JP6346545B2 - Power sum suppression control apparatus and method - Google Patents

Description

  The present invention relates to a control device and a control method for a multi-loop control system having a plurality of control loops, and in particular, a power sum for operating an operation amount output upper limit value so that the sum of power consumption does not exceed a specified value. The present invention relates to a power sum suppression control device and method for improving the efficiency of power usage amount distribution of a plurality of control loops when the control amount is made to follow a set value change while performing suppression control.

  With the revision of the law caused by the global warming problem, there is a strong demand for energy usage management in factories and production lines. Since heating devices and air conditioners in factories are equipment devices that use a large amount of energy, they are often managed so that the upper limit of the amount of energy used is lower than the original maximum amount. For example, in an equipment device that uses electric power, an operation is performed in which the electric power demand management system restricts the electric power usage to within a specific amount of electric power consumption based on an instruction from the electric power demand management system.

  Especially for heating devices with multiple actuators (electric heaters), power sum suppression is required to suppress the total power supplied at the same time when starting up (when simultaneously raising the temperature of the area where multiple electric heaters are installed) Controls (see Patent Document 1 and Patent Document 2) have been proposed. FIG. 8 is a block diagram showing the configuration of the heating device disclosed in Patent Literature 1 and Patent Literature 2. As shown in FIG. The heating device includes a heat treatment furnace 100 for heating an object to be heated, electric heaters H1 to H4 that are a plurality of actuators installed in the heat treatment furnace 100, and heating heated by the heaters H1 to H4, respectively. A plurality of temperature sensors S1 to S4 that measure the temperature PV of the control zones Z1 to Z4 in the processing furnace 100, a power sum suppression control device 101 that calculates operation amounts MV1 to MV4 output to the heaters H1 to H4, and a power sum It is comprised from the electric power regulators 102-1 to 102-4 which supply the electric power according to the operation amount MV1 to MV4 output from the suppression control apparatus 101 to the heaters H1 to H4, respectively. In the heating device shown in FIG. 8, four control loops for controlling the temperature PV of the control zones Z1 to Z4 are formed.

  The conventional technique will be described in the case of Patent Document 1. The power sum suppression control apparatus 101 receives an allocation total that defines the power usage of the heaters H1 to H4 from a host PC 103 that is a computer of a power demand management system that manages power. The information on the power PW is received, the power usage quota allocated to each control loop is calculated from the total power consumption measurement value of each control loop and the total allocated power PWT, and the operation amount of each control loop is calculated from this power usage quota Output upper limit values OH1_1 to OH1_4 are calculated. Then, the power sum suppression control device 101 calculates the operation amounts MV1 to MV4 of the respective control loops by the PID control calculation, and executes the upper limit processing for limiting the operation amounts MV1 to MV4 to the operation amount output upper limit values OH1_1 to OH1_4 or less. Then, the manipulated variables MV1 to MV4 after the upper limit processing are output to the power adjusters 102-1 to 102-4 of the corresponding control loop. Thus, by manipulating the manipulated variable output upper limit values OH1_1 to OH1_4, the total power at the time of steady state in which the temperature is kept constant or when the temperature is raised by changing the set value SP can be suppressed to a specified value or less.

JP 2012-048370 A JP 2012-048533 A

For example, when considering the total power in a plurality of heating devices, the temperature rise time varies, and not all devices always reproduce the same set temperature, so the handling becomes complicated. As a result, there is a tendency to become inefficient operation, and improvement is required.
In particular, when managing the total power of factory equipment including the entire production line, such as power demand response, the time between the start-up of the air conditioning equipment and the production equipment tends to overlap, so the efficiency of power distribution of the production equipment Is also an important factor.

  The present invention has been made to solve the above-described problems, and performs power sum suppression control for manipulating the operation amount output upper limit value so that the sum of power consumption amounts of a plurality of control loops does not exceed a specified value. On the other hand, when the control amount is to follow the set value change, the power sum suppression control device capable of improving the efficiency of the power sum suppression control, which can improve the power usage amount distribution of the plurality of control loops, and It aims to provide a method.

The power sum suppression control device of the present invention has a relatively long estimated time to reach the set value SPi of the control amount PVi among n (n is an integer of 2 or more) control loops Li (i = 1 to n). The control loop of the first group that is divided by grouping the control loop as a first group and the estimated arrival time relatively shorter than the control loop of the first group as a second group is stored in advance. First group registration means, second group registration means for storing in advance the control loop of the second group divided by the grouping, and simultaneous change detection means for detecting simultaneous change of the set value SPi of each control loop Li Then, the operation amount output upper limit value OHi of each control loop Li is calculated so that the total power consumption amount of each control loop Li does not exceed the specified value, and this operation amount output upper limit value O a power sum suppression control means for performing upper limit processing of the operation amount MVi for the actuator of each control loop Li based on i, and responding to simultaneous change of the set value SPi at a timing when the first group precedes and the second group is delayed And an upper limit value operating means for suppressing an increase in the manipulated variable output upper limit value OHi calculated by the power sum suppression control means so that an increase in the manipulated variable output upper limit value OHi occurs.

  Moreover, in one configuration example of the power sum suppression control device of the present invention, the power sum suppression control means receives the allocation total power PW information that defines the total power usage of the actuators of all the control loops Li. Power input means, power value acquisition means for acquiring the power consumption value CTi of each control loop Li, maximum output power value acquisition means for acquiring the maximum output power consumption value CTmi of each control loop Li, and the maximum output The power margin of each control loop Li is calculated from the difference between the hourly power consumption value CTmi and the power consumption value CTi, and based on the ratio of the power margin of each control loop Li to the total power margin and the allocated total power PW An operation amount output upper limit value operating means for calculating an operation amount output upper limit value OHi of each control loop Li so that the power margin of each control loop Li approaches a fair state; An upper limit process is provided for each group Li, calculates an operation amount MVi by a control calculation using the set value SPi and the control amount PVi as input, and limits the operation amount MVi to the operation amount output upper limit value OHi or less, Control means for outputting the manipulated variable MVi after the upper limit processing to the actuator of the corresponding control loop Li, and the upper limit value operating means is the set value SPi at a timing when the first group precedes and the second group is delayed. In order to cause an increase in the manipulated variable output upper limit value OHi according to the simultaneous change of the control amount Li, the control amount output upper limit value OHi of the control loop Li belonging to the second group is set to the control immediately before the simultaneous change of the set value SPi. The state of fixing the value near the operation amount MVi of the loop Li is maintained for a predetermined time TX, and the time TX is the first group. Increase in the manipulated variable output upper limit value OHi is characterized in that is preset to be longer than the time to stabilize.

  Moreover, in one configuration example of the power sum suppression control device of the present invention, the power sum suppression control means receives the allocation total power PW information that defines the total power usage of the actuators of all the control loops Li. Power input means, power value acquisition means for acquiring the power consumption value CTi of each control loop Li, maximum output power value acquisition means for acquiring the maximum output power consumption value CTmi of each control loop Li, and the maximum output The power margin of each control loop Li is calculated from the difference between the hourly power consumption value CTmi and the power consumption value CTi, and based on the ratio of the power margin of each control loop Li to the total power margin and the allocated total power PW An operation amount output upper limit value operating means for calculating an operation amount output upper limit value OHi of each control loop Li so that the power margin of each control loop Li approaches a fair state; Provided for each group Li, the operation value MVi is calculated by control calculation with the set value SPi and the control amount PVi as inputs, and the operation amount MVi is a value not less than the operation amount output lower limit value OLi and not more than the operation amount output upper limit value OHi. Control means for executing an upper / lower limit process to limit the upper limit / lower limit process to an actuator of the corresponding control loop Li, and the upper limit value operating means is preceded by the first group. In order to increase the manipulated variable output upper limit value OHi according to the simultaneous change of the set value SPi at the timing when the second group is delayed, the manipulated variable output upper limit value OHi of the control loop Li belonging to the second group. Is maintained at the manipulated variable output lower limit value OLi of the control loop Li for a predetermined time TX, and the time TX is Manipulated variable output upper limit value increase of OHi groups is characterized in that is preset to be longer than the time to stabilize.

  Further, in one configuration example of the power sum suppression control device of the present invention, the manipulated variable output upper limit value operating means determines the power of each control loop Li from the difference between the maximum output power consumption value CTmi and the power consumption value CTi. Power margin calculating means for calculating the margin CTri, maximum total power calculating means for calculating the maximum total power BX that is the sum of the maximum output power consumption values CTmi of each control loop Li, and the power margin CTri of each control loop Li Total power margin calculating means for calculating the total power margin RW that is the sum, and total power reduction calculating means for calculating the total power reduction SW that is the total power to be reduced from the maximum total power BX and the allocated total power PW And the power reduction allocation amount CTsi, which is the amount of power to be reduced in each control loop Li, from the power margin CTri, the power margin total amount RW, and the power reduction total amount SW. Power reduction allocation amount calculation means to output, and output upper limit value calculation means for calculating the operation amount output upper limit value OHi of each control loop Li from the power reduction allocation amount CTsi and the maximum power consumption value CTmi at the time of output. It is characterized by.

Moreover, the power sum suppression control method of the present invention includes a simultaneous change detection step for detecting a simultaneous change of the set values SPi of n control loops Li (i = 1 to n) (n is an integer of 2 or more), The operation amount output upper limit value OHi of each control loop Li is calculated so that the total power consumption of the control loop Li does not exceed the specified value, and the actuator of each control loop Li is based on this operation amount output upper limit value OHi. operation amount and the total electric power suppression control step of performing a limit process of MVi, the n control amount PVi setting the first group scheduled arrival time of the relatively long control loop to SPi of the control loop Li to the The control loop of the first group divided by grouping the control loop whose estimated arrival time is relatively shorter than the control loop of the first group as the second group is recorded in advance. To a first group registration unit that, the reference to the second group registration unit that previously stores the second group control loops separated by grouping, the first group precedes the second An upper limit value that suppresses an increase in the operation amount output upper limit value OHi calculated in the power sum suppression control step so that an increase in the operation amount output upper limit value OHi according to the simultaneous change of the set value SPi occurs at the timing when the group is delayed. And an operation step.

  According to the present invention, the control amount is controlled while performing the power sum suppression control for operating the operation amount output upper limit value OHi of each control loop Li so that the sum of the power consumption of each control loop Li does not exceed the specified value. When PVi is made to follow the set value change, a control loop with a relatively long estimated time to reach the set value SPi of the control amount PVi is a first group, and a control loop with a relatively short estimated time is a second group. By grouping in advance and increasing the manipulated variable output upper limit value OHi at the timing when the first group precedes and the second group is delayed, the power usage amount distribution of the plurality of control loops Li can be made more efficient. The practical efficiency of the sum suppression control can be improved.

It is a figure which shows the operation example of the conventional heating apparatus at the time of heating up, without implementing electric power total suppression control. It is a block diagram which shows the structure of the electric power total suppression control apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram of the PID control system which concerns on the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the electric power total suppression control apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the operation example of the electric power total suppression control apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the operation example of the heating apparatus at the time of raising temperature by implementing the conventional electric power sum total suppression control. It is a block diagram which shows the structure of the electric power total suppression control apparatus which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the structure of a heating apparatus provided with a some electric heater.

[Principle of the Invention]
In the present invention, in a plurality of heating control objects (when there are a plurality of heating control objects in a single heating device or when there are a plurality of heating devices), the total power (total amount of power consumption) is maintained at the upper limit. It is assumed that management is performed. In many heating devices (heating targets), the maximum power is consumed when the temperature is raised, but when the temperature reaches a high temperature, the temperature is substantially kept, so that the power consumption is reduced. In addition, when feedback control that considers dynamic characteristics such as PID control is being performed, the operation gradually and continuously shifts from the maximum power state during temperature rise to the low power state during heat retention.

  Under such a premise, when the temperature is raised in advance with a relatively long temperature rise time, the temperature rise state at the maximum power is gradually relaxed with appropriate variations, so that the temperature rises appropriately and gradually as well. Those whose time is relatively short can be delayed and the temperature rise can be started. And if the temperature rise time is relatively short, even if the temperature rise is delayed, the temperature rise is completed without requiring a temperature rise time that significantly delays the start-up of the overall heating control target. Become. In other words, the time required to complete the startup of all of the plurality of heating control objects is not significantly impaired. From the above, the inventor has come up with the idea that the total power restricted by the upper limit can be efficiently distributed (allocated on the time axis) according to the above simple rule.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, the power sum suppression control disclosed in Patent Document 1 is used. In order to simplify the explanation, there are six PID control loops, six heaters, and each heater is used as an actuator in a separate PID control loop. Further, of the six PID control loops, it is assumed that there are four control systems with a relatively long temperature increase time and two control systems with a relatively short temperature increase time. The heater capacity is the same for all six heaters. Further, the six PID control loops are premised on that the set value SP is changed at the same time and the temperature rise is started at the same time.

  Specifically, the time required for raising the temperature of the PID control loops L1 to L4 from 100 ° C. to 250 ° C. is about 600 seconds, and the rated outputs of the heaters H1 to H4 provided in the PID control loops L1 to L4 are 400 W. . Further, the time required for raising the temperature of the PID control loops L5 and L6 from 100 ° C. to 250 ° C. is about 300 seconds, and the rated outputs of the heaters H5 and H6 provided in the PID control loops L5 and L6 are 400 W.

  1 (A) to 1 (C) are diagrams showing an example of operation of a conventional heating device (a typical example that is an object of the present invention) when the temperature is raised without performing power summation suppression control. 1A shows a change in the set value SPi (i = 1 to 6) and the control amount PVi (i = 1 to 6), and FIG. 1B shows the manipulated variable MVi (i = 1 to 6). ), And FIG. 1C is a diagram showing a change in the total power consumption QW of the six PID control loops Li (i = 1 to 6).

  In the example of FIGS. 1A to 1C, the operation amounts MV5 and MV6 of the PID control loops L5 and L6 start to decrease at the time t1, and the operation amounts MV1 of the PID control loops L1 to L4 at the time t2. ˜MV4 starts to decrease, and the temperature increase of all PID control loops L1 to L6 is completed at time t3 (about 600 seconds).

  FIG. 2 is a block diagram showing a configuration of the power sum suppression control device according to the present embodiment. The power sum suppression control device includes a control unit 1-i provided for each PID control loop Li (i = 1 to n, n is an integer of 2 or more, and n = 6 in the present embodiment), and power to be described later. The temperature increase efficiency improvement function unit 2 for improving the efficiency of the power sum suppression control by the suppression unit, and the operation of each PID control loop Li so that the sum of the power consumption of each PID control loop Li does not exceed the specified value It is comprised from the electric power suppression part 3 which calculates quantity output upper limit OHi. The control unit 1-i and the power suppression unit 3 constitute a power sum suppression control unit.

  The control unit 1-i includes a set value SPi input unit 10-i that inputs a set value SPi from the outside, a control amount PVi input unit 11-i that inputs a control amount PVi from a measuring instrument, a set value SPi, and a control amount. A PID control calculation unit 12-i that calculates an operation amount MVi based on PVi, an output upper limit processing unit 13-i that limits the operation amount MVi to an operation amount output upper limit value OHi, and an operation that outputs the operation amount MVi to the outside It is comprised from quantity MVi output part 14-i.

  The temperature increase efficiency improvement function unit 2 is a control loop (with similar temperature increase characteristics) of the PID control loop Li (i = 1 to 6) that has a relatively long estimated time to reach the set value SPi of the control amount PVi. 1st group registration part 20 which memorizes beforehand the one where temperature rising range is large as a 1st group, and arrival time to set value SPi of controlled variable PVi among PID control loop Li (i = 1-6) Is a control group that is relatively shorter than the first group (the one having a small temperature rise width if it is a target of similar temperature rise characteristics), and a second group registration unit 21 that stores in advance as a second group, and each PID control loop The simultaneous change detection unit 22 that detects the simultaneous change of the set value SPi of Li, and the manipulated variable output upper limit value OHi rise in accordance with the simultaneous change of the set value SPi at the timing when the first group precedes and the second group is delayed. Sea urchin, composed of suppressing the upper limit operation unit 23 an increase in the manipulated variable output upper limit value OHi the power suppression unit 3 calculates. In the present embodiment, PID control loops L1 to L4 are registered in the first group registration unit 20 as the first group, and PID control loops L5 and L6 are registered in the second group registration unit 21 as the second group.

  The power suppression unit 3 acquires an allocated total power input unit 30 that receives information of an allocated total power PW that defines the total power usage of the actuators of all PID control loops Li, and obtains a power consumption value CTi of each control loop Li Each PID from the power value acquisition unit 31 that performs, the maximum output power value acquisition unit 32 that acquires the maximum output power consumption value CTmi of each PID control loop Li, and the maximum output power consumption value CTmi and the power consumption value CTi. A power margin calculation unit 33 for calculating the power margin CTri of the control loop Li, a maximum total power calculation unit 34 for calculating the maximum total power BX that is the sum of the maximum output power consumption values CTmi of the PID control loops Li, A power margin total amount calculation unit 35 that calculates a power margin total amount RW that is the sum of the power margin CTri of the PID control loop Li, and a power reduction total that is a total amount of power to be reduced A power reduction total amount calculation unit 36 that calculates SW from the maximum total power BX and the total allocation power PW, and a power reduction allocation amount calculation unit that calculates a power reduction allocation amount CTsi that is a power amount to be reduced in each PID control loop Li 37, and an output upper limit value calculation unit 38 that calculates the operation amount output upper limit value OHi of each PID control loop Li from the power reduction allocation amount CTsi and the maximum output power consumption value CTmi. The power margin calculation unit 33, the maximum total power calculation unit 34, the power margin total amount calculation unit 35, the power reduction total amount calculation unit 36, the power reduction allocation amount calculation unit 37, and the output upper limit value calculation unit 38 are an operation amount output upper limit value operation. Means.

  FIG. 3 is a block diagram of the PID control system of the present embodiment. Each PID control loop Li includes a control unit 1-i and a control object Pi. The control unit 1-i outputs the operation amount MVi calculated by the PID control calculation unit 12-i to the control target Pi. In the example of FIG. 8, the control target Pi is the heat treatment furnace 100 heated by the heater Hi, but the actual output destination of the operation amount MVi is the power regulator 102-i, and the electric power corresponding to the operation amount MVi is electric power. It is supplied from the adjuster 102-i to the heater Hi.

  Hereinafter, the operation of the power sum suppression control device of the present embodiment will be described. 4 is a flowchart showing the operation of the power sum suppression control device, FIGS. 5A to 5C are diagrams showing an operation example of the power sum suppression control device, and FIG. 5A shows the set value SPi ( FIG. 5B is a diagram showing changes in the manipulated variable MVi (i = 1 to 6), and FIG. 5C is a diagram showing changes in the control amount PVi (i = 1 to 6). These are figures which show the change of the sum total QW of the electric power consumption of six PID control loops Li (i = 1-6).

The set value SPi of each PID control loop Li (i = 1 to 6) is set by the operator of the heating device or the like, and is set in the simultaneous change detection unit 22 and the set value SPi input unit 10-i of each control unit 1-i. Entered.
The simultaneous change detection unit 22 detects the simultaneous change and notifies the upper limit value operation unit 23 when the simultaneous change of the set value SPi of each PID control loop Li is made (YES in step S100 in FIG. 4) ( FIG. 4 step S101).

  When notified from the simultaneous change detection unit 22 that the set value SPi of each PID control loop Li has been simultaneously changed, the upper limit value operation unit 23 is registered in the first group registration unit 20. The PID control loop Li (i = 1 to 4) is not particularly limited, and the second group PID control loop Li (i = 5, 6) registered in the second group registration unit 21 is manipulated. The output upper limit value OHi (i = 5, 6) is set to the PID control loop Li (i = 5) output from the output upper limit processing unit 13-i immediately before the set value SPi (i = 1 to 6) is simultaneously changed. , 6), the output upper limit processing unit 13-i is instructed so as to be fixed to a value in the vicinity of the operation amount MVi (i = 5, 6) (step S102 in FIG. 4). Specifically, an instruction is given to fix the operation amount output upper limit value OHi (i = 5, 6) to the value of the corresponding operation amount MVi (i = 5, 6) immediately before the simultaneous change of the set value SPi. Just put it out.

  By the process of step S102, only the PID control loop Li (i = 1 to 4) of the first group is temporarily raised. The state where the manipulated variable output upper limit value OHi (i = 5, 6) of the PID control loop Li (i = 5, 6) of the second group is fixed to a small value is maintained for a predetermined time TX. The definition of the time TX will be described later. Hereinafter, the operation when the elapsed time from the time point when the process of step S102 is performed (when the simultaneous change of the set value SPi is detected) has not reached the time TX will be described first.

  The allocated total power input unit 30 receives information on the allocated total power PW that defines the total power usage of the heater Hi from the computer (the upper PC 103 in the example of FIG. 8) of the power demand management system that manages the power (FIG. 8). 4 step S106). Here, it is assumed that the total allocated power PW = 1440W (60% of the total power consumption 400W × 6 = 2400W).

  The power value acquisition unit 31 acquires the current power consumption value CTi (specifically, the power consumption value of the heater Hi) of each PID control loop Li (i = 1 to 6) (step S107 in FIG. 4). The power value acquisition unit 31 may measure or estimate the power consumption value CTi. In order to estimate the power consumption value CTi, the power consumption value CTi may be obtained by a preset power estimation function equation using the current value flowing through the heater Hi and the control amount PVi as input variables. Further, the operation amount MVi and the control amount PVi may be input variables, and the current value flowing through the heater Hi, the control amount PVi, and the operation amount MVi may be input variables. A specific method for estimating the power consumption value CTi is disclosed in Japanese Patent Application Laid-Open No. 2009-229382 and the like, and detailed description thereof is omitted.

Next, the maximum output power value acquisition unit 32 acquires the maximum output power consumption value CTmi of each PID control loop Li (step S108 in FIG. 4). Here, the time of maximum output means that the manipulated variable MVi is the maximum value of 100%. The maximum output power value acquisition unit 32 may extract or estimate the maximum output power consumption value CTmi stored in advance. In order to estimate the maximum power consumption value CTmi at the time of output, it may be estimated approximately by the following equation based on the power consumption value CTi and the operation amount MVi output from the control unit 1-i.
CTmi = CTi (100.0 / MVi) (1)

The power margin calculation unit 33 calculates the power margin CTri of each PID control loop Li for each PID control loop Li by the following equation (step S109 in FIG. 4).
CTri = CTmi-CTi (2)
The maximum total power calculation unit 34 calculates the maximum total power BX that is the sum of the maximum output power consumption values CTmi of each PID control loop Li by the following equation (step S110 in FIG. 4).
BX = ΣCTmi = CTm1 + CTm2 +... + CTmn (3)

The power margin total amount calculation unit 35 calculates a power margin total amount RW that is the sum of the power margin CTri of each PID control loop Li by the following equation (step S111 in FIG. 4).
RW = ΣCTri = CTr1 + CTr2 +... + CTrn (4)
The power reduction total amount calculation unit 36 calculates the power reduction total amount SW, which is the total power amount to be reduced, from the maximum total power BX and the allocated total power PW by the following equation (step S112 in FIG. 4).
SW = BX-PW (5)

The power reduction allocation amount calculation unit 37 calculates the power reduction allocation amount CTsi, which is the amount of power to be reduced in each PID control loop Li, for each PID control loop Li using the following equation (step S113 in FIG. 4).
CTsi = SW (CTri / RW) (6)

The output upper limit value calculation unit 38 calculates the operation amount output upper limit value OHi of each PID control loop Li for each PID control loop Li by the following equation from the power reduction allocation amount CTsi and the maximum power consumption value CTmi (FIG. 4). Step S114).
OHi = {1.0− (CTsi / CTmi)} 100.0 [%] (7)
When BX <PW, that is, when SW <0, OHi exceeds 100%. In this case, the upper limit may be cut at 100%.

Next, the control unit 1-i calculates the operation amount MVi of the PID control loop Li as follows. The set value SPi is input to the PID control calculation unit 12-i via the set value SPi input unit 10-i (step S115 in FIG. 4).
The control amount PVi (temperature) is measured by a measuring instrument (temperature sensor Si in the example of FIG. 8) and input to the PID control calculation unit 12-i via the control amount PVi input unit 11-i (step in FIG. 4). S116).

Based on the set value SPi and the control amount PVi, the PID control calculation unit 12-i performs a PID control calculation like the following transfer function equation to calculate the manipulated variable MVi (step S117 in FIG. 4).
MVi = (100 / PBi) {1+ (1 / TIis) + TDis} (SPi−PVi)
... (8)
PBi is a proportional band, TIi is an integration time, TDi is a differentiation time, and s is a Laplace operator.

The output upper limit processing unit 13-i performs an upper limit process such as the following expression on the operation amount MVi calculated by the PID control calculation unit 12-i (step S118 in FIG. 4).
IF MVi> OHi THEN MVi = OHi (9)
That is, when the manipulated variable MVi is larger than the manipulated variable output upper limit value OHi, the output upper limit processing unit 13-i performs an upper limit process for setting the manipulated variable MVi = OHi.

  The output upper limit processing unit 13-i uses the operation amount output upper limit value OHi calculated and set by the output upper limit value calculation unit 38, but is instructed by the upper limit value operation unit 23 to fix the value by the process of step S102. The manipulated variable output upper limit value OHi (i = 5, 6) is not the value set by the output upper limit value calculation unit 38 but the value specified by the upper limit value operation unit 23 until the fixing instruction is canceled. Is an operation amount output upper limit value OHi (i = 5, 6). As described above, the operation amount output upper limit value OHi (i = 5, 6) at this time is the operation output from the output upper limit processing unit 13-i immediately before the simultaneous change of the set value SPi (i = 1 to 6). It is a value in the vicinity of the quantity MVi (i = 5, 6).

  The manipulated variable MVi output unit 14-i outputs the manipulated variable MVi subjected to the upper limit processing by the output upper limit processing unit 13-i to the control target (the actual output destination is, for example, the power regulator 102-i) (step S119 in FIG. 4). ). Since the control unit 1-i is provided for each PID control loop Li, the processes in steps S115 to S119 are performed for each PID control loop Li.

  By repeating the processes of steps S107 to S119 only for the first group of PID control loops Li (i = 1 to 4), the PID control loops to be heated as shown in FIG. The operation amount MVi (i = 1 to 4) of Li (i = 1 to 4) increases, and the output upper limit value OHi (i = 1 to 4) also increases until the total power reaches the allocated total power PW. .

  Further, the output upper limit value OHi (i = 5, 6) of the second group PID control loop Li (i = 5, 6) that is once out of the temperature increase target is immediately before the simultaneous change of the set value SP. The value is fixed to a small value in the vicinity of the operation amount MVi (i = 5, 6).

  Next, when the elapsed time from the time point when the process of step S102 is performed (when the simultaneous change of the set value SPi is detected) reaches the time TX (in steps S103 and S104 in FIG. 4), the upper limit value operation unit 23 YES), the state of fixing the manipulated variable output upper limit value OHi (i = 5, 6) of the PID control loop Li (i = 5, 6) of the second group registered in the second group registration unit 21 is released. In this manner, an instruction is issued to the output upper limit processing unit 13-i (step S105 in FIG. 4). With this cancellation, the manipulated variable output upper limit value OHi (i = 5, 6) of the PID control loop Li (i = 5, 6) of the second group is calculated and set by the output upper limit value calculation unit 38 thereafter. Value.

  The time TX is an operation of the PID control loop Li (i = 1 to 4) of the first group that rises in advance from the time when the process of step S102 is performed (when the simultaneous change of the set value SPi is detected). What is necessary is just to set beforehand the time longer than the time until the raise of quantity output upper limit OHi (i = 1-4) is stabilized with the maximum value 100%. As a result, the time TX becomes irrelevant to a time having a large degree of condition dependency such as a scheduled temperature increase time, and the setting becomes easy.

  By repeating the processing of steps S107 to S119 repeatedly, the power distribution is concentrated on the first group until the temperature rise of the PID control loop Li (i = 1 to 4) of the first group is completed. As shown in FIG. 5A, as the control amounts PV1 to PV4 approach the set values SP1 to SP4 and the completion of the temperature rise is approached, the operation amount MVi (i = 1 to 4) as shown in FIG. Gradually decreases, and the manipulated variable output upper limit value OHi (i = 1 to 4) also decreases. That is, the state of power distribution concentrated in the first group is alleviated, and the process proceeds to the temperature increase of the PID control loop Li (i = 5, 6) of the second group, as shown in FIG. 5B. The manipulated variable MVi (i = 5, 6) of the control loop Li (i = 5, 6) increases.

  In this case, the elapsed time required for the operation amount MVi (i = 1 to 4) of the PID control loop Li (i = 1 to 4) of the first group to drop is relatively higher than the second group. In general, it is relatively long as well as long. Therefore, while the manipulated variable MVi (i = 1 to 4) is being lowered, the temperature rise of the second group of PID control loops Li (i = 5, 6) with a relatively short temperature rise time progresses to 6 pieces. It is possible to maintain an efficient state in which the total power consumption QW of the PID control loops Li (i = 1 to 6) uses almost 100% of the allocated total power PW.

  In the example of FIG. 5C, a state in which the total amount of power QW defined by the allocated total power PW (here, 1440 W) is used up almost 100% from the time when the set values SPi (i = 1 to 6) are simultaneously changed. Is maintained, and this state is the second group PID control loop from time t4 when the manipulated variable MVi (i = 1 to 4) of the first group PID control loop Li (i = 1 to 4) starts to decrease. The operation amount MVi (i = 5, 6) of Li (i = 5, 6) is maintained until time t5 when the operation amount MVi (i = 5, 6) increases to 100%.

  Then, the temperature increase of the PID control loop Li (i = 5, 6) of the second group progresses, and the elapsed time required for the operation amount MVi (i = 5, 6) to decrease increases compared to the first group. As the warm time is relatively short, it is usually relatively short, so the total power consumption QW of the six PID control loops Li (i = 1 to 6) is almost 100% of the allocated total power PW. After maintaining the efficient state to be used for as long as possible, the temperature rise of all the control loops Li (i = 1 to 6) progresses in a form close to simultaneous completion. In other words, the time required to complete the startup of all of the plurality of heating control objects is not significantly impaired. In the example of FIGS. 5A to 5C, the temperature increase of all the control loops Li (i = 1 to 6) is completed almost at the time t6.

  On the other hand, in FIGS. 6A to 6C, the power sum suppression control (power sum suppression control not grouped into the first group and the second group) disclosed in Patent Document 1 is performed to raise the temperature. 6A is a diagram showing a change in the set value SPi (i = 1 to 6) and the control amount PVi (i = 1 to 6), and FIG. 6B is an operation diagram. FIG. 6C is a diagram showing a change in the amount MVi (i = 1 to 6), and FIG. 6C is a diagram showing a change in the total power consumption QW of the six PID control loops Li (i = 1 to 6).

  In the case of the power sum suppression control disclosed in Patent Document 1, as shown in FIG. 6A, the PID control loop Li (i = 5, 6) with a relatively short temperature rise time precedes the temperature rise. In addition, since the PID control loop Li (i = 1 to 4) having a relatively long temperature rise time remains as the temperature rise has not been completed, the PID is required in the elapsed time required for the operation amount MVi (i = 1 to 4) to drop. Even though the temperature increase of the control loop Li (i = 1 to 4) has not been completed, an inefficient state in which the amount of power defined by the allocated total power PW is not used 100% occurs for a long time. That is, as compared with the present embodiment, the time required until the start-up of a plurality of heating control objects is completed is greatly lost.

  In FIG. 6C, the total power when the total power suppression control of the present embodiment is performed is indicated by QW1, and the total power when the total power suppression control disclosed in Patent Document 1 is performed is indicated by QW2. ing. In the case of the power sum suppression control disclosed in Patent Document 1, it can be seen that the amount of power defined by the allocated total power PW cannot be efficiently used at the time after t8.

  As described above, in the present embodiment, the manipulated variable output upper limit value OHi of each PID control loop Li is set so that the total amount of power usage of each PID control loop Li does not exceed the value defined by the allocated total power PW. When the control amount PVi is made to follow the set value change while performing the total power suppression control to be operated, the power usage amount distribution of the plurality of PID control loops Li can be made efficient, and the control of all the PID control loops Li It is possible to shorten the time required until the settling. As a result, in this embodiment, the practical efficiency of the power sum suppression control can be improved.

Needless to say, the order of processing in the power sum suppression control apparatus of the present embodiment may not be as shown in FIG. In the example of FIG. 4, the information on the allocated total power PW is received every time, but the upper PC 103 transmits information as necessary, and the value of the allocated total power PW is updated as needed. It may be like this.
In addition, when grouping is performed according to the expected arrival time of the control amount PVi to the set value SPi, there may be a plurality of ways of dividing the group. Can be more difficult. However, in any case, even if there is a difference in the magnitude of the effect of improving the practical efficiency, the effect itself can be obtained. As a minimum desirable division method, the control loop with the longest arrival time may be the first group, and the control loop with the shortest arrival time may be the second group.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. FIG. 7 is a block diagram showing the configuration of the power sum suppression control apparatus according to the second embodiment of the present invention. The same components as those in FIG. The power sum suppression control device of the present embodiment is provided for each PID control loop Li (i = 1 to 6) instead of the control unit 1-i in the power sum suppression control device of the first embodiment. The controller 1a-i is provided, and instead of the temperature increase efficiency improvement function unit 2, a temperature increase efficiency improvement function unit 2a is provided. The control unit 1a-i includes an output upper / lower limit processing unit 15-i instead of the output upper limit processing unit 13-i in the control unit 1-i of the first embodiment. Further, the temperature increase efficiency improvement function unit 2 a is provided with an upper limit value operation unit 23 a instead of the upper limit value operation unit 23 in the temperature increase efficiency improvement function unit 2 of the first embodiment.

Since the processing flow of the power sum suppression control device in this embodiment is the same as that in the first embodiment, the operation of this embodiment will be described using the reference numerals in FIG.
When the upper limit value operating unit 23a is notified by the simultaneous change detecting unit 22 that the set values SPi of the respective PID control loops Li (i = 1 to 6) are simultaneously changed (step S101 in FIG. 4), The PID control loop Li (i = 1 to 4) of the first group registered in the one group registration unit 20 is not particularly limited, and the PID control of the second group registered in the second group registration unit 21 is not performed. The manipulated variable output upper limit value OHi (i = 5, 6) of the loop Li (i = 5, 6) is set as the manipulated variable output lower limit value OLi (i = 5) of the corresponding PID control loop Li (i = 5, 6). , 6), the output upper / lower limit processing unit 15-i is instructed (step S102 in FIG. 4).

Similarly to the output upper limit processing unit 13-i, the output upper / lower limit processing unit 15-i of each control unit 1a-i performs the operation amount MVi calculated by the PID control calculation unit 12-i as shown in Expression (9). At the same time as the upper limit process, the lower limit process of the operation amount MVi is performed as shown in the following equation (step S118 in FIG. 4).
IF MVi <OLi THEN MVi = OLi (10)
That is, when the manipulated variable MVi is smaller than the preset manipulated variable output lower limit value OLi, the output upper / lower limit processing unit 15-i performs a lower limit process for setting the manipulated variable MVi = OLi.

  The output upper / lower limit processing unit 15-i uses the operation amount output upper limit value OHi calculated and set by the output upper limit value calculation unit 38 as the operation amount output upper limit value OHi for the upper limit process of the operation amount MVi. For the operation amount output upper limit value OHi (i = 5, 6) instructed to fix the value from the upper limit value operation unit 23a by the process of S102, the output upper limit value calculation unit 38 until this fixing instruction is released. The value instructed from the upper limit value operation unit 3a, that is, the operation amount output lower limit value OLi (i = 5, 6) is set as the operation amount output upper limit value OHi (i = 5, 6). Other processes are as described in the first embodiment.

  In the first embodiment, the manipulated variable output upper limit value OHi (i = 5, 6) of the PID control loop Li (i = 5, 6) of the second group is set to the set value SPi (i = 1-6). The operation amount MVi (i = 5, 6) immediately before the simultaneous change is fixed to a value in the vicinity. In the case of the method as in the first embodiment, there is a case where the manipulated variable MVi is transiently high due to temporary disturbances or measurement noise of the controlled variable PVi, so that it approaches the power distribution design. An error factor may also occur.

  If there is a concern that such an error factor may occur, it is preferable to unconditionally fix the minimum value (the manipulated variable output lower limit value OLi) as in the present embodiment. That is, since power is concentrated on the PID control loop Li (i = 1 to 4) of the first group that is heated up in advance, the probability of approaching the power distribution design by grouping can be increased. In the PID control loop in which the operation amount output upper limit value OHi is fixed to the minimum value (operation amount output lower limit value OLi), the control amount PVi (temperature) may be temporarily lowered, but the temperature increase is originally suspended. This is not a big problem because it is assumed that following the set value SPi is temporarily impaired.

  The power sum suppression control device described in the first and second embodiments can be realized by a computer having a CPU (Central Processing Unit), a storage device, and an interface, and a program for controlling these hardware resources. it can. The CPU executes the processing described in the first and second embodiments in accordance with a program stored in the storage device.

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

  1-i, 1a-i ... control unit, 2, 2a ... temperature increase efficiency improving function unit, 3 ... power suppression unit, 10-i ... set value SPi input unit, 11-i ... control amount PVi input unit, 12- i ... PID control calculation unit, 13-i ... output upper limit processing unit, 14-i ... manipulated variable MVi output unit, 15-i ... output upper and lower limit processing unit, 20 ... first group registration unit, 21 ... second group registration , 22 ... simultaneous change detection unit, 23, 23a ... upper limit value operation unit, 30 ... allocated total power input unit, 31 ... power value acquisition unit, 32 ... maximum output power value acquisition unit, 33 ... power margin calculation unit, 34 ... Maximum total power calculation unit, 35 ... Power margin total amount calculation unit, 36 ... Power reduction total amount calculation unit, 37 ... Power reduction allocation amount calculation unit, 38 ... Output upper limit value calculation unit.

Claims (8)

Among the n (n is an integer of 2 or more) control loops Li (i = 1 to n), the control loop PVi has a relatively long estimated time to reach the set value SPi in the first group. First group registration means for storing in advance the control loop of the first group divided by grouping the control loop having a shorter time than the control loop of the first group as a second group ;
Second group registration means for storing in advance the control loop of the second group divided by the grouping ;
Simultaneous change detection means for detecting a simultaneous change of the set value SPi of each control loop Li;
The operation amount output upper limit value OHi of each control loop Li is calculated so that the total power consumption amount of each control loop Li does not exceed the specified value, and the control loop Li of each control loop Li is calculated based on this operation amount output upper limit value OHi. Power sum suppression control means for performing upper limit processing of the operation amount MVi for the actuator;
The manipulated variable output calculated by the power sum suppression control means so that the manipulated variable output upper limit value OHi increases according to the simultaneous change of the set value SPi at the timing when the first group precedes and the second group is delayed. An electric power sum suppression control device comprising an upper limit value operating means for suppressing an increase in the upper limit value OHi. In the electric power total suppression control apparatus of Claim 1,
The power sum suppression control means is
An allocated total power input means for receiving information of an allocated total power PW that defines the total power usage of the actuators of all control loops Li;
Power value acquisition means for acquiring the power consumption value CTi of each control loop Li;
Maximum output power value acquisition means for acquiring the maximum output power consumption value CTmi of each control loop Li;
The power margin of each control loop Li is calculated from the difference between the maximum output power consumption value CTmi and the power consumption value CTi, and the ratio of the power margin of each control loop Li to the total power margin and the allocated total power PW And an operation amount output upper limit value operating means for calculating an operation amount output upper limit value OHi of each control loop Li so that the power margin of each control loop Li approaches a fair state,
Provided for each control loop Li, the operation value MVi is calculated by control calculation with the set value SPi and the control amount PVi as inputs, and an upper limit process for limiting the operation amount MVi to the operation amount output upper limit value OHi or less is executed, Control means for outputting the manipulated variable MVi after the upper limit processing to the actuator of the corresponding control loop Li,
The upper limit value operating means increases the manipulated variable output upper limit value OHi in accordance with the simultaneous change of the set value SPi at a timing when the first group precedes and the second group is delayed. The state in which the operation amount output upper limit value OHi of the control loop Li belonging to the two groups is fixed to a value in the vicinity of the operation amount MVi of the control loop Li immediately before the simultaneous change of the set value SPi is maintained for a predetermined time TX. Is,
The power sum suppression control device, wherein the time TX is set in advance to a time longer than a time during which the increase in the manipulated variable output upper limit value OHi of the first group is stabilized. In the electric power total suppression control apparatus of Claim 1,
The power sum suppression control means is
An allocated total power input means for receiving information of an allocated total power PW that defines the total power usage of the actuators of all control loops Li;
Power value acquisition means for acquiring the power consumption value CTi of each control loop Li;
Maximum output power value acquisition means for acquiring the maximum output power consumption value CTmi of each control loop Li;
The power margin of each control loop Li is calculated from the difference between the maximum output power consumption value CTmi and the power consumption value CTi, and the ratio of the power margin of each control loop Li to the total power margin and the allocated total power PW And an operation amount output upper limit value operating means for calculating an operation amount output upper limit value OHi of each control loop Li so that the power margin of each control loop Li approaches a fair state,
Provided for each control loop Li, the manipulated variable MVi is calculated by control calculation with the set value SPi and the controlled variable PVi as inputs, and the manipulated variable MVi is a value not less than the manipulated variable output lower limit value OLi and not more than the manipulated variable output upper limit value OHi. Control means for executing an upper / lower limit process to limit the operation amount MVi after the upper / lower limit process to an actuator of the corresponding control loop Li,
The upper limit value operating means increases the manipulated variable output upper limit value OHi in accordance with the simultaneous change of the set value SPi at a timing when the first group precedes and the second group is delayed. Maintaining the state in which the operation amount output upper limit value OHi of the control loop Li belonging to two groups is fixed to the operation amount output lower limit value OLi of the control loop Li for a predetermined time TX;
The power sum suppression control device, wherein the time TX is set in advance to a time longer than a time during which the increase in the manipulated variable output upper limit value OHi of the first group is stabilized. In the electric power total suppression control apparatus of Claim 2 or 3,
The operation amount output upper limit value operating means is:
A power margin calculating means for calculating a power margin CTri of each control loop Li from the difference between the maximum output power consumption value CTmi and the power consumption value CTi;
Maximum total power calculating means for calculating a maximum total power BX that is the sum of the maximum output power consumption values CTmi of each control loop Li;
A power margin total amount calculating means for calculating a power margin total amount RW that is the sum of the power margin CTri of each control loop Li;
A power reduction total amount calculating means for calculating a power reduction total amount SW that is a total power amount to be reduced from the maximum total power BX and the allocated total power PW;
A power reduction allocation amount calculating means for calculating a power reduction allocation amount CTsi, which is an amount of power to be reduced in each control loop Li, from the power margin CTri, the power margin total amount RW, and the power reduction total amount SW;
A power sum suppression control apparatus comprising output upper limit value calculating means for calculating an operation amount output upper limit value OHi of each control loop Li from the power reduction allocation amount CTsi and the maximum output power consumption value CTmi. a simultaneous change detection step of detecting a simultaneous change of the set values SPi of n control loops Li (i = 1 to n) (n is an integer of 2 or more);
The operation amount output upper limit value OHi of each control loop Li is calculated so that the total power consumption amount of each control loop Li does not exceed the specified value, and the control loop Li of each control loop Li is calculated based on this operation amount output upper limit value OHi. A power sum suppression control step for performing upper limit processing of the operation amount MVi for the actuator;
Relatively than the n control amount PVi setting first group scheduled arrival time is relatively long control loop to SPi of the control loop Li, the control loop of the estimated arrival time is the first group A first group registration means for storing in advance the control loop of the first group divided by grouping the short control loop as a second group; and a control loop of the second group divided by the grouping With reference to the second group registration means stored in advance, the manipulated variable output upper limit value OHi increases in accordance with the simultaneous change of the set value SPi when the first group precedes and the second group is delayed. And an upper limit value operation step for suppressing an increase in the operation amount output upper limit value OHi calculated in the power sum suppression control step. That total electric power suppression control method. In the electric power sum total suppression control method according to claim 5,
The power sum suppression control step includes:
An allocated total power input step for receiving information of an allocated total power PW that defines the total power usage of the actuators of all control loops Li;
A power value acquisition step of acquiring a power consumption value CTi of each control loop Li;
A maximum output power value acquisition step of acquiring a maximum output power consumption value CTmi of each control loop Li;
The power margin of each control loop Li is calculated from the difference between the maximum output power consumption value CTmi and the power consumption value CTi, and the ratio of the power margin of each control loop Li to the total power margin and the allocated total power PW And an operation amount output upper limit value operation step for calculating an operation amount output upper limit value OHi of each control loop Li so that the power margin of each control loop Li approaches a fair state,
An operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, an upper limit process is performed to limit the operation amount MVi to the operation amount output upper limit value OHi or less, and the operation amount MVi after the upper limit process is calculated. A control step of outputting to the actuator of the corresponding control loop Li,
The upper limit value operation step is performed so that the operation amount output upper limit value OHi increases in accordance with the simultaneous change of the set value SPi at the timing when the first group is advanced and the second group is delayed. The state in which the operation amount output upper limit value OHi of the control loop Li belonging to the two groups is fixed to a value in the vicinity of the operation amount MVi of the control loop Li immediately before the simultaneous change of the set value SPi is maintained for a predetermined time TX. Including steps,
The power sum suppression control method, wherein the time TX is set in advance to a time longer than a time during which the increase in the manipulated variable output upper limit value OHi of the first group is stabilized. In the electric power sum total suppression control method according to claim 5,
The power sum suppression control step includes:
An allocated total power input step for receiving information of an allocated total power PW that defines the total power usage of the actuators of all control loops Li;
A power value acquisition step of acquiring a power consumption value CTi of each control loop Li;
A maximum output power value acquisition step of acquiring a maximum output power consumption value CTmi of each control loop Li;
The power margin of each control loop Li is calculated from the difference between the maximum output power consumption value CTmi and the power consumption value CTi, and the ratio of the power margin of each control loop Li to the total power margin and the allocated total power PW And an operation amount output upper limit value operation step for calculating an operation amount output upper limit value OHi of each control loop Li so that the power margin of each control loop Li approaches a fair state,
An operation amount MVi is calculated by a control calculation with the set value SPi and the control amount PVi as inputs, and an upper / lower limit process is performed to limit the operation amount MVi to a value not less than the operation amount output lower limit value OLi and not more than the operation amount output upper limit value OHi. And a control step for outputting the manipulated variable MVi after the upper and lower limit processing to the actuator of the corresponding control loop Li,
The upper limit value operation step is performed so that the operation amount output upper limit value OHi increases in accordance with the simultaneous change of the set value SPi at the timing when the first group is advanced and the second group is delayed. Maintaining a state where the operation amount output upper limit value OHi of the control loop Li belonging to two groups is fixed to the operation amount output lower limit value OLi of the control loop Li for a predetermined time TX,
The power sum suppression control method, wherein the time TX is set in advance to a time longer than a time during which the increase in the manipulated variable output upper limit value OHi of the first group is stabilized. In the electric power sum total suppression control method according to claim 6 or 7,
The operation amount output upper limit value operation step includes:
A power margin calculating step of calculating a power margin CTri of each control loop Li from a difference between the maximum output power consumption value CTmi and the power consumption value CTi;
A maximum total power calculating step for calculating a maximum total power BX that is the sum of the maximum output power consumption values CTmi of each control loop Li;
A power margin total amount calculating step for calculating a power margin total amount RW that is the sum of the power margin CTri of each control loop Li;
A power reduction total amount calculating step of calculating a power reduction total amount SW that is a total power amount to be reduced from the maximum total power BX and the allocated total power PW;
A power reduction allocation amount calculating step of calculating a power reduction allocation amount CTsi, which is an amount of power to be reduced in each control loop Li, from the power margin CTri, the power margin total amount RW, and the power reduction total amount SW;
A power sum suppression control method, comprising: an output upper limit value calculating step of calculating an operation amount output upper limit value OHi of each control loop Li from the power reduction allocation amount CTsi and the maximum output power consumption value CTmi.