JP7050614B2 - Control device and control method - Google Patents

Description

The present invention relates to a technique for additionally applying feedforward control to a feedback controller, and more particularly to a control device and a control method suitable for performing arbitrary operation amount addition or operation amount subtraction by an operator's operation.

A method of adding a feedforward amount to a PID control, which is a typical feedback control (hereinafter referred to as feedforward + feedback control), has been proposed (see Patent Document 1).

The inventor has created a feed in which the feedforward amount MV_P is asymptotically converged to zero in order to improve practicality, especially when such feedforward + feedback control is applied to a heating device as shown in FIG. A forward method (Japanese Patent Application No. 2017-233250) was proposed.

The heating device of FIG. 17 includes a heat treatment furnace 100 that heats the workpiece to be processed, an electric heater 101, a temperature sensor 102 that measures the temperature inside the heat treatment furnace 100, and a temperature controller that controls the temperature inside the heat treatment furnace 100. It is composed of 103, a power regulator 104, a power supply circuit 105, and a PLC (Programmable Logic Controller) 106 that controls the entire heating device. The temperature controller 103 calculates the operation amount MV so that the temperature PV (control amount) measured by the temperature sensor 102 matches the temperature set value SP. The power regulator 104 determines the electric power according to the operation amount MV, and supplies the determined electric power to the electric heater 101 through the electric power supply circuit 105.

Next, the technique proposed by the inventor in Japanese Patent Application No. 2017-233250 will be described with reference to the block diagram of the control system of FIG. P in FIG. 18 indicates a control target.
The operation amount calculation unit 1 inputs the set value SP and the control amount PV, and performs a PID control operation such as the following transfer function formula so that the control amount PV matches the set value SP, and the operation amount MV. Is calculated.
MV = (100 / Pb) {1+ (1 / Tis) + Tds} (SP-PV)
... (1)
Pb is the proportional band, Ti is the integration time, Td is the differential time, and s is the Laplace operator.

When the operation amount addition value FF_P (FF_P ≠ 0), which is the target value of the addition amount for the feed forward with respect to the operation amount MV, is input, the addition amount calculation unit 4 returns to the zero value after approaching the operation amount addition value FF_P. The operation amount addition amount MV_P that gradually converges with is calculated. Specifically, the addition amount calculation unit 4 calculates the operation amount addition amount MV_P by the following transfer function formula.
MV_P = {Kxs / (1 + Tfs) ² } FF_P ... (2)

Tf in the equation (2) is a parameter that defines the time for gradually converging the manipulated variable addition amount MV_P. Kx is a parameter that defines the size of feedforward. The addition amount calculation unit 4 may set the value of β times the parameter Tf to Kx (Kx = βTf, β is, for example, 2.75). FIG. 19 shows an example of the change in the operation amount addition amount MV_P. In the example of FIG. 19, the operation amount addition value FF_P = 50%, the parameter Tf = 100 sec. It is supposed to be.

When the operation amount subtraction value FF_M (FF_M ≠ 0), which is the target value of the subtraction amount for the feed forward with respect to the operation amount MV, is input, the subtraction amount calculation unit 5 returns to the zero value after approaching the operation amount subtraction value FF_M. And the operation amount subtraction amount MV_M that gradually converges is calculated. Specifically, the subtraction amount calculation unit 5 calculates the operation amount subtraction amount MV_M by the following transfer function formula.
MV_M = {Kxs / (1 + Tfs) ² } FF_M ... (3)

Tf in the equation (3) is a parameter that defines the time for gradually converging the manipulated variable subtraction amount MV_M. The operation amount changing unit 6 adds the operation amount addition amount MV_P calculated by the addition amount calculation unit 4 to the operation amount MV calculated by the operation amount calculation unit 1, and further performs the operation calculated by the subtraction amount calculation unit 5. The result of subtracting the amount subtraction amount MV_M is calculated as the operation amount MV_F.
MV_F = MV + MV_P-MV_M ... (4)

The limit processing unit 7 limits the operation amount MV_F calculated by the operation amount change unit 6 to a value equal to or higher than the predetermined operation amount lower limit value OL, and the operation amount MV_F is equal to or less than the predetermined operation amount upper limit value OH. Performs upper limit processing to limit the value. The manipulated variable MV_F'that has been limited by the limit processing unit 7 is output to the controlled target P.

Next, the problems of feedforward + feedback control disclosed in Patent Document 1 will be described. For the manipulated variable output by the PID calculation of the temperature controller, the output saturation is determined only by the manipulated variable MV calculated by the thermometer, and the anti-reset windup process for the integral operation is performed. Therefore, it is necessary to solve the problem that the temperature controller does not function normally if the feedforward portion that remains constantly is added to the feedback portion (operation amount MV by PID calculation). For example, when the temperature controller outputs an operation amount MV = 60% with sufficient margin for output saturation, when 50% feed forward is added, it becomes 110%, and the output exceeds 100%. Although it becomes saturated, there is a problem that the anti-reset windup process is not executed as a temperature controller.

The feedforward + feedback control disclosed in Patent Document 1 causes the above-mentioned problems, but according to the techniques described in FIGS. 18 and 19, the feedforward portion is gradually added to the feedback portion. As a result, the influence on the PID calculation becomes temporary and continuous occurrence, so that the occurrence of the above-mentioned trouble can be reduced.

On the other hand, it is rare that a normal operator (control technology user) who is not an expert in control technology can properly evaluate the execution result of feedforward control, but the timing for converging the operation of adding the feedforward amount is appropriate. Must be adjusted while evaluating. That is, in the technique described with reference to FIGS. 18 and 19, the effect of feedforward control and the effect of feedback control are harmonized by gradually converging the manipulated variable addition amount MV_P given in the equation (2). , It is necessary to appropriately adjust the timing for converging the operation amount addition amount MV_P.

However, if the feedback control is PID control, the effect of the feedback control changes depending on the adjustment of the PID parameter. Therefore, for a normal operator who is not an expert in control technology, the timing for converging the operation amount addition amount MV_P is appropriate. It was difficult to adjust and harmonize the effect of feedforward control with the effect of feedback control.
Similarly, it has been difficult for the operator to appropriately adjust the timing for converging the operation amount subtraction amount MV_M to harmonize the effect of the feedforward control with the effect of the feedback control.

Japanese Unexamined Patent Publication No. 2007-102816

The present invention has been made to solve the above problems, and is for appropriately adjusting the feedforward convergence timing when feedforward control is additionally applied to a general-purpose feedback controller (for example, a PID-controlled temperature controller). It is an object of the present invention to provide a control device and a control method capable of assisting.

The control device of the present invention has an operation amount calculation unit configured to calculate an operation amount by a PID control calculation using a set value and a control amount as inputs, and is input from the outside when disturbance application is confirmed. The operation amount when the addition value acquisition unit configured to acquire the operation amount addition value which is the target value of the addition amount for the feed forward with respect to the operation amount and the operation amount addition value different from the zero value are acquired. The addition amount calculation unit is configured to calculate the operation amount addition amount that gradually converges to the zero value after approaching the addition value, and the operation amount calculated by the operation amount calculation unit is added to the addition amount calculation unit. The operation amount change unit configured to change the operation amount by adding the operation amount addition amount calculated by, and the operation amount changed by this operation amount change unit is the operation amount upper limit value when the operation amount lower limit value or more A limit processing unit configured to perform limit processing limited to the following values, an operation amount output unit configured to output this limit-processed operation amount to a control target, and the operation amount for disturbance application. As a result of calculation and output of the addition amount, when the control amount decreases and then rises to reach the set value, the operation amount does not return to near the value before the disturbance is applied and reaches the set value. A first determination unit configured to determine that the timing of convergence of the operation amount addition amount is late when the control amount later overshoots the set value by a first specified value or more, and a disturbance. As a result of the calculation / output of the operation amount addition amount with respect to the application, when the control amount does not overshoot the set value by more than the second specified value smaller than the first specified value, the said. A second determination unit configured to determine that the timing of convergence of the operation amount addition amount is early, and a determination result presentation unit configured to present the determination results of the first and second determination units. It is characterized by having.

Further, the control device of the present invention has an operation amount calculation unit configured to calculate the operation amount by PID control calculation with the set value and the control amount as inputs, and is input from the outside when the disturbance application is confirmed. , The subtraction value acquisition unit configured to acquire the operation amount subtraction value which is the target value of the subtraction amount for the feed forward with respect to the operation amount, and when the operation amount subtraction value different from the zero value is acquired, the said The subtraction amount from the operation amount calculation unit configured to calculate the operation amount subtraction amount that gradually converges to the zero value after approaching the operation amount subtraction value, and the operation amount calculated by the operation amount calculation unit. The operation amount change unit configured to change the operation amount by subtracting the operation amount subtraction amount calculated by the calculation unit, and the operation amount changed by this operation amount change unit at the operation amount lower limit value or more. A limit processing unit configured to perform limit processing limited to a value equal to or less than the upper limit value, an operation amount output unit configured to output this limit processed operation amount to a control target, and the above-mentioned operation amount output unit for disturbance application. As a result of the calculation and output of the operation amount subtraction amount, when the control amount increases and then decreases and reaches the set value, the operation amount does not return to near the value before the disturbance is applied and returns to the set value. With the first determination unit configured to determine that the timing of convergence of the operation amount subtraction amount is late when the control amount undershoots the set value by the first specified value or more after the arrival of As a result of the calculation and output of the operation amount subtraction amount for the disturbance application, when the second specified value smaller than the first specified value is not undershooted with respect to the set value after the controlled amount is increased. , A second determination unit configured to determine that the timing of convergence of the operation amount subtraction amount is early, and a determination result presentation configured to present the determination results of the first and second determination units. It is characterized by having a part.

Further, in one configuration example of the control device of the present invention, the operation amount calculation unit is based on the operation amount addition value and a parameter that defines a time for gradually converging the operation amount addition amount. When the addition amount is calculated and the first determination unit determines that the convergence timing of the operation amount addition amount is late, the parameter is set to the side where the convergence timing of the operation amount addition amount is earlier. When the first update unit configured to update and the second determination unit determine that the timing of convergence of the manipulated variable addition amount is early, the parameter is set to the convergence of the manipulated variable addition amount. It is characterized by including a second update unit configured to update on the side where the timing is delayed.
Further, in one configuration example of the control device of the present invention, the subtraction amount calculation unit is based on the operation amount subtraction value and a parameter that defines a time for gradually converging the operation amount subtraction amount. When the subtraction amount is calculated and the first determination unit determines that the timing of convergence of the operation amount subtraction amount is late, the parameter is set to the side where the timing of convergence of the operation amount subtraction amount is early. When the first update unit configured to update and the second determination unit determine that the timing of convergence of the operation amount subtraction amount is early, the parameter is set to the convergence of the operation amount subtraction amount. It is characterized by including a second update unit configured to update on the side where the timing is delayed.

Further, the control method of the present invention has a first step of calculating an operation amount by a PID control calculation with a set value and a control amount as inputs, and a control amount with respect to the operation amount input from the outside when the disturbance application is confirmed. The second step of acquiring the operation amount addition value, which is the target value of the addition amount for feed forward, and the zero value after approaching the operation amount addition value when the operation amount addition value different from the zero value is acquired. The operation amount is calculated by adding the operation amount addition amount calculated in the third step to the operation amount calculated in the first step and the third step of calculating the operation amount addition amount gradually converging to. The fourth step to be changed, the fifth step of performing limit processing for limiting the operation amount changed in this fourth step to a value equal to or more than the operation amount lower limit value and not more than the operation amount upper limit value, and the operation subjected to this limit processing. As a result of the sixth step of outputting the amount to the control target and the calculation / output of the operation amount addition amount for the disturbance application, the operation is performed when the control amount decreases and then increases and reaches the set value. When the amount does not return to near the value before the disturbance is applied and the control amount overshoots the set value by the first specified value or more after reaching the set value, the amount of the operation amount addition amount converges. As a result of the seventh step of determining that the timing is late and the calculation / output of the operation amount addition amount for the disturbance application, the control amount is smaller than the first specified value with respect to the set value after the control amount is lowered. The eighth step of determining that the timing of convergence of the operation amount addition amount is early when the overshoot does not exceed the second specified value, and the ninth step of presenting the determination results of the seventh and eighth steps. It is characterized by including and.

Further, the control method of the present invention has a first step of calculating an operation amount by a PID control calculation with a set value and a control amount as inputs, and a control amount with respect to the operation amount input from the outside when the disturbance application is confirmed. The second step of acquiring the operation amount subtraction value which is the target value of the subtraction amount for the feed forward, and the zero value after approaching the operation amount subtraction value when the operation amount subtraction value different from the zero value is acquired. The operation amount is calculated by subtracting the operation amount subtraction amount calculated in the third step from the operation amount calculated in the first step and the third step of calculating the operation amount subtraction amount gradually converging to. The fourth step to be changed, the fifth step of performing limit processing for limiting the operation amount changed in this fourth step to a value equal to or more than the operation amount lower limit value and not more than the operation amount upper limit value, and the operation subjected to this limit processing. As a result of the sixth step of outputting the amount to the control target and the calculation / output of the operation amount subtraction amount for the disturbance application, the operation is performed when the control amount increases and then decreases to reach the set value. When the amount does not return to near the value before the disturbance is reached and the control amount undershoots the set value by the first specified value or more after reaching the set value, the operation amount subtraction amount converges. As a result of the seventh step of determining that the timing is late and the calculation / output of the operation amount subtraction amount for the disturbance application, the control amount is increased and then smaller than the first specified value with respect to the set value. The eighth step of determining that the timing of convergence of the operation amount subtraction amount is early when the undershoot is not performed by the second specified value or more, and the ninth step of presenting the determination results of the seventh and eighth steps. It is characterized by including and.

According to the present invention, when the feedforward control is additionally applied to the feedback control by the operation amount calculation unit by providing the addition value acquisition unit, the addition amount calculation unit, and the operation amount change unit, there is a problem with the feedback control. Occurrence can be reduced. Further, in the present invention, the operator appropriately adjusts the timing of the convergence of the operation amount addition amount by providing the first and second determination units for determining whether the timing of the convergence of the operation amount addition amount is late or early. Support for can be realized.

Further, in the present invention, by providing the subtraction value acquisition unit, the subtraction amount calculation unit, and the operation amount change unit, when the feedforward control is additionally applied to the feedback control by the operation amount calculation unit, there is a problem with the feedback control. Occurrence can be reduced. Further, in the present invention, the operator appropriately adjusts the timing of the convergence of the operation amount subtraction amount by providing the first and second determination units for determining whether the timing of the convergence of the operation amount subtraction amount is late or early. Support for can be realized.

Further, in the present invention, when it is determined that the timing of convergence of the manipulated variable addition amount is late, the parameter defining the time for gradually converging the manipulated variable addition amount is updated to the side where the timing of convergence is earlier. The parameter is automatically adjusted by providing an update unit for updating the parameter and a second update unit for updating the parameter on the side where the timing of convergence is delayed when it is determined that the timing of convergence of the manipulated variable addition amount is early. It becomes possible.

Further, in the present invention, when it is determined that the timing of convergence of the manipulated variable subtraction amount is late, the parameter defining the time for gradually converging the manipulated variable subtraction amount is updated to the side where the timing of convergence is earlier. The parameter is automatically adjusted by providing an update unit for updating the parameter and a second update unit for updating the parameter on the side where the timing of convergence is delayed when it is determined that the timing of convergence of the operation amount subtraction amount is early. It becomes possible.

FIG. 1 is a block diagram showing a configuration of a control device according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating a control operation of the control device according to the embodiment of the present invention. FIG. 3 is a flowchart illustrating the operation of the determination unit of the control device according to the embodiment of the present invention. FIG. 4 is a flowchart illustrating the operation of the determination unit of the control device according to the embodiment of the present invention. FIG. 5 is a flowchart illustrating the operation of the determination unit of the control device according to the embodiment of the present invention. FIG. 6 is a flowchart illustrating the operation of the determination unit of the control device according to the embodiment of the present invention. FIG. 7 is a flowchart illustrating the operation of the determination result presenting unit and the updating unit of the control device according to the embodiment of the present invention. FIG. 8 is a diagram showing an example of changes in the control amount and the operation amount when the temperature is controlled only by the feedback control without executing the feedforward control. FIG. 9 is a diagram showing an example of changes in the control amount and the operation amount when the temperature is controlled by the control device according to the embodiment of the present invention. FIG. 10 is a diagram showing an example of a change in the operation amount addition amount when the temperature is controlled by the control device according to the embodiment of the present invention. FIG. 11 is a diagram showing another example of changes in the control amount and the operation amount when the temperature is controlled by the control device according to the embodiment of the present invention. FIG. 12 is a diagram showing another example of a change in the operation amount addition amount when the temperature is controlled by the control device according to the embodiment of the present invention. FIG. 13 is a diagram showing another example of changes in the control amount and the operation amount when the temperature is controlled by the control device according to the embodiment of the present invention. FIG. 14 is a diagram showing another example of a change in the operation amount addition amount when the temperature is controlled by the control device according to the embodiment of the present invention. FIG. 15 is a diagram showing a display example by the determination result presenting unit of the control device according to the embodiment of the present invention. FIG. 16 is a block diagram showing a configuration example of a computer that realizes the control device according to the embodiment of the present invention. FIG. 17 is a block diagram showing the configuration of the heating device. FIG. 18 is a block diagram of a feedback + feedforward control system. FIG. 19 is a diagram showing an example of a change in the operation amount addition amount in the feedback + feedforward control.

[Principle of invention]
The principle of the present invention will be described by taking a temperature control system by heating as an example. First, for example, in the case of the operation amount addition amount (feedforward amount) MV_P for the temperature drop disturbance, the operation amount addition amount MV_P can be optimized by using the increase amount of the operation amount MV only for the feedback control as a guide. It is rational to assume that it has been done in advance. Specifically, in the above equation (2), it is premised that the integral amount of the manipulated variable addition amount MV_P is optimized by Kx, Tf, FF_P. Specifically, if the product of the parameter Tf and the manipulated variable addition value FF_P is kept at the optimized constant value Sx, the optimized integral amount is maintained, and the constant value Sx is obtained. It is a premise.

Based on this premise, if the positive operation amount addition amount MV_P for the temperature drop disturbance, the validity of the feedforward convergence timing is judged by using the overshoot of the control amount PV in the recovery from the disturbance application as a judgment index. can. That is, as a result of the feedforward control on the positive side for the temperature drop disturbance, when the temperature of the controlled object (control amount PV) returns to the set value SP, the operation amount MV does not return to near the value before the disturbance is applied, and the control amount is controlled. If the PV overshoots above the specified level, it can be determined that the feedforward convergence timing is late. On the contrary, when the manipulated variable MV does not overshoot, it can be determined that the timing of feed forward convergence is early. The inventor has come up with the idea that by applying such a judgment, it is possible to support the operator to properly adjust the feed-forward convergence timing.

If the timing of feed forward convergence is late, the product of the parameter Tf and the manipulated variable addition value FF_P should be automatically adjusted so that the parameter Tf is small and the manipulated variable addition value FF_P is large while keeping the product at the above constant value Sx. Is also possible. If the timing of feed forward convergence is early, the product of the parameter Tf and the manipulated variable addition value FF_P may be automatically adjusted so that the parameter Tf is large and the manipulated variable addition value FF_P is small while keeping the product at the above constant value Sx. It is possible.

[Example]
Hereinafter, examples of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a control device according to this embodiment. The control device has an operation amount calculation unit 1 that calculates the operation amount MV by PID control calculation using the set value SP and the control amount PV as inputs, and a feed for the operation amount MV that is input from the outside when the disturbance application is confirmed. The FF addition value acquisition unit 2 that acquires the operation amount addition value FF_P, which is the target value of the addition amount for the forward, and the subtraction amount for the feed forward with respect to the operation amount MV that is input from the outside when the disturbance application is confirmed. When the FF subtraction value acquisition unit 3 that acquires the operation amount subtraction value FF_M, which is the target value, and the operation amount addition value FF_P different from the zero value are acquired, after a specific time TH1 elapses, the operation amount addition value FF_P is set. After a specific time TH2 elapses when the addition amount calculation unit 4 that calculates the operation amount addition amount MV_P that gradually converges to the zero value after approaching and the operation amount subtraction value FF_M different from the zero value are acquired. When the operation amount addition amount MV_P is calculated by the subtraction amount calculation unit 5 that calculates the operation amount subtraction amount MV_M that gradually converges to the zero value after approaching the operation amount subtraction value FF_M, and the addition amount calculation unit 4. When this operation amount addition amount MV_P is added to the operation amount MV calculated by the operation amount calculation unit 1 and the operation amount subtraction amount MV_M is calculated by the subtraction amount calculation unit 5, this operation amount subtraction amount MV_M is used as the operation amount. The operation amount changing unit 6 to be subtracted from the operation amount MV calculated by the calculation unit 1 and the operation amount MV_F calculated by the operation amount changing unit 6 are limited to the values of the operation amount lower limit value OL or more and the operation amount upper limit value OH or less. It includes a limit processing unit 7 that performs limit processing, and an operation amount output unit 8 that outputs the operation amount MV_F'that has been limit processed.

Further, as a configuration for optimizing the feed-forward convergence timing, the control device reaches the set value SP after the control amount PV drops as a result of the calculation / output of the operation amount addition amount MV_P for the disturbance application. , When the manipulated variable MV does not return to near the value before the disturbance is applied and the controlled variable PV overshoots the set value SP by the first specified value or more after reaching the set value SP, the manipulated variable MV_P As a result of the determination unit 9 that determines that the timing of convergence is late and the calculation / output of the manipulated variable quantity MV_P for the disturbance application, after the controlled variable PV drops, the set value SP is higher than the first specified value. Control amount as a result of calculation and output of the operation amount subtraction amount MV_M for the disturbance application and the determination unit 10 that determines that the timing of convergence of the operation amount addition amount MV_P is early when the overshoot is not performed by a small second specified value or more. When the set value SP is reached after the PV rises, the manipulated variable MV does not return to near the value before the disturbance is applied, and after reaching the set value SP, the controlled variable PV is the first specification with respect to the set value SP. After the control amount PV rises as a result of the determination unit 11 that determines that the timing of convergence of the operation amount subtraction amount MV_M is late when undershooting the value or more, and the calculation / output of the operation amount subtraction amount MV_M for the disturbance application. Judgment unit 12 for determining that the timing of convergence of the operation amount subtraction amount MV_M is early when the undershoot is not performed by the second specified value or more, which is smaller than the first specified value with respect to the set value SP, and the determination units 9 to 12. When the judgment result presenting unit 13 and the judgment unit 9 or the judgment unit 11 determine that the timing of convergence is late, the parameter for determining the timing of convergence is automatically updated to the side where the timing is earlier. Update units 14 and 16 and update units 15 and 17 that automatically update the parameters that determine the convergence timing to the side where the timing is delayed when the judgment unit 10 or the judgment unit 12 determines that the timing of convergence is early. It is equipped with.

Also in this embodiment, the block diagram of the control system is the same as in FIG. Next, the control operation of the control device of this embodiment will be described with reference to FIG.
The set value SP (for example, the temperature set value) is set by an operator of the control device and is input to the operation amount calculation unit 1 (step S100 in FIG. 2).
The controlled variable PV (for example, a temperature measured value) is measured by a measuring instrument (for example, a temperature sensor that measures the temperature of the object to be heated) (not shown), and is input to the manipulated variable calculation unit 1 (step S101 in FIG. 2).

The operation amount calculation unit 1 inputs the set value SP and the control amount PV, and performs a PID control operation such as the transfer function expression shown in the equation (1) so that the control amount PV matches the set value SP. The operation amount MV is calculated (FIG. 2, step S102).

The FF addition value acquisition unit 2 acquires the operation amount addition value FF_P, which is the target value of the addition amount for the feed forward with respect to the operation amount MV, which is input from the outside when the disturbance application is confirmed. If the disturbance application is caused by a specific operation outside the feedback control system, the time when the specific operation is executed is the time when the disturbance application is confirmed. At this time, the influence of the disturbance does not always appear immediately on the feedback control system when the disturbance application is confirmed.

Similarly, the FF subtraction value acquisition unit 3 acquires the operation amount subtraction value FF_M, which is the target value of the subtraction amount for the feed forward with respect to the operation amount MV, which is input from the outside when the disturbance application is confirmed. The FF addition value acquisition unit 2 and the FF subtraction value acquisition unit 3 acquire the value sent by communication at a predetermined timing, or acquire the value appropriately input by the operator using the input function. FF_P and FF_M are acquired by acquiring the values automatically generated when the set value SP input to the operation amount calculation unit 1 is changed.

That is, in the system to which the control device of this embodiment is applied, for example, in order to suppress a disturbance assumed during control, an operation is performed from the host device to the control device at a specified timing or at a timing of changing the set value SP. It is conceivable that the amount addition value FF_P and the operation amount subtraction value FF_M are automatically input, or the operator manually inputs the operation amount addition value FF_P and the operation amount subtraction value FF_M during control.

When the FF addition value acquisition unit 2 has elapsed a specific time TH1 or more from the time when the operation amount addition value FF_P different from the zero value is acquired by the addition amount calculation unit 4 (YES in step S103 of FIG. 2). The operation amount addition amount MV_P that gradually converges to the zero value after approaching the operation amount addition value FF_P is calculated by the equation (2) (FIG. 2, step S104).

As described above, Tf in the equation (2) is a parameter relating to the time of the manipulated variable addition amount MV_P. The addition amount calculation unit 4 may set the PID parameter set in the operation amount calculation unit 1, specifically, a value obtained by α times the integration time Ti as Tf (Tf = αTi, the predetermined value α is, for example, α =). 0.1-2.0). As a result, the change in the feed forward amount of the manipulated variable MV to which the manipulated variable MV_P is added almost coincides with the cycle when the vertical movement of the control occurs. Further, the elapsed time from the time when the feed forward amount is added to the operation amount MV until the feed forward amount reaches the maximum change amount almost coincides with the time of the parameter Tf.

Kx in equation (2) is a parameter that defines the size of feedforward. The addition amount calculation unit 4 may set the value β times the parameter Tf to Kx (Kx = βTf, the predetermined value β is, for example, 2.75). As a result, the maximum change amount for the feed forward of the operation amount MV generally matches the operation amount addition value FF_P. The initial value of the operation amount addition amount MV_P from the time when the FF addition value acquisition unit 2 acquires the operation amount addition value FF_P until the lapse of a specific time TH1 is zero.

Further, in this embodiment, the time TH1 from the time when the operation amount addition value FF_P is input from the outside to the time when the calculation / output of the operation amount addition amount MV_P should be started is appropriately adjusted in advance (that is, assumed). The description will be made on the premise that the output start timing of the operation amount addition amount MV_P is appropriately adjusted with respect to the disturbance application.

When the subtraction amount calculation unit 5 has elapsed a specific time TH2 or more from the time when the FF subtraction value acquisition unit 3 acquires the operation amount subtraction value FF_M different from the zero value (YES in step S105 of FIG. 2). The operation amount subtraction amount MV_M that gradually converges to the zero value after approaching the operation amount subtraction value FF_M is calculated by the equation (3) (FIG. 2, step S106).

Similar to the addition amount calculation unit 4, the subtraction amount calculation unit 5 may set the value of α times the integration time Ti as Tf (Tf = αTi, the predetermined value α is, for example, 0.1 to 2.0). Further, the subtraction amount calculation unit 5 may set a value β times the parameter Tf to Kx (Kx = βTf, a predetermined value β is, for example, 2.75). As a result, the maximum change amount for the feed forward of the manipulated variable MV generally matches the manipulated variable subtraction value FF_M. The initial value of the operation amount subtraction amount MV_M from the time when the FF subtraction value acquisition unit 3 acquires the operation amount subtraction value FF_M until the lapse of a specific time TH2 is zero.

Further, in this embodiment, the time TH2 from the time when the operation amount subtraction value FF_M is input from the outside to the time when the calculation / output of the operation amount subtraction amount MV_M should be started is appropriately adjusted in advance (that is, assumed). The description will be made on the premise that the output start timing of the operation amount subtraction amount MV_M is appropriately adjusted with respect to the disturbance application.

The operation amount changing unit 6 adds the operation amount addition amount MV_P calculated by the addition amount calculation unit 4 to the operation amount MV calculated by the operation amount calculation unit 1, and further performs the operation calculated by the subtraction amount calculation unit 5. The result of subtracting the amount subtraction amount MV_M is calculated as the operation amount MV_F (FIG. 2, step S107). The formula for calculating the manipulated variable MV_F is the same as the formula (4).

The limit processing unit 7 limits the operation amount MV_F calculated by the operation amount change unit 6 to a value equal to or higher than the predetermined operation amount lower limit value OL, and the operation amount MV_F is equal to or less than the predetermined operation amount upper limit value OH. The upper limit processing for limiting the value is performed (step S108 in FIG. 2).
IF MV_F <OL THEN MV_F'= OL ... (5)
IF MV_F> OH THEN MV_F'= OH ... (6)
That is, the limit processing unit 7 sets the operation amount MV_F'= OL when the MV_F is smaller than the operation amount lower limit value OL, and sets the operation amount MV_F'= OH when the operation amount MV_F is larger than the operation amount upper limit value OH.

The operation amount output unit 8 outputs the operation amount MV_F'that has been limit-processed by the limit processing unit 7 to the control target (step S109 in FIG. 2). The output destination of the operation amount MV_F'is an operation unit (not shown) such as a heater or a valve. In the case of a heater, the actual output destination of the manipulated variable MV_F'is a power regulator (not shown) that supplies electric power to the heater.

The control device executes the processes of steps S100 to S109 of FIG. 2 for each control cycle until the control is completed, for example, by an instruction of the operator (YES in step S110 of FIG. 2).

As described above, the manipulated variable addition amount MV_P is a value that gradually converges to a zero value after approaching the manipulated variable addition value FF_P, and the manipulated variable subtraction amount MV_M is a zero value after approaching the manipulated variable subtraction value FF_M. It is a value that gradually converges to. Therefore, after a specific time TH1 or more has elapsed from the time when the FF addition value acquisition unit 2 acquires the operation amount addition value FF_P different from the zero value, the determination is always YES in step S103, and the addition amount calculation unit 4 performs the operation amount addition. The calculation of the quantity MV_P is repeatedly executed. Since the operation amount addition amount MV_P finally converges to the zero value, the addition amount calculation unit 4 may stop the calculation when the operation amount addition amount MV_P reaches the zero value.

Similarly, after a specific time TH2 or more has elapsed from the time when the FF subtraction value acquisition unit 3 acquires the operation amount subtraction value FF_M different from the zero value, the determination is always YES in step S105, and the subtraction amount calculation unit 5 is the operation amount. The calculation of the subtraction amount MV_M is repeatedly executed. Since the operation amount subtraction amount MV_M finally converges to the zero value, the subtraction amount calculation unit 5 may stop the calculation when the operation amount subtraction amount MV_M reaches the zero value.

The above operation is equivalent to the technique proposed by the inventor in Japanese Patent Application No. 2017-233250. Next, the operations of the determination units 9 to 12, the determination result presentation unit 13, and the update units 14 to 17 of this embodiment will be described with reference to FIGS. 3 to 7. FIG. 3 is a flowchart explaining the operation of the determination unit 9, FIG. 4 is a flowchart explaining the operation of the determination unit 10, FIG. 5 is a flowchart explaining the operation of the determination unit 11, and FIG. 6 is an explanation of the operation of the determination unit 12. The flowchart, FIG. 7, is a flowchart illustrating the operations of the determination result presentation unit 13 and the update units 14 to 17.

As a result of calculating and outputting the manipulated variable MV_P for the application of disturbance, the determination unit 9 rises after the controlled variable PV falls and reaches the set value SP (YES in step S200 of FIG. 3). The MV does not return to near the value MVold before the disturbance is applied (YES in step S201 in FIG. 3), and after reaching this set value SP, the controlled variable PV overshoots the specified value OS1 or more with respect to the set value SP (PV ≧ (PV ≧ (PV ≧). In the case of SP + OS1)) (YES in step S202 of FIG. 3), it is determined that the timing of convergence of the manipulated variable addition amount MV_P is late (step S203 of FIG. 3). The default value OS1 is set to, for example, the settling target width.

Here, the value MVold before the disturbance is applied to the manipulated variable MV is the control quantity PV set by the set value SP before the disturbance is applied (before the manipulated variable FF_P is acquired by the FF addition value acquisition unit 2). It means a value obtained by averaging the operation amount MV calculated by the operation amount calculation unit 1 in the state of being, for the same time as the integration time Ti set in the operation amount calculation unit 1, for example.

Further, the case where the manipulated variable MV does not return to near the value MVold before the disturbance is applied is not only the case where the manipulated variable MV does not return to the level completely matching the value MVold before the disturbance is applied, but also the latest of the manipulated variable MV. This includes the case where the descending width (MVpeak-MV) with respect to the peak value MVpeak does not reach a predetermined ratio (for example, 90%) or more of the difference (MVpeak-MVold) between the peak value MVpeak and the value MVold before the disturbance of the manipulated variable MV is applied. ..

On the other hand, the determination unit 10 does not overshoot the specified value OS2 or more, which is smaller than the specified value OS1 with respect to the set value SP after the controlled amount PV drops as a result of the calculation / output of the manipulated variable addition amount MV_P for the disturbance application ( When PV <(SP + OS2), OS2 <OS1) (YES in step S204 of FIG. 4), it is determined that the timing of convergence of the manipulated variable addition amount MV_P is early (step S205 of FIG. 4). However, in this case, it is not always the case that the timing of the convergence of the manipulated variable addition amount MV_P should be adjusted.

When the control amount PV drops to a value of (SP + OS2) or more and less than (SP + OS1) as a result of the calculation / output of the operation amount addition amount MV_P for the disturbance application, the determination unit 9 determines the operation amount addition amount MV_P. Since it is not determined that the convergence timing of the operation amount addition amount is late and the determination unit 10 does not determine that the convergence timing of the operation amount addition amount MV_P is early, the determination result is that the convergence timing of the operation amount addition amount MV_P is appropriate.

The determination unit 11 calculates and outputs the operation amount subtraction amount MV_M for the application of disturbance, and when the control amount PV increases and then decreases to reach the set value SP (YES in step S206 of FIG. 5), the operation amount The MV does not return to near the value MVold before the disturbance is applied (YES in step S207 of FIG. 5), and after reaching this set value SP, the controlled variable PV undershoots the specified value US1 or more with respect to the set value SP (PV ≦ (PV ≦ (PV ≦). In the case of SP-US1)) (YES in step S208 of FIG. 5), it is determined that the timing of convergence of the operation amount subtraction amount MV_M is late (step S209 of FIG. 5). The specified value US1 is set to, for example, the settling target width.

In the case of the determination unit 11, the value MVold before the disturbance is applied to the manipulated variable MV is the control amount PV at the set value SP before the disturbance is applied (before the manipulated variable subtraction value FF_M is acquired by the FF subtraction value acquisition unit 3). It refers to a value obtained by averaging the operation amount MV calculated by the operation amount calculation unit 1 in the settling state only for the same time as the integration time Ti set in the operation amount calculation unit 1, for example.

On the other hand, the determination unit 12 does not undershoot the specified value US2 or more, which is smaller than the specified value US1 with respect to the set value SP, after the control amount PV rises as a result of the calculation / output of the manipulated variable addition amount MV_P for the disturbance application ( When PV> (SP-US2) and US2 <US1) (YES in step S210 of FIG. 6), it is determined that the timing of convergence of the manipulated variable subtraction amount MV_M is early (step S211 of FIG. 6). However, in this case, it is not always the case that the timing of convergence of the manipulated variable subtraction amount MV_M should be adjusted.

As a result of the calculation / output of the operation amount subtraction amount MV_M for the disturbance application, when the control amount PV rises and then undershoots to a value equal to or less than (SP-US2) and larger than (SP-US1), the determination unit 11 operates. Since it is not determined that the timing of convergence of the amount subtraction amount MV_M is late and the determination unit 12 does not determine that the timing of convergence of the operation amount subtraction amount MV_M is early, the determination result that the timing of convergence of the operation amount subtraction amount MV_M is appropriate. Will be.

The determination result presentation unit 13 presents the determination results of the determination units 9 to 12 to the operator (step S212 in FIG. 7). As a presentation method, for example, there is a method of displaying information indicating the judgment result of the judgment units 9 to 12 to the operator. Therefore, based on the presentation of the determination result, the operator has a parameter (Tf and FF_P) for determining the convergence timing of the manipulated variable addition amount MV_P, or a parameter (Tf and FF_M) for determining the convergence timing of the manipulated variable subtraction amount MV_M. ) Can be adjusted manually.

If the timing of convergence of the manipulated variable addition amount MV_P and the manipulated variable subtraction amount MV_M is neither late nor early (NO in steps S202, S204, S208, S210), the determination result presenting unit 13 does not present the determination result. You may.

Further, the parameters may be automatically updated instead of the manual adjustment as shown below. Specifically, when the determination unit 9 determines that the timing of convergence of the operation amount addition amount MV_P is late (YES in step S213 of FIG. 7), the update unit 14 sets the parameter Tf regarding the time of the operation amount addition amount MV_P. , Update to the side where the timing of convergence is earlier (FIG. 7, step S214). Similarly, when the determination unit 11 determines that the timing of convergence of the operation amount subtraction amount MV_M is late (YES in step S213), the update unit 16 sets the parameter Tf regarding the time of the operation amount subtraction amount MV_M to the timing of convergence. Update to the side where becomes faster (step S214).

When updating the parameter Tf, the update unit 14 reduces the parameter Tf set in the addition amount calculation unit 4 by a predetermined update width, and sets the product of the parameter Tf and the operation amount addition value FF_P to a constant value. The operation amount addition value FF_P is updated so as to keep Sx. However, as described above, the operation amount addition value FF_P is not set in the addition amount calculation unit 4, but is a value acquired from the outside by the FF addition value acquisition unit 2. Therefore, the update unit 14 requests the external operation amount addition value output unit (not shown) that outputs the operation amount addition value FF_P to update the operation amount addition value FF_P.

Similarly, when updating the parameter Tf, the update unit 16 reduces the parameter Tf set in the subtraction amount calculation unit 5 by a predetermined update width, and the product of the parameter Tf and the operation amount subtraction value FF_M. The operation amount subtraction value FF_M is updated so as to keep the constant value Sx. However, as described above, the operation amount subtraction value FF_M is not set in the subtraction amount calculation unit 5, but is a value acquired from the outside by the FF subtraction value acquisition unit 3. Therefore, the update unit 16 requests the external operation amount subtraction value output unit (not shown) that outputs the operation amount subtraction value FF_M to update the operation amount subtraction value FF_M.

On the other hand, when the determination unit 10 determines that the timing of convergence of the operation amount addition amount MV_P is early (YES in step S215 of FIG. 7), the update unit 15 converges the parameter Tf regarding the time of the operation amount addition amount MV_P. Update to the side where the timing is delayed (FIG. 7, step S216). Similarly, when the determination unit 12 determines that the timing of convergence of the operation amount subtraction amount MV_M is early (YES in step S215), the update unit 17 sets the parameter Tf regarding the time of the operation amount subtraction amount MV_M to the timing of convergence. Update to the side where is slower (step S216).

When updating the parameter Tf, the update unit 15 increases the parameter Tf set in the addition amount calculation unit 4 by a predetermined update width, and increases the product of the parameter Tf and the operation amount addition value FF_P to a constant value. The operation amount addition value FF_P is updated so as to keep Sx. As in the case of the update unit 14, the update unit 15 may request the external means for outputting the operation amount addition value FF_P to update the operation amount addition value FF_P.

Similarly, when updating the parameter Tf, the update unit 17 increases the parameter Tf set in the subtraction amount calculation unit 5 by a predetermined update width, and increases the product of the parameter Tf and the operation amount subtraction value FF_M. The operation amount subtraction value FF_M is updated so as to keep the constant value Sx. As in the case of the update unit 16, the update unit 17 may request the external means for outputting the operation amount subtraction value FF_M to update the operation amount subtraction value FF_M.

The determination units 9 to 12, the determination result presentation unit 13 and the update units 14 to 17 perform the above steps S200 to S216, and the operation amount addition value FF_P is acquired by the FF addition value acquisition unit 2, and the addition amount calculation unit When the operation amount addition amount MV_P is calculated and output by 4, or when the operation amount subtraction value FF_M is acquired by the FF subtraction value acquisition unit 3 and the operation amount subtraction amount MV_M is calculated and output by the subtraction amount calculation unit 5. To carry out.

FIG. 8 is a diagram showing an example of a disturbance response to which the present embodiment is applied, and is an example of changes in the control amount PV and the operation amount MV when the temperature is controlled only by the feedback control without executing the feedforward control. It is a figure which shows. The example of FIG. 8 shows a case where a temperature drop disturbance occurs in a state where the set value SP = control amount PV = 200 ° C. is set. The specified value OS1 = 20 ° C., and (SP + OS1) = 220 ° C.

FIG. 9 shows an example of changes in the controlled variable PV and the manipulated variable MV when the temperature is controlled with FF_P = 20%, Kx = 137.5, Tf = 50.0 seconds (Sx = 1000.0) in this embodiment. FIG. 10 is a diagram showing a change in the operation amount addition amount MV_P in this case (the operation amount subtraction amount MV_M is fixed at 0%).

In the examples of FIGS. 9 and 10, the manipulated variable MV does not return to the value before the disturbance is applied when the controlled variable PV (temperature) drops to the set value SP after falling due to the temperature drop disturbance. That is, the manipulated variable MV rises from the value MVold = 25% before the disturbance application to the peak value MVpeak = 48% and then falls, but when the controlled variable PV returns to the set value SP, the manipulated variable MV peaks. The descending width (MVpeak-MV) with respect to the value MVpeak does not reach 20.7% or more, which is 90% of the difference (MVpeak-MVold) between the peak value MVpeak and the value MVold before the disturbance is applied. Further, after reaching the set value SP, the controlled variable PV overshoots to a value of (SP + OS1) = 220 ° C. or higher. Therefore, the determination unit 9 determines that the timing of convergence of the operation amount addition amount MV_P is late.

In this case, the update unit 14 reduces the parameter Tf set in the addition amount calculation unit 4 by a predetermined update width (here, 10 seconds) to Tf = 40.0 seconds, and operates with the parameter Tf. The operation amount addition value FF_P is updated from 20% to 25% so that the product with the quantity addition value FF_P is kept at a constant value Sx = 1000.0.

FIG. 11 shows an example of changes in the controlled variable PV and the manipulated variable MV when the temperature is controlled with FF_P = 80%, Kx = 34.4, Tf = 12.5 seconds (Sx = 1000.0) in this embodiment. FIG. 12 is a diagram showing a change in the operation amount addition amount MV_P in this case (the operation amount subtraction amount MV_M is fixed at 0%).

In the examples of FIGS. 11 and 12, the control amount PV (temperature) rises due to the temperature rise disturbance, then falls, and when it rises again, it does not overshoot to a value of (SP + OS2) = 201 ° C. or higher (manipulation amount). The control operation in which the MV once returns to the value before the disturbance is applied and then rises again). Therefore, the determination unit 10 determines that the timing of convergence of the operation amount addition amount MV_P is early.

In this case, the update unit 15 increases the parameter Tf set in the addition amount calculation unit 4 by a predetermined update width (here, 7.5 seconds) to set Tf = 20.0 seconds, and also sets the parameter Tf. The operation amount addition value FF_P is updated from 80% to 50% so that the product of the operation amount addition value FF_P and the operation amount addition value FF_P is kept at a constant value Sx = 1000.0.

FIG. 13 shows an example of changes in the controlled variable PV and the manipulated variable MV when the temperature is controlled with FF_P = 50%, Kx = 55.0, and Tf = 20.0 seconds (Sx = 1000.0) in this embodiment. FIG. 14 is a diagram showing a change in the operation amount addition amount MV_P in this case (the operation amount subtraction amount MV_M is fixed at 0%).

In the examples of FIGS. 13 and 14, the controlled variable PV (temperature) rises and then falls due to the temperature rise disturbance, and when it rises again, (SP + OS2) = 201 ° C. or higher and (SP + OS1) = 220 at 300 seconds. Overshoot to values below ° C. Therefore, the determination unit 9 does not determine that the timing of convergence of the operation amount addition amount MV_P is late, and the determination unit 10 does not determine that the timing of convergence of the operation amount addition amount MV_P is early. That is, it is determined that the timing of convergence of the manipulated variable addition amount MV_P is appropriate, and it can be seen that the effect of feedforward control is obtained.

FIG. 15 is a diagram showing a display example by the determination result presentation unit 13. The example of FIG. 15 is a display example corresponding to the examples of FIGS. 9 and 10. However, in the example of FIG. 15, the determination result presenting unit 13 displays the overshoot state of the controlled variable PV and the determination result of the determination unit 9 as well as the update result by the update unit 14 on the screen 110. ing.

The control device described in this embodiment can be realized by a computer provided with a CPU (Central Processing Unit), a storage device, and an interface, and a program for controlling these hardware resources. A configuration example of this computer is shown in FIG. The computer includes a CPU 300, a storage device 301, and an interface device (hereinafter, abbreviated as I / F) 302. For example, a temperature sensor and a power regulator are connected to the I / F 302. In such a computer, a program for realizing the control method of the present embodiment is stored in the storage device 301. The CPU 300 executes the process described in this embodiment according to the program stored in the storage device 301.

The present invention can be applied to a control device.

1 ... Operation amount calculation unit, 2 ... FF addition value acquisition unit, 3 ... FF subtraction value acquisition unit, 4 ... Addition amount calculation unit, 5 ... Subtraction amount calculation unit, 6 ... Operation amount change unit, 7 ... Limit processing unit, 8 ... Operation amount output unit, 9-12 ... Judgment unit, 13 ... Judgment result presentation unit, 14-17 ... Update unit.

Claims (8)

An operation amount calculation unit configured to calculate an operation amount by PID control calculation with a set value and a control amount as inputs,
An addition value acquisition unit configured to acquire an operation amount addition value which is a target value of an addition amount for feed forward to the operation amount, which is input from the outside when the disturbance application is confirmed, and
An addition amount calculation unit configured to calculate an operation amount addition amount that gradually converges to a zero value after approaching the operation amount addition value when the operation amount addition value different from the zero value is acquired.
An operation amount changing unit configured to change the operation amount by adding the operation amount addition amount calculated by the addition amount calculation unit to the operation amount calculated by the operation amount calculation unit.
A limit processing unit configured to perform limit processing that limits the operation amount changed by this operation amount change unit to a value that is equal to or more than the operation amount lower limit value and less than or equal to the operation amount upper limit value.
An operation amount output unit configured to output this limit-processed operation amount to the control target,
As a result of the calculation and output of the operation amount addition amount for the disturbance application, when the control amount decreases and then rises to reach the set value, the operation amount does not return to near the value before the disturbance application. When the control amount overshoots the set value by a first specified value or more after reaching the set value, it is determined that the timing of convergence of the operation amount addition amount is late. Judgment department and
As a result of the calculation / output of the operation amount addition amount for the disturbance application, when the control amount does not overshoot the set value by more than the second specified value smaller than the first specified value. A second determination unit configured to determine that the timing of convergence of the manipulated variable addition amount is early, and
A control device including a determination result presenting unit configured to present the determination results of the first and second determination units. An operation amount calculation unit configured to calculate an operation amount by PID control calculation with a set value and a control amount as inputs,
A subtraction value acquisition unit configured to acquire an operation amount subtraction value which is a target value of the subtraction amount for the feed forward with respect to the operation amount, which is input from the outside when the disturbance application is confirmed.
A subtraction amount calculation unit configured to calculate an operation amount subtraction amount that gradually converges to a zero value after approaching the operation amount subtraction value when the operation amount subtraction value different from the zero value is acquired.
An operation amount changing unit configured to change the operation amount by subtracting the operation amount subtraction amount calculated by the subtraction amount calculation unit from the operation amount calculated by the operation amount calculation unit.
A limit processing unit configured to perform limit processing that limits the operation amount changed by this operation amount change unit to a value that is equal to or greater than the operation amount lower limit value and equal to or less than the operation amount upper limit value.
An operation amount output unit configured to output this limit-processed operation amount to the control target,
As a result of the calculation and output of the operation amount subtraction amount for the disturbance application, when the control amount increases and then decreases and reaches the set value, the operation amount does not return to near the value before the disturbance application. When the control amount undershoots the set value by a first specified value or more after reaching the set value, it is determined that the timing of convergence of the operation amount subtraction amount is late. Judgment department and
As a result of the calculation / output of the operation amount subtraction amount for the disturbance application, when the second specified value smaller than the first specified value is not undershooted with respect to the set value after the controlled amount is increased. A second determination unit configured to determine that the timing of convergence of the manipulated variable subtraction amount is early, and
A control device including a determination result presenting unit configured to present the determination results of the first and second determination units. In the control device according to claim 1,
The addition amount calculation unit calculates the operation amount addition amount based on the operation amount addition value and a parameter that defines a time for gradually converging the operation amount addition amount.
Further, when the first determination unit determines that the timing of convergence of the manipulated variable addition amount is late, the parameter is configured to be updated to the side where the timing of convergence of the manipulated variable addition amount is earlier. The first update part and
When the second determination unit determines that the timing of convergence of the manipulated variable addition amount is early, the parameter is updated to the side where the timing of convergence of the manipulated variable addition amount is delayed. A control device including 2 update units. In the control device according to claim 2,
The subtraction amount calculation unit calculates the operation amount subtraction amount based on the operation amount subtraction value and a parameter that defines a time for gradually converging the operation amount subtraction amount.
Further, when the first determination unit determines that the timing of convergence of the manipulated variable subtraction amount is late, the parameter is configured to be updated to the side where the timing of convergence of the manipulated variable subtraction amount is earlier. The first update part and
When the second determination unit determines that the timing of convergence of the manipulated variable subtraction amount is early, the parameter is updated to the side where the timing of convergence of the manipulated variable subtraction amount is delayed. A control device including 2 update units. The first step of calculating the operation amount by the PID control operation with the set value and the control amount as inputs, and
The second step of acquiring the operation amount addition value, which is the target value of the addition amount for the feed forward with respect to the operation amount, which is input from the outside when the disturbance application is confirmed, and
The third step of calculating the operation amount addition amount that gradually converges to the zero value after approaching the operation amount addition value when the operation amount addition value different from the zero value is acquired.
The fourth step of changing the operation amount by adding the operation amount addition amount calculated in the third step to the operation amount calculated in the first step.
The fifth step of performing limit processing for limiting the operation amount changed in the fourth step to a value equal to or more than the operation amount lower limit value and not more than the operation amount upper limit value.
The sixth step of outputting this limit-processed operation amount to the control target, and
As a result of the calculation and output of the operation amount addition amount for the disturbance application, when the control amount decreases and then rises to reach the set value, the operation amount does not return to near the value before the disturbance application. A seventh step of determining that the timing of convergence of the manipulated variable addition amount is late when the controlled variable overshoots the set value by a first specified value or more after reaching the set value.
As a result of the calculation / output of the operation amount addition amount for the disturbance application, when the control amount does not overshoot the set value by more than the second specified value smaller than the first specified value. The eighth step of determining that the timing of convergence of the manipulated variable addition amount is early, and
A control method comprising a ninth step of presenting the determination results of the seventh and eighth steps. The first step of calculating the operation amount by the PID control operation with the set value and the control amount as inputs, and
The second step of acquiring the operation amount subtraction value, which is the target value of the subtraction amount for the feed forward with respect to the operation amount, which is input from the outside when the disturbance application is confirmed, and
The third step of calculating the operation amount subtraction amount that gradually converges to the zero value after approaching the operation amount subtraction value when the operation amount subtraction value different from the zero value is acquired.
A fourth step of changing the operation amount by subtracting the operation amount subtraction amount calculated in the third step from the operation amount calculated in the first step.
The fifth step of performing limit processing for limiting the operation amount changed in the fourth step to a value equal to or more than the operation amount lower limit value and not more than the operation amount upper limit value.
The sixth step of outputting this limit-processed operation amount to the control target, and
As a result of the calculation and output of the operation amount subtraction amount for the disturbance application, when the control amount increases and then decreases and reaches the set value, the operation amount does not return to near the value before the disturbance application. A seventh step of determining that the timing of convergence of the manipulated variable subtraction amount is late when the controlled variable undershoots the set value by more than the first specified value after reaching the set value.
As a result of the calculation / output of the operation amount subtraction amount for the disturbance application, when the second specified value smaller than the first specified value is not undershooted with respect to the set value after the controlled amount is increased. The eighth step of determining that the timing of convergence of the manipulated variable subtraction amount is early, and
A control method comprising a ninth step of presenting the determination results of the seventh and eighth steps. In the control method according to claim 5,
The third step includes a step of calculating the operation amount addition amount based on the operation amount addition value and a parameter defining a time for gradually converging the operation amount addition amount.
Further, when it is determined in the seventh step that the timing of the convergence of the manipulated variable addition amount is late, the tenth step of updating the parameter to the side where the timing of the convergence of the manipulated variable addition amount is earlier.
When it is determined in the eighth step that the timing of convergence of the manipulated variable addition amount is early, the eleventh step of updating the parameter to the side where the timing of convergence of the manipulated variable addition amount is delayed is included. A control method characterized by. In the control method according to claim 6,
The third step includes a step of calculating the manipulated variable subtraction amount based on the manipulated variable subtraction value and a parameter defining a time for gradually converging the manipulated variable subtraction amount.
Further, when it is determined in the seventh step that the timing of convergence of the manipulated variable subtraction amount is late, the tenth step of updating the parameter to the side where the timing of convergence of the manipulated variable subtraction amount is earlier.
When it is determined in the eighth step that the timing of convergence of the manipulated variable subtraction amount is early, the eleventh step of updating the parameter to the side where the timing of convergence of the manipulated variable subtraction amount is delayed is included. A control method characterized by.

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