium point different from the operation amount of each main control system is limited to air conditioning. The present invention can be applied.

The cooperative operation device described in the reference example and the embodiment can be realized by a computer having a CPU, a storage device, and an interface, and a program for controlling 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 a multi-loop control system. In particular, the present invention is directed to a plurality of main control systems that do not necessarily have a common equilibrium point to be adjusted.

  1-1 to 1-n ... main control unit, 2 ... operation amount expansion unit, 3-1 to 3-m ... normalization unit, 4 ... selector, 5 ... operation amount adjustment control unit, 10-1 to 10-n ... set value input section, 11-1 to 11-n ... control amount input section, 12-1 to 12-n ... control calculation section, 13-1 to 13-n ... manipulated variable output section, 20-1 to 20- n ... manipulated variable acquisition unit, 21 ... manipulated variable system variable generator, 22-1 to 22-m ... manipulated variable system output unit, 30-1 to 30-m ... manipulated variable system set value input unit, 31-1 31-m ... operation amount system variable acquisition unit, 32-1 to 32-m ... normalized operation amount calculation unit, 33-1 to 33-m ... normalized operation amount output unit, 40-1 to 40-m ... normal , Operation amount acquisition unit, 41 ... alignment unit, 42 ... synthesis unit, 43 ... synthesis operation amount output unit, 50 ... operation amount set value input unit, 51 ... synthesis operation amount acquisition unit, 52 ... adjustment control calculation unit, 53 Adjusting operation amount output unit.

Claims (8)

A plurality of first control calculation means provided corresponding to a plurality of main control systems, and calculating a first operation amount by a control calculation using a set value of the main control and a control amount of the main control as inputs;
A plurality of first operation amount output means provided for each main control system and outputting the first operation amount calculated by the first control calculation means of the corresponding main control system to the actuator of the corresponding main control system When,
Variable generating means for generating the same or different number of manipulated variable system variables from the plurality of first manipulated variables calculated by the plurality of first control computing means;
Provided for each manipulated variable system variable, and calculates a difference between the manipulated variable system variable and a predetermined manipulated variable system setting value indicating an equilibrium point, which is a desirable value in the settling state of the manipulated variable system variable. A plurality of operation amount calculation means for calculating a second operation amount normalized by the coefficient of
Combining means for combining the plurality of second operation amounts by performing a weighting operation on the plurality of second operation amounts calculated by the plurality of operation amount calculating means, and outputting a third operation amount; ,
A fourth operation amount is provided by a control calculation with a third operation amount output from the combining means as a control amount input provided corresponding to one sub-control system for operating to maintain the equilibrium point. Second control calculation means for calculating
A second operation amount output means for outputting a fourth operation amount calculated by the second control operation means to an actuator of the sub-control system ;
The actuator of the main control system is a damper that adjusts the supply air volume in the central air conditioning system,
The sub-control system actuator is an air conditioner for adjusting a supply air temperature in a central air conditioning system,
The first operation amount is an air supply amount;
The sum of the first manipulated variables is the total air volume,
The cooperative operation apparatus , wherein the operation amount system variable includes at least a part of the first operation amount and a sum of the first operation amounts . The cooperative operation device according to claim 1,
And an alignment means for rearranging the plurality of second operation amounts calculated by the plurality of operation amount calculation means in ascending or descending order,
The synthesizing device characterized in that the synthesizing unit synthesizes the plurality of second operation amounts by performing a weighting operation on the plurality of second operation amounts rearranged by the alignment unit. The cooperative operation device according to claim 1 or 2,
The cooperative operation apparatus, wherein the operation amount system variable includes at least a part of the first operation amount and a sum of the first operation amounts. The cooperative operation device according to claim 3,
The operation amount system variable further includes an amount obtained by adding a part of the first operation amount. A first control calculation step of calculating a first manipulated variable for each main control system by a control calculation with a set value of the main control and a control amount of the main control as inputs;
A first manipulated variable output step for outputting a plurality of first manipulated variables calculated in the first control calculation step to corresponding main control system actuators;
A variable generation step for generating the same or different number of manipulated variable variables from the plurality of first manipulated variables calculated in the first control calculation step;
The difference between the manipulated variable system variable generated in the variable generation step and a predetermined manipulated variable system setting value indicating an equilibrium point, which is a desirable value in the settling state of the manipulated variable system variable, is calculated, and is normalized with a predetermined coefficient. A manipulated variable calculation step for calculating the second manipulated variable for each manipulated variable system variable;
A combining step of combining the plurality of second operation amounts to obtain a third operation amount by performing a weighting operation on the plurality of second operation amounts calculated in the operation amount calculating step;
A second control calculation step of calculating a fourth operation amount by a control calculation using the third operation amount obtained in the synthesis step as a control amount input;
A fourth operation amount calculated by the second control operation step, seen including a second manipulated variable output step of outputting one of the sub-control system of the actuators for operating so as to maintain the equilibrium point ,
The actuator of the main control system is a damper that adjusts the supply air volume in the central air conditioning system,
The sub-control system actuator is an air conditioner for adjusting a supply air temperature in a central air conditioning system,
The first operation amount is an air supply amount;
The sum of the first manipulated variables is the total air volume,
The operation amount system variable includes at least a part of the first operation amount and a total sum of the first operation amounts . The cooperative operation method according to claim 5 , wherein
And an alignment step of rearranging the plurality of second operation amounts calculated in the operation amount calculation step in ascending or descending order.
The synthesizing step is characterized in that the plurality of second operation amounts are synthesized by performing a weighting operation on the plurality of second operation amounts rearranged in the alignment step. In the cooperative operation method according to claim 5 or 6 ,
The operation amount system variable includes at least a part of the first operation amount and a total sum of the first operation amounts. The cooperative operation method according to claim 7 ,
The operation amount system variable further includes an amount obtained by adding a part of the first operation amount.

Images