JP7294832B2 - Control device - Google Patents

Description

The present invention relates to control devices, and more particularly to devices for adjusting parameters of control devices.

As a background art of this technology, there is Japanese Patent Application Laid-Open No. 2015-76024 (Patent Document 1). In this document, "the setpoint, manipulated variable, and control variable are measured when the setpoint of the plant is changed, the measured signals are fitted to define the base function of the reference model, and the control response is adjusted to the base function. Estimate the response of the control variable and the manipulated variable when the set value is changed, or the response of the control variable when a disturbance signal is applied, and use these response data to represent the control characteristics. By finding the optimum value of the adjustment parameter using the evaluation function defined based on this index, the reference model according to the required control characteristics is determined and the control gain is optimized.” described (see abstract).

JP 2015-76024 A

However, in the above-described prior art (Patent Document 1), operating conditions are prepared for readjusting the parameters of the reference model (reference model), and the parameters are adjusted based on prior knowledge. parameters are not readjusted without knowledge of Moreover, it is not a readjustment method considering the range in which the PID gain in the PID controller can be realized.

A representative example of the invention disclosed in the present application is as follows. That is, a calculation unit that calculates a desired output value of the controlled object, and a gain value adjustment unit that calculates the gain value of the PID controller so that the difference between the desired output value and the output value of the controlled object becomes small. and a parameter changing unit for changing the parameter value of the calculating unit, wherein the parameter changing unit changes the measured value of the output of the controlled object when the gain value newly calculated by the gain value adjusting unit is used. and when at least one of the amount of overshoot and the amount of undershoot of the estimated value is not within the predetermined range, and when the gain value newly calculated by the gain value adjusting unit is not within the predetermined range, the gain value is newly calculated by the gain value adjusting unit When the calculated gain value reaches a predetermined value, when the gain value newly calculated by the gain value adjusting unit is used, when the input value to the controlled object is not within a predetermined range, and when the gain value adjustment When at least one of the following conditions is satisfied : when the gain value newly calculated by the unit is used, and when the input value to the controlled object reaches a predetermined value, the parameter value of the calculation unit is changed. .

According to one aspect of the present invention, it is possible to improve operational efficiency and production efficiency while ensuring the reliability and stability of the controlled object. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

FIG. 2 is a diagram showing the overall configuration of a control device in Examples 1 to 8; 1 is a system configuration diagram of a control device in Examples 1 to 8; FIG. FIG. 2 is a diagram showing a control device and a controlled object in Examples 1 and 4; It is a figure which shows the process of the PID controller gain value adjustment part in Example 1, 2, 4, and 5. FIG. FIG. 10 is a diagram showing processing of a parameter change determination unit in Examples 1 and 4; FIG. 10 is a diagram showing processing of a parameter changer in Examples 1 to 3 and 5 to 8; FIG. 10 is a diagram showing processing of a desired output value calculator in Examples 1 to 3 and 5; FIG. 10 is a diagram showing a control device and a controlled object in Example 2; FIG. 10 is a diagram showing processing of a parameter change determination unit in Example 2; FIG. 10 is a diagram showing a control device and a controlled object in Example 3; It is a figure which shows the process of the PID controller gain value adjustment part in Example 3. FIG. FIG. 10 is a diagram showing processing of a parameter change determination unit in Example 3; FIG. 13 is a diagram showing processing of a parameter changing unit in Example 4; FIG. 13 is a diagram showing processing of a desired output value calculation unit in Example 4; FIG. 10 is a diagram showing a control device and a controlled object in Example 5; FIG. 21 is a diagram showing processing of a parameter change determination unit in Example 5; FIG. 12 is a diagram showing a control device and a controlled object in Example 6; FIG. 14 is a diagram showing processing of a PID controller gain value adjusting unit in Example 6; FIG. 21 is a diagram showing processing of a parameter change determination unit in Example 6; FIG. 12 is a diagram showing processing of a desired output value calculation unit in Example 6; FIG. 12 is a diagram showing a control device and a controlled object in Embodiment 7; FIG. 21 is a diagram showing processing of a PID controller gain value adjusting unit in Embodiment 7; FIG. 22 is a diagram showing processing of a parameter change determination unit in Example 7; FIG. 14 is a diagram showing processing of a desired output value calculation unit in Embodiment 7; FIG. 12 is a diagram showing a control device and controlled objects in an eighth embodiment; FIG. 20 is a diagram showing processing of a PID controller gain value adjustment unit in Example 8; FIG. 22 is a diagram showing processing of a parameter change determination unit in Example 8; FIG. 20 is a diagram showing processing of a desired output value calculation unit in Example 8;

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Example 1]
In the present embodiment, a calculation unit that calculates a desired output value of the controlled object, and a difference between the desired output value (time-series signal, etc.) and the output value of the controlled object (time-series signal, etc.) is reduced. Thus, a gain value adjustment unit that calculates the gain value of the PID controller, and if at least one of the overshoot amount and the undershoot amount of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the calculation unit and a parameter changer for changing the parameter values of the controller.

In particular, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, at least one of the amount of overshoot and the amount of undershoot is The parameter value of the calculation unit is changed so as to be within a predetermined range (become smaller).

Further, the parameter changing unit changes the parameter value of the calculating unit so that the responsiveness of the calculating unit becomes slow.

Also, the computing unit is represented by a transfer function, and the parameter changing unit is configured to change the transfer function change the time constant of

Moreover, the said control apparatus is an apparatus which controls a plant.

FIG. 1 is a diagram showing the overall configuration of a control device 1 according to the first embodiment.

In the control device 1 , the PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . The parameter change determination unit 3 determines whether the overshoot amount and undershoot amount of the output from the controlled object are within a predetermined range, and the gain value newly calculated by the PID controller gain value adjustment unit 2 is within a predetermined range. determining whether or not the gain value has reached a predetermined value; and determining whether or not the input value to the controlled object is within a predetermined range. Accordingly, the change of the parameters of the desired output value calculation unit 4 is permitted. The parameter changing unit 6 calculates a desired change parameter (parameter value) of the output value calculating unit 4 when the parameter change determining unit 3 permits the change. A desired output value calculator 4 calculates a desired profile of the output of the controlled object based on the control target. The PID controller 5 calculates the manipulated variable for controlling the controlled object.

FIG. 2 is a system configuration diagram of the control device 1. As shown in FIG.

The control device 1 has a storage device 11, a CPU 12, a ROM 13, a RAM 14, a data bus 15, an input circuit 16, an input/output port 17 and an output circuit 18 as hardware. The input circuit 16 processes signals input from the outside. A signal input from the outside is, for example, a signal from a sensor installed or connected to the control device 1 . A signal input from the outside passes through the input circuit 16 and is sent to the input/output port 17 as an input signal. Each piece of input information sent to the input/output port 17 is stored in the RAM 14 or storage device 11 via the data bus 15 . At least one of the ROM 13 and the storage device 11 stores a program for executing processing described later, and the program is executed by the CPU 12 . At that time, the values stored in at least one of the RAM 14 and the storage device 11 are appropriately used for the calculation. Information (values) out of the operation results is sent to the input/output port 17 via the data bus 15 and sent to the output circuit 18 as an output signal. The output circuit 18 outputs an output signal to the outside. The output signal that is output to the outside is an actuator drive signal or the like for causing the controlled object to move as desired.

Note that part of the processing performed by the CPU 12 by executing the program may be performed by another computing device (for example, hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit)).

FIG. 3 is a diagram showing the control device 1 and the plant 7 controlled by the control device 1. As shown in FIG.

The parameter change determination unit 3 performs at least one of determining whether the overshoot amount of the output from the controlled object is within a predetermined range and determining whether the undershoot amount is within the predetermined range. Depending on the result, the desired parameter of the output value calculator 4 is permitted to be changed. The PID controller 5 calculates a manipulated variable for controlling the temperature of the plant 7 (for example, a target valve opening for adjusting the steam temperature).

Details of each process will be described below.

<PID controller gain value adjustment unit (Fig. 4)>
The PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . Specifically, as shown in FIG. 4, the post-adjustment PID gain provisional value is determined such that the difference between the profile of the plant temperature Tdeg and the profile of the desired plant temperature De_Tdeg is minimized. The obtained provisional values of the P-gain value, I-gain value and D-gain value of the PID controller 5 are defined as Kp_new, Ki_new and Kd_new, respectively.

As an evaluation function for evaluating the difference between the profile of the plant temperature Tdeg and the desired profile of the plant temperature De_Tdeg, for example, the L2 norm of J2=||Tdeg−De_Tdeg|| or J1=|Tdeg−De_Tdeg| There are some L1 norms and so on. The PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRIT (Fictitious Reference Iterative Tuning). return home. There are various methods such as Newton's method, Gauss-Newton's method, etc. for optimization, and there are many references, so they will not be described in detail here.

Note that this adjustment process may be executed either offline or online.

<Parameter change determination unit (Fig. 5)>
The parameter change determination unit 3 performs at least one of determining whether the overshoot amount of the output from the controlled object is within a predetermined range and determining whether the undershoot amount is within the predetermined range. Depending on the result, the desired parameter of the output value calculator 4 is permitted to be changed. Specifically, the processing shown in FIG. 5 is executed.
- When the following condition a) is established, the parameter change permission flag fp_ref=1 is output. On the other hand, if the condition a) is not satisfied, the parameter change permission flag fp_ref=0 is output.
Condition a)
The overshoot amount of Tdeg is K_Tdeg_O1 or more, or
Undershoot amount of Tdeg is K_Tdeg_U1 or more

<Parameter change unit (Fig. 6)>
When the parameter change determination unit 3 permits the change, the parameter change unit 6 calculates a change parameter (parameter value) of the desired output value calculation unit 4 . Specifically, the processing shown in FIG. 6 is executed.
When fp_ref=1, the desired output value calculation unit parameter b1 is corrected as follows (so that the parameter b1 becomes larger) to lower the response characteristic of the estimated value of the output of the controlled object.
b1=b1+k1_b1
• When fp_ref=0, the desired output value calculator parameter b1 maintains its current value.

<Desired output value calculator (Fig. 7)>
The desired output value calculator 4 calculates a desired profile of the output of the controlled object (the temperature of the plant 7) based on the control target. Specifically, the process shown in FIG. 7 is executed.

A desired plant temperature De_Tdeg profile is calculated using, for example, a transfer function for the target plant temperature Tg_Tdeg, which is the control target. Control targets include, for example, step signals and ramp signals.

Also, b1, which is one of the parameters of the transfer function, is variable, and the value calculated by the parameter changer 6 is preferably used. The parameter b1 is one of the coefficients of the denominator polynomial of the transfer function, and the larger the value of b1, the slower the response of the transfer function.

In addition, in the parameter change determination unit 3, if at least one of the overshoot amount and the undershoot amount of the measured value and the estimated value of the output of the controlled object is not within the predetermined range, fp_ref is not immediately set to 1, and the PID controller gain value When the PID gain value is readjusted by the adjustment unit 2 and controlled using the readjusted PID gain value, at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is a predetermined value. If not in range, fp_ref=1 may be used.

According to this embodiment, the control device 1 that adjusts the gain value of the PID controller 5 includes the desired output value calculator 4 that calculates the desired output value of the controlled object (plant 7), and the desired output value calculator PID control for adjusting the gain value of the PID controller 5 so that the difference between the desired output value (time-series signal, etc.) calculated by the unit 4 and the output value (time-series signal, etc.) of the controlled object becomes small. If at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter value of the desired output value calculation unit 4 is changed. and a parameter changing unit 6 . Further, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter changing unit 6 determines that at least one of the amount of overshoot and the amount of undershoot is The parameter value of the desired output value calculator 4 is changed so as to be within the predetermined range (to be smaller). Moreover, the parameter changer 6 changes the parameter value of the desired output value calculator 4 so that the response of the desired output value calculator 4 is slowed down. Further, the desired output value calculator 4 is represented by a transfer function, and the parameter changer 6 determines if at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range. , to change the time constant of the transfer function. Also, the control device 1 is a device for controlling the plant 7 .

When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object occurs (if it is not within a predetermined range), the output value of the desired output value calculation unit 4 is theoretically There is a possibility that the output value (profile) is practically unrealizable. That is, there is a possibility that the output value (profile) cannot be realized by correcting the gain value by the PID controller 5 . In this case, in order to suppress overshoot and undershoot, it is necessary to correct the desired output value (profile) of the controlled object to a theoretically achievable value. When the desired output value calculator 4 is represented by a transfer function, the larger the value corresponding to the time constant in the denominator polynomial of the transfer function, the slower the responsiveness of the transfer function. Therefore, in order to delay the responsiveness of the transfer function until at least one of the amount of overshoot and the amount of undershoot becomes considerably small, the value corresponding to the time constant in the denominator polynomial of the transfer function is increased. In other words, the PID gain may have a limit value set for reasons such as safety and specifications. Since it is changed, the desired parameter value of the output value calculator 4 can be readjusted in consideration of the range in which the PID gain can be achieved.

As a result, overshoot and undershoot of the output of the controlled object can be suppressed by readjusting the desired parameter values of the output value calculator 4 during normal operation without prior knowledge. As a result, under the operating environment, the PID control gain can be stably adjusted while considering the theoretical limit of the plant 7, and the operational efficiency and production efficiency can be improved while ensuring the reliability and stability of the plant 7. .

[Example 2]
In the present embodiment, a calculation unit that calculates a desired output value of the controlled object, and a difference between the desired output value (time-series signal, etc.) and the output value of the controlled object (time-series signal, etc.) is reduced. , the gain value adjustment unit that calculates the gain value of the PID controller, and the gain value newly calculated by the gain value adjustment unit is not within a predetermined range, or the newly calculated gain value is a predetermined value and a parameter changing unit for changing the parameter value of the calculating unit when the value of the parameter reaches .

In particular, when the gain value newly calculated by the gain value adjusting section is not within the predetermined range, the parameter changing section changes the parameter value of the calculating section so that the gain value is within the predetermined range.

Also, the parameter changing unit changes the parameter value so as to slow down the response of the computing unit.

Further, the computing unit is represented by a transfer function, and the parameter changing unit determines whether the gain value newly computed by the gain value adjusting unit is not within a predetermined range or when the newly computed gain value is a predetermined value. is reached, change the time constant of the transfer function.

Moreover, the said control apparatus is an apparatus which controls a plant.

FIG. 1 shows the overall configuration of a control device 1 of embodiment 2, which is the same as that of embodiment 1, and therefore will not be described in detail. FIG. 2 shows the system configuration of the control device 1 of Example 2, which is the same as that of Example 1, and therefore will not be described in detail.

FIG. 8 is a diagram showing the control device 1 and the plant 7 controlled by the control device 1. As shown in FIG.

The parameter change determination unit 3 determines whether or not the gain value newly calculated by the PID controller gain value adjustment unit 2 is within a predetermined range, and determines whether the newly calculated gain value reaches a predetermined value. At least one of the judgments of whether or not is executed, and the desired change of the parameters of the output value calculation unit 4 is permitted according to the judgment result. Other than that, since it is the same as the first embodiment, the details will not be described.

Details of each process will be described below.

<PID controller gain value adjustment unit (Fig. 4)>
The PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . Specifically, since it is the same as the first embodiment shown in FIG. 4, it will not be described in detail.

<Parameter change determination unit (Fig. 9)>
The parameter change determination unit 3 determines whether or not the gain value newly calculated by the PID controller gain value adjustment unit 2 is within a predetermined range, and determines whether the newly calculated gain value reaches a predetermined value. At least one of the judgments of whether or not is executed, and the desired change of the parameters of the output value calculation unit 4 is permitted according to the judgment result. Specifically, the processing shown in FIG. 9 is executed.
- When the following condition a) is established, the parameter change permission flag fp_ref=1 is output. On the other hand, if the condition a) is not satisfied, the parameter change permission flag fp_ref=0 is output.
Condition a) When judging whether or not the newly calculated gain value has reached a predetermined value
Kp_new ≥ K_Kp_new_H, or
Ki_new ≥ K_Ki_new_H, or
Kd_new ≥ K_Kd_new_H
Condition a) When judging whether or not the newly calculated gain value is within a predetermined range
K_Kp_new_L ≥ Kp_new, or
Kp_new ≥ K_Kp_new_H, or
K_Ki_new_L ≥ Ki_new, or
Ki_new ≥ K_Ki_new_H, or
K_Kd_new_L ≥ Kd_new, or
Kd_new ≥ K_Kd_new_H

<Parameter change unit (Fig. 6)>
When the parameter change determination unit 3 permits the change, the parameter change unit 6 calculates a change parameter (parameter value) of the desired output value calculation unit 4 . Specifically, since it is the same as the first embodiment shown in FIG. 6, a detailed description thereof will be omitted.

<Desired output value calculator (Fig. 7)>
The desired output value calculator 4 calculates a desired profile of the output of the controlled object (the temperature of the plant 7) based on the control target. Specifically, since it is the same as the first embodiment shown in FIG. 7, the details will not be described.

According to this embodiment, the control device 1 that adjusts the gain value of the PID controller 5 includes a desired output value calculator 4 that calculates a desired output value of the controlled object, and a desired output value calculator 4 that calculates PID controller gain value adjustment for adjusting the gain value of the PID controller 5 so that the difference between the desired output value (time-series signal, etc.) and the output value (time-series signal, etc.) of the controlled object is reduced If the gain value newly calculated by the PID controller gain value adjusting unit 2 is not within a predetermined range, or if the newly calculated gain value reaches a predetermined value, a desired output value It comprises a parameter changing unit 6 for changing the parameter values of the computing unit 4 . Further, when the gain value newly calculated by the PID controller gain value adjusting unit 2 is not within the predetermined range, the parameter changing unit 6 adjusts the desired output value calculating unit so that the gain value is within the predetermined range. Change the parameter value of 4. Further, the parameter changer 6 changes the parameter value of the desired output value calculator 4 so that the desired output value calculator 4 to be controlled slows down in response. Further, the desired output value calculation unit 4 is represented by a transfer function, and the parameter change unit 6 detects when the gain value newly calculated by the PID controller gain value adjustment unit 2 is not within a predetermined range, or when the new gain value When the calculated gain value reaches a predetermined value, the time constant of the transfer function is changed. Also, the control device is a device for controlling the plant 7 .

When the gain value newly calculated by the PID controller gain value adjusting unit 2 is not within the predetermined range, or when the newly calculated gain value reaches a predetermined value, the output of the desired output value calculating unit 4 The value may be an output value (profile) that cannot actually be realized due to the specifications of the control system. That is, there is a possibility that the output value (profile) cannot be realized by correcting the gain value by the PID controller 5 . In this case, in order to optimize the gain value, it is necessary to correct the desired output value (profile) of the controlled object to a value that can actually be achieved. When the desired output value calculator 4 is represented by a transfer function, the larger the value corresponding to the time constant in the denominator polynomial of the transfer function, the slower the responsiveness of the transfer function. Therefore, the value corresponding to the time constant in the denominator polynomial of the transfer function is increased in order to delay the responsiveness of the transfer function until the gain value is optimized (for example, within a predetermined range).

As a result, the gain value can be optimized by readjusting the desired parameter value of the output value calculator 4 during normal operation without prior knowledge. As a result, under the operating environment, the PID control gain can be stably adjusted while considering the theoretical limit of the plant 7, and the operational efficiency and production efficiency can be improved while ensuring the reliability and stability of the plant 7. .

[Example 3]
In the present embodiment, a calculation unit that calculates a desired output value of the controlled object, and a difference between the desired output value (time-series signal, etc.) and the output value of the controlled object (time-series signal, etc.) is reduced. Thus, a gain value adjustment unit that adjusts the gain value of the PID controller, and if at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is not within a predetermined range, the calculation unit and a parameter changer for changing the parameter values of the controller.

In particular, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter changing unit changes the desired output value and the output value of the controlled object. The parameter value of the calculation unit is changed so that the difference between .

Further, the parameter changing unit changes the parameter value of the calculating unit so that the responsiveness of the calculating unit becomes slow.

Also, the computing unit is represented by a transfer function, and the parameter changing unit is configured to change the transfer function change the time constant of

Moreover, the said control apparatus is an apparatus which controls a plant.

FIG. 1 shows the overall configuration of a control device 1 of embodiment 3, which is the same as that of embodiment 1, and therefore will not be described in detail. FIG. 2 shows the system configuration of the control device 1 of embodiment 3, which is the same as that of embodiment 1, and therefore will not be described in detail.

FIG. 10 is a diagram showing the control device 1 and the plant 7 controlled by the control device 1. As shown in FIG.

The parameter change determination unit 3 determines whether or not the gain value newly calculated by the PID controller gain value adjustment unit 2 is within a predetermined range, and whether or not the newly calculated gain value reaches a predetermined value. and determining whether or not an evaluation index (a value corresponding to the difference between the desired output value and the output value of the controlled object) is equal to or less than a predetermined value, and depending on the determination result to permit the desired parameter of the output value calculator 4 to be changed. Other than that, since it is the same as the first embodiment, the details will not be described.

Details of each process will be described below.

<PID controller gain value adjustment unit (Fig. 11)>
The PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . Specifically, as shown in FIG. 11, the post-adjustment PID gain provisional value is determined such that the difference between the profile of the plant temperature Tdeg and the profile of the desired plant temperature De_Tdeg is minimized. The obtained provisional values of the P-gain value, I-gain value and D-gain value of the PID controller 5 are defined as Kp_new, Ki_new and Kd_new, respectively.

As an evaluation function for evaluating the difference between the profile of the plant temperature Tdeg and the desired profile of the plant temperature De_Tdeg, for example, the L2 norm of J2=||Tdeg−De_Tdeg|| or J1=|Tdeg−De_Tdeg| There are some L1 norms and so on. The PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRIT (Fictitious Reference Iterative Tuning). return home. There are various methods such as Newton's method, Gauss-Newton's method, etc. for optimization, and there are many references, so they will not be described in detail here.

Also, the PID controller gain value adjusting unit 2 outputs the value of the evaluation function (evaluation indexes such as J1 and J2).

Note that this adjustment process may be executed either offline or online.

<Parameter change determination unit (Fig. 12)>
The parameter change determination unit 3 determines whether or not the gain value newly calculated by the PID controller gain value adjustment unit 2 is within a predetermined range, and determines whether the newly calculated gain value reaches a predetermined value. At least one determination of whether or not is executed, and a desired change of the parameter of the output value calculator 4 is permitted according to the determination result. Specifically, the process shown in FIG. 12 is executed.
- When the following condition a) is established, the parameter change permission flag fp_ref=1 is output. On the other hand, if the condition a) is not satisfied, the parameter change permission flag fp_ref=0 is output.
Condition a) When judging whether or not the newly calculated gain value has reached a predetermined value If fp_ref (previous value) = 0,
Kp_new ≥ K_Kp_new_H, or
Ki_new ≥ K_Ki_new_H, or
Kd_new ≥ K_Kd_new_H
・If fp_ref (previous value) = 1,
J2 ≧ K_J2_H (or J1 ≧ K_J1_H)
Condition a) When judging whether or not the newly calculated gain value is within a predetermined range If fp_ref (previous value) = 0,
K_Kp_new_L ≥ Kp_new, or
Kp_new ≥ K_Kp_new_H, or
K_Ki_new_L ≥ Ki_new, or
Ki_new ≥ K_Ki_new_H, or
K_Kd_new_L ≥ Kd_new, or
Kd_new ≥ K_Kd_new_H
・If fp_ref (previous value) = 1,
J2 ≧ K_J2_H (or J1 ≧ K_J1_H)

<Parameter change unit (Fig. 6)>
When the parameter change determination unit 3 permits the change, the parameter change unit 6 calculates a change parameter (parameter value) of the desired output value calculation unit 4 . Specifically, since it is the same as the first embodiment shown in FIG. 6, a detailed description thereof will be omitted.

<Desired output value calculator (Fig. 7)>
The desired output value calculator 4 calculates a desired profile of the output of the controlled object (the temperature of the plant 7) based on the control target. Specifically, since it is the same as the first embodiment shown in FIG. 7, the details will not be described.

According to this embodiment, the control device 1 that adjusts the gain value of the PID controller 5 includes a desired output value calculator 4 that calculates a desired output value of the controlled object, and a desired output value calculator 4 that calculates PID controller gain value adjustment for adjusting the gain value of the PID controller 5 so that the difference between the desired output value (time-series signal, etc.) and the output value (time-series signal, etc.) of the controlled object is reduced and a parameter changing unit 6 for changing the parameter value of the desired output value calculating unit 4 when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range. Consists of Further, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter changing unit 6 changes the desired output value and the output value of the controlled object. The desired parameter value of the output value calculator 4 is changed so that the difference between . Moreover, the parameter changer 6 changes the desired parameter value of the output value calculator 4 so that the responsiveness of the calculator is slowed down. Further, the computing unit is represented by a transfer function, and the parameter changing unit 6 is configured to change the transfer function change the time constant of Also, the control device is a device for controlling the plant 7 .

When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object occurs (if it is not within a predetermined range), the output value of the desired output value calculation unit 4 is theoretically There is a possibility that the output value (profile) is practically unrealizable. That is, there is a possibility that the output value (profile) cannot be realized by correcting the gain value by the PID controller 5 . In this case, in order to suppress overshoot and undershoot, it is necessary to correct the desired output value (profile) of the controlled object to a theoretically achievable value. When the desired output value calculator 4 is represented by a transfer function, the larger the value corresponding to the time constant in the denominator polynomial of the transfer function, the slower the responsiveness of the transfer function. Therefore, in order to delay the responsiveness of the transfer function until the difference between the desired output value and the output value of the controlled object becomes considerably small, the value corresponding to the time constant in the denominator polynomial of the transfer function is increased.

As a result, overshoot and undershoot of the output of the controlled object can be suppressed by readjusting the desired parameter values of the output value calculator 4 during normal operation without prior knowledge. As a result, under the operating environment, the PID control gain can be stably adjusted while considering the theoretical limit of the plant 7, and the operational efficiency and production efficiency can be improved while ensuring the reliability and stability of the plant 7. .

[Example 4]
In the present embodiment, a calculation unit that calculates a desired output value of the controlled object, and a difference between the desired output value (time-series signal, etc.) and the output value of the controlled object (time-series signal, etc.) is reduced. Thus, a gain value adjustment unit that adjusts the gain value of the PID controller, and if at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is not within a predetermined range, the calculation unit and a parameter changer for changing the parameter values of the controller.

In addition, when at least one of the overshoot amount and the undershoot amount of the measured value and the estimated output of the controlled object is not within a predetermined range, the parameter changing unit sets at least one of the overshoot amount and the undershoot amount to a predetermined value. Change the parameter value of the computing unit so that it falls within the range (becomes smaller).

Further, the parameter changing unit changes the parameter value of the calculating unit so that the responsiveness of the calculating unit becomes slow.

In particular, the computing unit is represented by a transfer function, and the parameter changing unit changes the transfer function change the order of

Moreover, the said control apparatus is an apparatus which controls a plant.

FIG. 1 shows the overall configuration of a control device 1 of embodiment 4, which is the same as that of embodiment 1, and therefore will not be described in detail. FIG. 2 shows the system configuration of the control device 1 of embodiment 4, which is the same as that of embodiment 1, and therefore will not be described in detail. FIG. 3 shows the control device 1 of Example 4 and the plant 7 controlled by the control device 1, but since it is the same as Example 1, it will not be described in detail.

Details of each process will be described below.

<PID controller gain value adjustment unit (Fig. 4)>
The PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . Specifically, since it is the same as the first embodiment shown in FIG. 4, it will not be described in detail.

<Parameter change determination unit (Fig. 5)>
The parameter change determination unit 3 determines whether or not the newly calculated gain value is within a predetermined range in the PID controller gain value adjustment unit 2, and determines whether the newly calculated gain value reaches a predetermined value. At least one of the determinations as to whether or not is performed, and the desired change of the parameters of the output value calculation unit 4 is permitted according to the determination result. Specifically, since it is the same as the first embodiment shown in FIG. 5, the details will not be described.

<Parameter changing unit (Fig. 13)>
When the parameter change determination unit 3 permits the change, the parameter change unit 6 calculates a change parameter (parameter value) of the desired output value calculation unit 4 . Specifically, the processing shown in FIG. 13 is executed.
・When fp_ref=1, the desired output value calculation unit parameter n (the denominator order of the transfer function) is corrected as follows (so that the denominator order n of the transfer function increases) to estimate the output of the controlled object. Decrease the responsiveness of the value.
n=n+1
• When fp_ref=0, the desired output value calculator parameter n (the denominator order of the transfer function) maintains its current value.

<Desired Output Value Calculator (FIG. 14)>
The desired output value calculator 4 calculates a desired profile of the output of the controlled object (the temperature of the plant 7) based on the control target. Specifically, the processing shown in FIG. 14 is executed.

A desired plant temperature De_Tdeg profile is calculated using, for example, a transfer function for the target plant temperature Tg_Tdeg, which is the control target. Control targets include, for example, step signals and ramp signals.

Also, the denominator order n of the transfer function, which is one of the parameters of the transfer function, may be variable, and the value calculated by the parameter changer 6 may be used. The parameter n is one of the degrees of the denominator polynomial of the transfer function, and generally the larger the value of n, the slower the response of the transfer function.

In addition, in the parameter change determination unit 3, if at least one of the overshoot amount and the undershoot amount of the measured value and the estimated value of the output of the controlled object is not within the predetermined range, fp_ref is not immediately set to 1, and the PID controller gain value When the PID gain value is readjusted by the adjustment unit 2 and controlled using the readjusted PID gain value, at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is a predetermined value. If not in range, fp_ref=1 may be used.

According to this embodiment, the control device 1 that adjusts the gain value of the PID controller 5 includes a desired output value calculator 4 that calculates a desired output value of the controlled object, and a desired output value calculator 4 that calculates PID controller gain value adjustment for adjusting the gain value of the PID controller 5 so that the difference between the desired output value (time-series signal, etc.) and the output value (time-series signal, etc.) of the controlled object is reduced and a parameter changing unit 6 for changing the parameter value of the desired output value calculating unit 4 when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range. Consists of Further, when at least one of the overshoot amount and the undershoot amount of the measured value and the estimated output of the controlled object is not within the predetermined range, the parameter changing unit 6 determines that the overshoot amount and the undershoot amount are within the predetermined range. The desired parameter value of the output value calculator 4 is changed so as to become (become smaller). Moreover, the parameter changer 6 changes the parameter value of the desired output value calculator 4 so that the response of the desired output value calculator 4 is slowed down. Further, the desired output value calculator 4 is represented by a transfer function, and the parameter changer 6 determines if at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range. , to change the order of the transfer function. Also, the control device is a device for controlling the plant 7 .

When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object occurs (if it is not within a predetermined range), the output value of the desired output value calculation unit 4 theoretically There is a possibility that the output value (profile) cannot be realized. That is, there is a possibility that the output value (profile) cannot be realized by correcting the gain value of the PID controller 5 . In this case, in order to suppress overshoot and undershoot, it is necessary to correct the desired output value (profile) of the controlled object to a theoretically achievable value. When the desired output value calculator 4 to be controlled is represented by a transfer function, the larger the value corresponding to the degree in the denominator polynomial of the transfer function, the slower the responsiveness of the transfer function. Therefore, in order to delay the responsiveness of the transfer function until at least one of the amount of overshoot and the amount of undershoot becomes considerably small, the value corresponding to the order of the denominator polynomial of the transfer function is increased.

As a result, overshoot and undershoot of the output of the controlled object can be suppressed by readjusting the desired parameter values of the output value calculator 4 during normal operation without prior knowledge. As a result, under the operating environment, the PID control gain can be stably adjusted while considering the theoretical limit of the plant 7, and the operational efficiency and production efficiency can be improved while ensuring the reliability and stability of the plant 7. .

[Example 5]
In the present embodiment, a calculation unit that calculates a desired output value of the controlled object, and a difference between the desired output value (time-series signal, etc.) and the output value of the controlled object (time-series signal, etc.) is reduced. , a gain value adjusting unit that adjusts the gain value of the PID controller, and if the input value to the controlled object is not within a predetermined range, or if the input value to the controlled object reaches a predetermined value, the calculation and a parameter changing unit for changing the parameter value of the unit.

In particular, when the input value to the controlled object is not within a predetermined range, or when the input value to the controlled object reaches a predetermined value, the parameter changing unit determines that the input value to the controlled object is within the predetermined range. The parameter values of the calculation unit are changed so that

Further, the parameter changing unit changes the parameter value of the calculating unit so that the responsiveness of the calculating unit becomes slow.

Further, the computing unit is represented by a transfer function, and the parameter changing unit changes the transmission Change the time constant of the function.

Moreover, the said control apparatus is an apparatus which controls a plant.

FIG. 1 shows the overall configuration of a control device 1 of embodiment 5, which is the same as that of embodiment 1, and therefore will not be described in detail. FIG. 2 shows the system configuration of the control device 1 of embodiment 5, which is the same as that of embodiment 1, and therefore will not be described in detail.

FIG. 15 is a diagram showing the control device 1 and the plant 7 controlled by the control device 1. As shown in FIG.

The parameter change determination unit 3 determines whether the manipulated variable, which is the output of the PID controller 5 (input to the controlled object), is within a predetermined range, and determines whether the gain value has reached a predetermined value. at least one of is executed, and the change of the desired parameter of the output value calculation unit 4 is permitted according to the determination result. Other than that, since it is the same as the first embodiment, the details will not be described.

Details of each process will be described below.

<PID controller gain value adjustment unit (Fig. 4)>
The PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . Specifically, since it is the same as the first embodiment shown in FIG. 4, it will not be described in detail.

<Parameter change determination unit (Fig. 16)>
The parameter change determination unit 3 determines whether the manipulated variable, which is the output of the PID controller 5 (input to the controlled object), is within a predetermined range, and determines whether the gain value has reached a predetermined value. at least one of is executed, and the change of the desired parameter of the output value calculation unit 4 is permitted according to the determination result. Specifically, the processing shown in FIG. 16 is executed.
- When the following condition a) is established, the parameter change permission flag fp_ref=1 is output. On the other hand, if the condition a) is not satisfied, the parameter change permission flag fp_ref=0 is output.
Condition a)
Tg_VO≧K_Tg_VO_H

It should be noted that it is not Tg_VO (target valve opening degree) which is the output of the PID controller 5, but whether or not each of P, I and D calculated by the PID controller 5 is within a predetermined range. You can judge. The input to the controlled object may be not only the target valve opening, which is the output of the PID controller 5, but also input information to the controlled object such as the target fuel flow rate, the actual valve opening degree, and the fuel flow rate.

<Parameter change unit (Fig. 6)>
When the parameter change determination unit 3 permits the change, the parameter change unit 6 calculates a change parameter (parameter value) of the desired output value calculation unit 4 . Specifically, since it is the same as the first embodiment shown in FIG. 6, a detailed description thereof will be omitted.

<Desired output value calculator (Fig. 7)>
The desired output value calculator 4 calculates a desired profile of the output of the controlled object (the temperature of the plant 7) based on the control target. Specifically, since it is the same as the first embodiment shown in FIG. 7, the details will not be described.

According to this embodiment, the control device 1 that adjusts the gain value of the PID controller 5 includes the desired output value calculator 4 that calculates the desired output value of the controlled object (plant 7), and the desired output value calculator PID control for adjusting the gain value of the PID controller 5 so that the difference between the desired output value (time-series signal, etc.) calculated by the unit 4 and the output value (time-series signal, etc.) of the controlled object becomes small. If the input value to the controlled object is not within a predetermined range or if the input value to the controlled object reaches a predetermined value, the device gain value adjustment unit 2 and the parameter value of the desired output value calculation unit 4 are changed. and a parameter changing unit 6 for Further, when the input value to the controlled object is not within the predetermined range, or when the input value to the controlled object reaches the predetermined value, the parameter changing unit 6 determines that the input value to the controlled object is within the predetermined range. The parameter value of the desired output value calculator 4 is changed so that Moreover, the parameter changer 6 changes the parameter value of the desired output value calculator 4 so that the response of the desired output value calculator 4 is slowed down. Further, the desired output value calculator 4 is represented by a transfer function, and the parameter changer 6 changes when the input value to the controlled object is not within a predetermined range or when the input value to the controlled object reaches a predetermined value. If so, change the time constant of the transfer function. Also, the control device 1 is a device for controlling the plant 7 .

When the input value to the controlled object is not within a predetermined range, or when the input value to the controlled object reaches a predetermined value, the desired output value of the output value calculation unit 4 is actually There is a possibility that the output value (profile) cannot be realized. That is, there is a possibility that the input value to the controlled object such as the manipulated variable becomes an unrealizable output value (profile). In this case, in order to optimize the input value to the controlled object, it is necessary to correct the desired output value (profile) of the controlled object to a value that can actually be achieved. When the desired output value calculator 4 is represented by a transfer function, the larger the value corresponding to the time constant in the denominator polynomial of the transfer function, the slower the responsiveness of the transfer function. Therefore, the value corresponding to the time constant in the denominator polynomial of the transfer function is increased in order to delay the responsiveness of the transfer function until the gain value is optimized (for example, within a predetermined range). In other words, a limit value may be set for the input value to the controlled object for reasons such as safety and specifications. is changed, the desired parameter value of the output value calculator 4 can be readjusted in consideration of the safety of the controlled object under operating environment and restrictions on specifications.

As a result, by readjusting the desired parameter value of the output value calculation unit 4 during normal operation without prior knowledge, it is possible to optimize the input value to the controlled object such as the manipulated variable. As a result, under the operating environment, the PID control gain can be stably adjusted while considering the theoretical limit of the plant 7, and the operational efficiency and production efficiency can be improved while ensuring the reliability and stability of the plant 7. .

[Example 6]
In the present embodiment, a calculation unit that calculates a desired output value of the controlled object, and a difference between the desired output value (time-series signal, etc.) and the output value of the controlled object (time-series signal, etc.) is reduced. Thus, a gain value adjustment unit that adjusts the gain value of the PID controller, and if at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is not within a predetermined range, the calculation unit and a parameter changer for changing the parameter values of the controller.

In addition, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter changing unit sets at least one of the amount of overshoot and the amount of undershoot to The parameter value of the calculation unit is changed so as to be within a predetermined range (become smaller).

Further, the parameter changing unit changes the parameter value of the calculating unit so that the responsiveness of the calculating unit becomes slow.

Also, the computing unit is represented by a transfer function, and the parameter changing unit is configured to change the transfer function change the time constant of

In particular, said control device is a device for controlling an autonomous vehicle.

FIG. 1 shows the overall configuration of a control device 1 of embodiment 6, which is the same as that of embodiment 1, and therefore will not be described in detail. FIG. 2 shows the system configuration of the control device 1 of embodiment 6, which is the same as that of embodiment 1, and therefore will not be described in detail.

FIG. 17 is a diagram showing the control device 1 and the self-driving vehicle 8 controlled by the control device 1. As shown in FIG.

The parameter change determination unit 3 performs at least one of determining whether the overshoot amount of the output from the controlled object is within a predetermined range and determining whether the undershoot amount is within the predetermined range. Depending on the result, the desired parameter of the output value calculator 4 is permitted to be changed. The PID controller 5 calculates a manipulated variable (for example, target speed, target rotational angular velocity) for controlling motion of the self-driving vehicle 8 .

Details of each process will be described below.

<PID controller gain value adjustment unit (Fig. 18)>
The PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . Specifically, as shown in FIG. 18, the post-adjustment PID gain provisional value is determined such that the difference between the velocity VSP profile and the desired velocity De_VSP profile is minimized. The obtained provisional values of the P gain value, I gain value, and D gain value of the PID controller 5 are defined as Kp_new, Ki_new_tmp, and Kd_new, respectively.

As an evaluation function for evaluating the difference between the velocity VSP profile and the desired velocity De_VSP profile, for example, the L2 norm that is J2=||VSP−De_VSP|| or the L1 norm that is J1=|VSP−De_VSP| Norm, etc. The PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRIT (Fictitious Reference Iterative Tuning). return home. There are various methods such as Newton's method, Gauss-Newton's method, etc. for optimization, and there are many references, so they will not be described in detail here.

Note that this optimization process may be executed either offline or online.

<Parameter change determination unit (Fig. 19)>
The parameter change determination unit 3 performs at least one of determination of the overshoot amount of the output from the controlled object and determination of whether the undershoot amount is within a predetermined range, and depending on the determination result, the desired output Permission to change the parameters of the value calculator 4 is permitted. Specifically, the process shown in FIG. 19 is executed.
- When the following condition a) is established, the parameter change permission flag fp_ref=1 is output. On the other hand, if the condition a) is not satisfied, the parameter change permission flag fp_ref=0 is output.
Condition a)
VSP overshoot amount is K_VSP_O1 or more, or
VSP undershoot amount is K_VSP_U1 or more

<Parameter change unit (Fig. 6)>
When the parameter change determination unit 3 permits the change, the parameter change unit 6 calculates a change parameter (parameter value) of the desired output value calculation unit 4 . Specifically, since it is the same as the first embodiment shown in FIG. 6, the detailed description is omitted.

<Desired Output Value Calculator (FIG. 20)>
The desired output value calculator 4 calculates a desired profile of the output of the controlled object (the speed of the automatic driving vehicle 8) based on the control target. Specifically, the processing shown in FIG. 20 is executed.

For target speed Tg_VSP, which is a control target, a desired speed De_VSP profile is calculated using, for example, a transfer function. Control targets include, for example, step signals and ramp signals.

Also, b1, which is one of the parameters of the transfer function, is variable, and the value calculated by the parameter changer 6 is preferably used. The parameter b1 is one of the coefficients of the denominator polynomial of the transfer function, and the larger the value of b1, the slower the response of the transfer function.

In addition, in the parameter change determination unit 3, if at least one of the overshoot amount and the undershoot amount of the measured value and the estimated value of the output of the controlled object is not within the predetermined range, fp_ref is not immediately set to 1, and the PID controller gain value When the PID gain value is readjusted by the adjustment unit 2 and controlled using the readjusted PID gain value, at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is a predetermined value. If not in range, fp_ref=1 may be used .

According to the present embodiment, the control device 1 that adjusts the gain value of the PID controller 5 includes a desired output value calculation unit 4 that calculates a desired output value of the controlled object (self-driving vehicle 8), and a desired output The gain value of the PID controller 5 is adjusted so that the difference between the desired output value (time-series signal, etc.) calculated by the value calculator 4 and the output value (time-series signal, etc.) of the controlled object becomes small. If at least one of the overshoot amount and the undershoot amount of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter value of the desired output value calculation unit 4 is changed. and a parameter changing unit 6 to be changed. Further, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter changing unit 6 determines that at least one of the amount of overshoot and the amount of undershoot is The parameter value of the desired output value calculator 4 is changed so as to be within the predetermined range (to be smaller). Moreover, the parameter changer 6 changes the parameter value of the desired output value calculator 4 so that the response of the desired output value calculator 4 is slowed down. Further, the desired output value calculator 4 is represented by a transfer function, and the parameter changer 6 determines if at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range. , to change the time constant of the transfer function. Further, the control device is a device that controls the automatic driving vehicle 8 .

When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object occurs (if it is not within a predetermined range), the output value of the desired output value calculation unit 4 is theoretically There is a possibility that the output value (profile) is practically unrealizable. That is, there is a possibility that the output value (profile) cannot be realized by correcting the gain value by the PID controller 5 . In this case, in order to suppress overshoot and undershoot, it is necessary to correct the desired output value (profile) of the controlled object to a theoretically achievable value. When the desired output value calculator 4 is represented by a transfer function, the larger the value corresponding to the time constant in the denominator polynomial of the transfer function, the slower the responsiveness of the transfer function. Therefore, in order to delay the responsiveness of the transfer function until at least one of the amount of overshoot and the amount of undershoot becomes considerably small, the value corresponding to the time constant in the denominator polynomial of the transfer function is increased.

As a result, overshoot and undershoot of the output of the controlled object can be suppressed by readjusting the desired parameter values of the output value calculator 4 during normal operation without prior knowledge. As a result, under the operating environment, the PID control gain can be stably adjusted while considering the theoretical limit of the motion of the automatic driving vehicle 8, and the reliability and stability of the automatic driving vehicle 8 can be ensured. and energy efficiency.

[Example 7]
In the present embodiment, a calculation unit that calculates a desired output value of the controlled object, and a difference between the desired output value (time-series signal, etc.) and the output value of the controlled object (time-series signal, etc.) is reduced. Thus, a gain value adjustment unit that adjusts the gain value of the PID controller, and if at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is not within a predetermined range, the calculation unit and a parameter changer for changing the parameter values of the controller.

In addition, when at least one of the overshoot amount and the undershoot amount of the measured value and the estimated output of the controlled object is not within a predetermined range, the parameter changing unit sets at least one of the overshoot amount and the undershoot amount to a predetermined value. Change the parameter value of the computing unit so that it falls within the range (becomes smaller).

Further, the parameter changing unit changes the parameter value of the calculating unit so that the responsiveness of the calculating unit becomes slow.

Also, the computing unit is represented by a transfer function, and the parameter changing unit is configured to change the transfer function change the time constant of

In particular, said control device is a device for controlling a robot.

FIG. 1 shows the overall configuration of a control device 1 of embodiment 7, which is the same as that of embodiment 1, and therefore will not be described in detail. FIG. 2 shows the system configuration of the control device 1 of Embodiment 7, which is the same as that of Embodiment 1, and therefore will not be described in detail.

FIG. 21 is a diagram showing the control device 1 and the robot 9 controlled by the control device 1. As shown in FIG.

The parameter change determination unit 3 performs at least one of determining whether the overshoot amount of the output from the controlled object is within a predetermined range and determining whether the undershoot amount is within the predetermined range. Depending on the result, the desired parameter of the output value calculator 4 is permitted to be changed. The PID controller 5 calculates manipulated variables (for example, angle, speed, torque) for controlling motion of the robot 9 .

Details of each process will be described below.

<PID controller gain value adjustment unit (Fig. 22)>
The PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . Specifically, as shown in FIG. 22, the post-adjustment PID gain provisional value is determined such that the difference between the profile of the position POS and the profile of the desired position De_POS is minimized. The obtained provisional values of the P-gain value, I-gain value and D-gain value of the PID controller 5 are defined as Kp_new, Ki_new and Kd_new, respectively.

As an evaluation function for evaluating the difference between the profile of the position POS and the profile of the desired position De_POS, for example, the L2 norm that is J2=||POS-De_POS|| or the L1 norm that is J1=|POS-De_POS| Norm, etc. The PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRIT (Fictitious Reference Iterative Tuning). return home. There are various methods such as Newton's method, Gauss-Newton's method, etc. for optimization, and there are many references, so they will not be described in detail here.

Note that this optimization process may be executed either offline or online.

<Parameter change determination unit (Fig. 23)>
The parameter change determination unit 3 performs at least one of determination of the overshoot amount of the output from the controlled object and determination of whether the undershoot amount is within a predetermined range, and depending on the determination result, the desired output Permission to change the parameters of the value calculator 4 is permitted. Specifically, the process shown in FIG. 23 is executed.
- When the following condition a) is established, the parameter change permission flag fp_ref=1 is output. On the other hand, if the condition a) is not satisfied, the parameter change permission flag fp_ref=0 is output.
Condition a)
POS overshoot amount is greater than or equal to K_POS_O1, or
POS undershoot amount is more than K_POS_U1

<Parameter change unit (Fig. 6)>
When the parameter change determination unit 3 permits the change, the parameter change unit 6 calculates a change parameter (parameter value) of the desired output value calculation unit 4 . Specifically, since it is the same as the first embodiment shown in FIG. 6, the detailed description is omitted.

<Desired output value calculator (Fig. 24)>
The desired output value calculator 4 calculates a desired profile of the output of the controlled object (the position of the robot 9) based on the control target. Specifically, the processing shown in FIG. 24 is executed.

A desired position De_POS is calculated using, for example, a transfer function with respect to the target position Tg_POS, which is the control target. Control targets include, for example, step signals and ramp signals.

Also, b1, which is one of the parameters of the transfer function, is variable, and the value calculated by the parameter changer 6 is preferably used. The parameter b1 is one of the coefficients of the denominator polynomial of the transfer function, and the larger the value of b1, the slower the response of the transfer function.

In addition, in the parameter change determination unit 3, if at least one of the overshoot amount and the undershoot amount of the measured value and the estimated value of the output of the controlled object is not within the predetermined range, fp_ref is not immediately set to 1, and the PID controller gain value When the PID gain value is readjusted by the adjustment unit 2 and controlled using the readjusted PID gain value, at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is a predetermined value. If not in range, fp_ref=1 may be used.

According to this embodiment, the control device 1 that adjusts the gain value of the PID controller 5 includes the desired output value calculator 4 that calculates the desired output value of the controlled object (robot 9), and the desired output value calculator PID control for adjusting the gain value of the PID controller 5 so that the difference between the desired output value (time-series signal, etc.) calculated by the unit 4 and the output value (time-series signal, etc.) of the controlled object becomes small. If at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter value of the desired output value calculation unit 4 is changed. and a parameter changing unit 6 . Further, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter changing unit 6 changes at least one of the amount of overshoot and the amount of undershoot. The parameter value of the desired output value calculator 4 is changed so that the two are within a predetermined range (become smaller). Moreover, the parameter changer 6 changes the parameter value of the desired output value calculator 4 so that the response of the desired output value calculator 4 is slowed down. Further, the desired output value calculator 4 is represented by a transfer function, and the parameter changer 6 determines if at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range. , to change the time constant of the transfer function. Also, the control device is a device for controlling the robot 9 .

When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object occurs (if it is not within a predetermined range), the output value of the desired output value calculation unit 4 is theoretically There is a possibility that the output value (profile) is practically unrealizable. That is, there is a possibility that the output value (profile) cannot be realized by correcting the gain value by the PID controller 5 . In this case, in order to suppress overshoot and undershoot, it is necessary to correct the desired output value (profile) of the controlled object to a theoretically achievable value. When the desired output value calculator 4 is represented by a transfer function, the larger the value corresponding to the time constant in the denominator polynomial of the transfer function, the slower the responsiveness of the transfer function. Therefore, in order to delay the responsiveness of the transfer function until at least one of the amount of overshoot and the amount of undershoot becomes considerably small, the value corresponding to the time constant in the denominator polynomial of the transfer function is increased.

As a result, overshoot and undershoot of the output of the controlled object can be suppressed by readjusting the desired parameter values of the output value calculator 4 during normal operation without prior knowledge. As a result, under the operating environment, the PID control gain can be stably adjusted while considering the theoretical limit of the operation of the robot 9, and workability and energy efficiency can be improved while ensuring the reliability and stability of the robot 9. can improve.

[Example 8]
In the present embodiment, a calculation unit that calculates a desired output value of the controlled object, and a difference between the desired output value (time-series signal, etc.) and the output value of the controlled object (time-series signal, etc.) is reduced. Thus, a gain value adjustment unit that adjusts the gain value of the PID controller, and if at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is not within a predetermined range, the calculation unit and a parameter changer for changing the parameter values of the controller.

In addition, when at least one of the overshoot amount and the undershoot amount of the measured value and the estimated output of the controlled object is not within a predetermined range, the parameter changing unit sets at least one of the overshoot amount and the undershoot amount to a predetermined value. Change the parameter value of the computing unit so that it falls within the range (becomes smaller).

Further, the parameter changing unit changes the parameter value of the calculating unit so that the responsiveness of the calculating unit becomes slow.

Also, the computing unit is represented by a transfer function, and the parameter changing unit is configured to change the transfer function change the time constant of

In particular, the control device is a device that controls a flying object such as a drone.

FIG. 1 shows the overall configuration of a control device 1 of embodiment 8, which is the same as that of embodiment 1, and therefore will not be described in detail. FIG. 2 shows the system configuration of the control device 1 of the eighth embodiment, which is the same as that of the first embodiment and will not be described in detail.

FIG. 25 is a diagram showing the control device 1 and the drone 10 controlled by the control device 1. As shown in FIG.

The parameter change determination unit 3 performs at least one of determining whether the overshoot amount of the output from the controlled object is within a predetermined range and determining whether the undershoot amount is within the predetermined range. Depending on the result, the desired parameter of the output value calculator 4 is permitted to be changed. The PID controller 5 calculates the manipulated variable (for example, the rotational speed of each rotor) for controlling the motion of the drone 10 .

Details of each process will be described below.

<PID controller gain value adjustment unit (Fig. 26)>
The PID controller gain value adjusting section 2 adjusts the gain value of the PID controller 5 . Specifically, as shown in FIG. 26, the post-adjustment PID gain provisional value is determined such that the difference between the flight speed FSP profile and the desired flight speed De_FSP profile is minimized. The obtained provisional values of the P-gain value, I-gain value and D-gain value of the PID controller 5 are defined as Kp_new, Ki_new and Kd_new, respectively.

As an evaluation function for evaluating the difference between the profile of the position POS and the profile of the desired position De_POS, for example, the L2 norm that is J2=||FSP-De_FSP|| or the L1 norm that is J1=|FSP-De_FSP| Norm, etc. The PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRIT (Fictitious Reference Iterative Tuning). return home. There are various methods such as Newton's method, Gauss-Newton's method, etc. for optimization, and there are many references, so they will not be described in detail here.

Note that this optimization process may be executed either offline or online.

<Parameter change determination unit (Fig. 27)>
The parameter change determination unit 3 determines whether or not at least one of the overshoot amount and the undershoot amount of the output from the controlled object is within a predetermined range. allow changes to Specifically, the processing shown in FIG. 27 is executed.
- When the following condition a) is established, the parameter change permission flag fp_ref=1 is output. On the other hand, if the condition a) is not satisfied, the parameter change permission flag fp_ref=0 is output.
Condition a)
The overshoot amount of FSP is K_FSP_O1 or more, or
FSP undershoot amount is more than K_FSP_U1

<Parameter change unit (Fig. 6)>
When the parameter change determination unit 3 permits the change, the parameter change unit 6 calculates a change parameter (parameter value) of the desired output value calculation unit 4 . Specifically, since it is the same as the first embodiment shown in FIG. 6, the detailed description is omitted.

<Desired output value calculator (Fig. 28)>
The desired output value calculator 4 calculates a desired profile of the output of the controlled object (the flight speed of the drone 10) based on the control target. Specifically, the processing shown in FIG. 28 is executed.

A desired position De_FSP is calculated using, for example, a transfer function for the target flight speed Tg_FSP, which is the control target. Control targets include, for example, step signals and ramp signals.

Also, b1, which is one of the parameters of the transfer function, is variable, and the value calculated by the parameter changer 6 is preferably used. The parameter b1 is one of the coefficients of the denominator polynomial of the transfer function, and the larger the value of b1, the slower the response of the transfer function.

In addition, in the parameter change determination unit 3, if at least one of the overshoot amount and the undershoot amount of the measured value and the estimated value of the output of the controlled object is not within the predetermined range, fp_ref is not immediately set to 1, and the PID controller gain value When the PID gain value is readjusted by the adjustment unit 2 and controlled using the readjusted PID gain value, at least one of the overshoot amount and the undershoot amount of the measured value and estimated value of the output of the controlled object is a predetermined value. If not in range, fp_ref=1 may be used.

According to this embodiment, the control device 1 that adjusts the gain value of the PID controller 5 includes the desired output value calculator 4 that calculates the desired output value of the controlled object (robot 9), and the desired output value calculator PID control for adjusting the gain value of the PID controller 5 so that the difference between the desired output value (time-series signal, etc.) calculated by the unit 4 and the output value (time-series signal, etc.) of the controlled object becomes small. If at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter value of the predetermined output value calculation unit 4 is changed. and a parameter changing unit 6 . Further, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter changing unit 6 changes at least one of the amount of overshoot and the amount of undershoot. The parameter value of the desired output value calculator 4 is changed so that the two are within a predetermined range (become smaller). Moreover, the parameter changer 6 changes the parameter value of the desired output value calculator 4 so that the response of the desired output value calculator 4 is slowed down. Further, the desired output value calculator 4 is represented by a transfer function, and the parameter changer 6 determines if at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range. , to change the time constant of the transfer function. Also, the control device is a device that controls a flying object such as the drone 10 .

When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object occurs (if it is not within a predetermined range), the output value of the desired output value calculation unit 4 is theoretically There is a possibility that the output value (profile) is practically unrealizable. That is, there is a possibility that the output value (profile) cannot be realized by correcting the gain value by the PID controller 5 . In this case, in order to suppress overshoot and undershoot, it is necessary to correct the desired output value (profile) of the controlled object to a theoretically achievable value. When the desired output value calculator 4 is represented by a transfer function, the larger the value corresponding to the time constant in the denominator polynomial of the transfer function, the slower the responsiveness of the transfer function. Therefore, in order to delay the responsiveness of the transfer function until at least one of the amount of overshoot and the amount of undershoot becomes considerably small, the value corresponding to the time constant in the denominator polynomial of the transfer function is increased.

As a result, overshoot and undershoot of the output of the controlled object can be suppressed by readjusting the desired parameter values of the output value calculator 4 during normal operation without prior knowledge. As a result, under the operating environment, the PID control gain can be stably adjusted while considering the theoretical limit of the flight motion of the drone 10, and the reliability and stability of the drone 10 can be secured while motility and energy efficiency are maintained. can be improved.

As described above, according to the embodiment of the present invention, the control device 1 that adjusts the gain value of the PID controller 5 can be controlled according to the desired value of the controlled object (plant 7, automatic driving vehicle 8, robot 9, drone 10, etc.). and a PID controller gain that calculates the gain value of the PID controller 5 so that the difference between the desired output value and the output value of the controlled object is small. A value adjusting unit 2 and a parameter changing unit 6 for changing the parameter value of the desired output value calculating unit 4. The parameter changing unit 6 adjusts the overshoot amount and undershoot of the measured value and estimated value of the output of the controlled object. When at least one of the shot amounts is out of the predetermined range, or when the gain value newly calculated by the gain value adjusting section is not in the predetermined range, the gain value newly calculated by the gain value adjusting section reaches the predetermined value. If at least one of the following conditions is established: the input value to the controlled object is not within the predetermined range, or the input value to the controlled object reaches the predetermined value, the parameter of the desired output value calculation unit 4 Since the value is changed, the desired parameter value of the output value calculation unit 4 can be readjusted during normal operation without prior knowledge.

Further, when at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, the parameter changing unit 6 determines that at least one of the amount of overshoot and the amount of undershoot is Since the parameter value of the desired output value calculation unit 4 is changed so as to be within the predetermined range, overshoot and undershoot are suppressed, and the desired parameter value of the output value calculation unit 4 is obtained during normal operation without prior knowledge. You can readjust the value.

Further, when the gain value newly calculated by the gain value adjusting unit is not within the predetermined range, the parameter changing unit 6 changes the desired parameter value of the output value calculating unit 4 so that the gain value is within the predetermined range. is changed, a desired parameter value of the output value calculator 4 can be set in consideration of the range in which the PID gain can be realized. In particular, the PID gain may have a limit value set for reasons such as safety and specifications. The PID control gain can be stably adjusted in consideration of the safety of the controlled object and specification restrictions under the operating environment.

Further, the parameter changing unit 6 changes the parameter value of the desired output value calculating unit 4 so that the difference between the output value of the desired output value calculating unit 4 and the output value of the controlled object becomes small. The subject can be driven under desired conditions.

In addition, since the parameter changing unit 6 changes the parameter value of the calculating unit so that the responsiveness of the desired output value calculating unit 4 is slowed down, the measured value or the estimated value of the output of the controlled object may overshoot or Undershoot can be suppressed.

Further, since the desired output value calculator 4 is represented by a transfer function, it can easily calculate the desired output value to be output to the controlled object. Moreover, the desired parameter value of the output value calculator 4 can be easily changed according to the parameter value of the transfer function.

Moreover, since the parameter changer 6 changes the time constant of the transfer function as a desired parameter value of the output value calculator 4, the characteristics of the system can be controlled by the time required for the characteristics of the controlled object to rise.

Further, the parameter changer 6 changes the order of the transfer function as a desired parameter value of the output value calculator 4, so that the system characteristics can be controlled by controlling the complexity of the operation of the controlled object.

In addition, the PID controller gain value adjustment unit 2 readjusts the PID gain value when at least one of the overshoot amount and the undershoot amount of the measured value and the estimated value of the output of the controlled object is not within a predetermined range, and the parameter When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range when the control is performed using the readjusted PID gain value, the changing unit 6 changes the desired Since the parameter value of the output value calculator 4 is changed, overshoot and undershoot of the measured value or estimated value of the output of the controlled object can be suppressed.

Further, when the input value to the controlled object is not within the predetermined range, the parameter changing unit 6 changes the desired parameter value of the output value calculating unit 4 so that the input value to the controlled object is within the predetermined range. Since it is changed, a desired parameter value of the output value calculation unit 4 can be set in consideration of the range in which the input to the controlled object can be realized. In particular, a limit value may be set for the input value to the controlled object for reasons such as safety and specifications. can be changed, and the PID control gain can be stably adjusted in consideration of the safety of the controlled object and restrictions on specifications under the operating environment.

It should be noted that the present invention is not limited to the embodiments described above, but includes various modifications and equivalent configurations within the scope of the appended claims. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to those having all the described configurations. Also, part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Moreover, the configuration of another embodiment may be added to the configuration of one embodiment. Further, additions, deletions, and replacements of other configurations may be made for a part of the configuration of each embodiment.

In addition, each configuration, function, processing unit, processing means, etc. described above may be realized by hardware, for example, by designing a part or all of them with an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing a program to execute.

Information such as programs, tables, and files that implement each function can be stored in storage devices such as memories, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

In addition, the control lines and information lines indicate those considered necessary for explanation, and do not necessarily indicate all the control lines and information lines necessary for mounting. In practice, it can be considered that almost all configurations are interconnected.

1 Control device 2 PID controller gain value adjustment unit 3 Parameter change determination unit 4 Desired output value calculation unit 5 PID controller 6 Parameter change unit 7 Power plant 8 Self-driving car 9 Robot 10 Drone 11 Control device storage device 12 Control device CPU
13 ROM of control device
14 RAM of the controller
15 control device data bus 16 control device input circuit 17 control device input/output port 18 control device output circuit

Claims (12)

a computing unit that computes a desired output value of the controlled object;
a gain value adjustment unit that calculates a gain value of the PID controller so that the difference between the desired output value and the output value of the controlled object is small;
a parameter changing unit that changes the parameter value of the computing unit;
The parameter changing unit
When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range when using the gain value newly calculated by the gain value adjustment unit ,
When the gain value newly calculated by the gain value adjustment unit is not within the predetermined range,
When the gain value newly calculated by the gain value adjustment unit reaches a predetermined value,
when the input value to the controlled object is not within a predetermined range when the gain value newly calculated by the gain value adjusting unit is used ; and
changing the parameter value of the computing unit when at least one of the following conditions is satisfied: when the gain value newly computed by the gain value adjusting unit is used; and when the input value to the controlled object reaches a predetermined value. A control device characterized by: The control device according to claim 1,
When at least one of the overshoot amount and the undershoot amount of the measured value and the estimated output of the controlled object is not within a predetermined range, the parameter changing unit sets at least one of the overshoot amount and the undershoot amount within a predetermined range. A control device, characterized in that the parameter values of the calculation unit are changed so as to be within. The control device according to claim 1,
When the gain value newly calculated by the gain value adjusting unit is not within a predetermined range, the parameter changing unit changes the parameter value of the calculating unit so that the gain value is within a predetermined range. control device. The control device according to claim 1,
The control device, wherein the parameter changing unit changes the parameter value of the computing unit so that a difference between the desired output value and the output value of the controlled object becomes small. The control device according to claim 1,
The control device, wherein the parameter changing unit changes the parameter value of the calculating unit so that the responsiveness of the calculating unit becomes slow. The control device according to claim 1,
The control device, wherein the calculation unit is represented by a transfer function. A control device according to claim 6,
The control device, wherein the parameter changing unit changes a time constant of the transfer function as the parameter value of the calculating unit. A control device according to claim 6,
The control device, wherein the parameter changing unit changes the order of the transfer function as the parameter value of the calculating unit. The control device according to claim 1,
The gain value adjustment unit readjusts the PID gain value when at least one of an overshoot amount and an undershoot amount of the measured value and the estimated value of the output of the controlled object is not within a predetermined range,
If at least one of the amount of overshoot and the amount of undershoot of the measured value and estimated value of the output of the controlled object is not within a predetermined range when the control is performed using the readjusted PID gain value, A control device, characterized in that the parameter values of the calculation unit are changed. The control device according to claim 1,
When the input value to the controlled object is not within the predetermined range, the parameter changing unit changes the value of the parameter of the calculation unit so that the input value to the controlled object is within the predetermined range. control device. The control device according to claim 1,
A control device that is at least one of a device for controlling the temperature of a plant, a device for controlling an automatic driving vehicle, a device for controlling a robot, and a device for controlling an aircraft. A method for controlling a device to be controlled by a control device including a PID controller,
The control device includes a computing unit that computes a desired output value of the controlled object, and computes a gain value of the PID controller so that a difference between the desired output value and the output value of the controlled object becomes small. a gain value adjustment unit and a parameter change unit for changing the parameter value of the calculation unit;
The method includes:
The calculation unit calculates a desired output value of the controlled object using an arbitrary parameter value,
The gain value adjustment unit calculates a gain value using the calculated desired output value,
When at least one of the amount of overshoot and the amount of undershoot of the measured value and the estimated value of the output of the controlled object is not within a predetermined range when using the gain value newly calculated by the gain value adjustment unit,
When the gain value newly calculated by the gain value adjustment unit is not within the predetermined range,
When the gain value newly calculated by the gain value adjustment unit reaches a predetermined value,
when the input value to the controlled object is not within a predetermined range when the gain value newly calculated by the gain value adjusting unit is used; and
When at least one of the following conditions is established: when the gain value newly calculated by the gain value adjusting unit is used, and when the input value to the controlled object reaches a predetermined value, the parameter changing unit changes the value of the calculating unit to A method characterized by changing a parameter value and outputting it to the calculation unit.

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