JPH0244402A - Multivariable controller - Google Patents
Multivariable controllerInfo
- Publication number
- JPH0244402A JPH0244402A JP19450688A JP19450688A JPH0244402A JP H0244402 A JPH0244402 A JP H0244402A JP 19450688 A JP19450688 A JP 19450688A JP 19450688 A JP19450688 A JP 19450688A JP H0244402 A JPH0244402 A JP H0244402A
- Authority
- JP
- Japan
- Prior art keywords
- control system
- tracking
- control
- gain
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
Landscapes
- Feedback Control In General (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕
（産業上の利用分野）
本発明はプロセスを制御するプロセス制御装置に関する
。DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a process control device for controlling a process.
（従来の技術）
近年、複数の制御変数を有するプロセスの制御に現代制
御理論を用いた多変数制御装置を用いることが増加して
いる。多変数制御装置は、プロセスからの複数入力より
、プロセスの状態変数を推定する［ＩＩＪ器と推定した
状態変数に状態フィードバックゲインを乗じて制御出力
とする制御器からなる状態フィードバック制御系を有し
、算出した制御出力をプロセスへの複数の操作出力に加
算してレギュレータを構成することが多い。(Prior Art) In recent years, multivariable control devices using modern control theory have been increasingly used to control processes having multiple control variables. A multivariable control device estimates a state variable of a process from multiple inputs from the process [has a state feedback control system consisting of an IIJ device and a controller that multiplies the estimated state variable by a state feedback gain to provide a control output. , a regulator is often configured by adding the calculated control output to a plurality of operational outputs to the process.
第２図に、従来の多変数制御装置の構成例を示す。第２
図に示す多変数制御装置は２人力２出力の制御系であっ
て、制御対象１からの入カッ、。FIG. 2 shows an example of the configuration of a conventional multivariable control device. Second
The multivariable control device shown in the figure is a two-man power, two-output control system, with an input from a controlled object 1.
ν２より状態フィードバック制御系２にて制御出力ｅ□
ｔｅｚを算出する。制御出力ｅ１１ ｅＺはそれぞれ上
位制御器３−１．３−２の出力に加算器４−１゜４−２
に加算され、制御対象１へ操作出力ｕＬ＋ｕｌとして出
力されることでレギュレータを構成している。ここで、
上位制御器３−１．３−２は操作出力Ｕ工ｌ ｕ、に対
応しており、一般に積分器を有している。上位制御器３
−１．３−２による制御を実行時は、制御偏差入力９−
１．９−２に応じて上位制御器３−１．３−２出力が増
減し、加算器４−１．４−２で状態フィードバック制御
系２出力ｅｘｔ ｅ、と加算され、操作出力ｕ、、ｕ２
として制御対象１へ出力される。Control output e□ in state feedback control system 2 from ν2
Calculate tez. The control outputs e11 and eZ are connected to the outputs of the upper controllers 3-1, 3-2 and adders 4-1 and 4-2, respectively.
is added to and output to the controlled object 1 as the operation output uL+ul, thereby configuring a regulator. here,
The upper controller 3-1.3-2 corresponds to the operation output U, and generally has an integrator. Upper controller 3
- When executing control according to 1.3-2, control deviation input 9-
1.9-2, the output of the host controller 3-1.3-2 increases or decreases, and is added to the state feedback control system 2 output ext e in the adder 4-1.4-2, and the operation output u, , u2
It is output to the controlled object 1 as
一方、上位制御器３−１．３−２による制御を行なわな
い時は、制御偏差９−１．９−２をＯとして上位制御系
を切離すとともに、上位制御器３−１．３−２の出力を
状態フィードバック制御系２の出力ｅｘｔｅ２にトラッ
キング（追従）させ、上位制御器による制御投入時に偏
差なく制御が続行できる様にしている。このトラッキン
グは加算器６−１．６−２にて状態フィードバック制御
系２の出力ｅ１９ ｅ２と上位制御器３−１，３−２の
出力との偏差を求め、トラッキングゲイン７−１．７−
２を乗じた後、加算器８−１．８−２に加算して上位制
御器３−１．３−２の入力とすることで実施するのが通
例である。ここで、前記トラッキングゲイン７−１．７
−２は、トラッキング時の制御系が安定となる様に求め
られ、１人力１出力の制御系では正の値をもてば一般に
安定となる。−力筒２図に示す様な多入力多出力の多変
数制御系の場合、上位制御器が全てトラッキング時の制
御系が安定となる様、トラッキングゲインを求めている
、
ところが、多変数制御装置の運用として一方の上位制御
器はトラッキング中であるが、他方の上位制御器は制御
続行中の場合、即ち第２図の例で言えば、上位制御器３
−１はトラッキング、上位制御器３−２は制御中、ある
いは、上位制御器３−１は制御中、上位制御器３−２は
トラッキング中の場合には５ トラッキングゲインが両
上位制御器ともトラッキング時の制御系が安定となる様
設定しているため、制御系が不安定となる恐れがある。On the other hand, when control by the host controller 3-1.3-2 is not performed, the control deviation 9-1.9-2 is set to O and the host control system is disconnected, and the host controller 3-1.3-2 The output of the state feedback control system 2 is tracked with the output exte2 of the state feedback control system 2, so that control can be continued without deviation when control is input by the host controller. In this tracking, the adder 6-1.6-2 calculates the deviation between the output e19 e2 of the state feedback control system 2 and the output of the upper controllers 3-1 and 3-2, and the tracking gain is 7-1.7-
It is customary to multiply the result by 2, add it to the adder 8-1.8-2, and input the result to the higher-order controller 3-1.3-2. Here, the tracking gain 7-1.7
-2 is determined so that the control system at the time of tracking is stable, and in a control system with one human power and one output, a positive value generally results in stability. - In the case of a multivariable control system with multiple inputs and multiple outputs as shown in Figure 2, the tracking gain is determined so that the control system is stable when all the upper controllers are tracking. However, the multivariable control device In operation, if one higher-level controller is tracking while the other higher-level controller is continuing control, that is, in the example of FIG. 2, the higher-level controller 3
-1 is tracking, higher-level controller 3-2 is in control, or 5 if higher-level controller 3-1 is in control and higher-level controller 3-2 is in tracking, tracking gain is tracking for both higher-level controllers. Since the control system is set to be stable at the same time, there is a risk that the control system may become unstable.
特に多変数制御系は制御系の構成が変わると、最適なゲ
インも大きく変わるため、従来の多変数制御装置では、
制御系の運転状況により不安定となる恐れが多く、また
あらゆる運転状況にも安定なトラッキングゲインを求め
るのも困難であった。In particular, in multivariable control systems, when the configuration of the control system changes, the optimal gain also changes significantly.
There is a possibility that the control system becomes unstable depending on the operating conditions, and it is also difficult to obtain a stable tracking gain under all operating conditions.
（発明が解決しようとする課Ｍ）
以上述べた様に、従来の方法では多変数制御装置内の複
数の上位制御系のトラッキング状況によっては制御系と
して不安定となる恐れがあった。(Problem M to be Solved by the Invention) As described above, in the conventional method, there is a risk that the control system may become unstable depending on the tracking status of a plurality of upper control systems in the multivariable control device.
そこで本発明は上記問題点を解決し、あらゆるトラッキ
ング状況でも制御系として安定な多変数制御装置を提供
することにある。SUMMARY OF THE INVENTION The object of the present invention is to solve the above problems and provide a multivariable control device that is stable as a control system under all tracking conditions.
（課題を解決するための手段）
本発明は、複数の上位制御系の各種トラッキング状況に
対応するために、上位制御系の運転状況に応じて、その
時の安定なトラッキングゲインに切替るゲイン切替器を
設けることにより、上位制御系のトラッキング状況に対
応した安定な制御系となるようにしたものである。(Means for Solving the Problems) The present invention provides a gain switching device that switches to a stable tracking gain at that time according to the operating status of the higher-level control system, in order to cope with various tracking conditions of a plurality of higher-level control systems. By providing this, a stable control system corresponding to the tracking situation of the higher-level control system can be achieved.
（作 用）
複数の上位制御系のあらゆるトラッキング状況に対応し
た安定なトラッキングゲインを用意しておき、上位制御
系の運転状況に応じてトラッキングゲインを切替るゲイ
ン切替器を設けることにより、いずれの運転状況におい
ても制御系が安定となる様制御することが可能となる。(Function) By preparing a stable tracking gain that corresponds to all tracking situations of multiple upper control systems, and providing a gain switch that switches the tracking gain according to the operating status of the upper control system, it is possible to It becomes possible to control the control system so that it is stable even under driving conditions.
（実施例）
第１図は本発明の多変数制御装置の一実施例の構成図で
、第２図と同様２人力２出力の制御系で示している６基
本的な構成は従来例である第２・図と同様であるが、運
転情報１０によりトラッキングゲイン？−１，７−２を
切替るゲイン切替器１１を具備しているのが異なってい
る。運転情報１０とは、上位制御器３−１．３〜２それ
ぞれが制御中か、トラッキング中かの情報を示し、ゲイ
ン切替器１１は、運゛転情報１０の示す状態の制御系が
安定となる様設定されたトラッキングゲインに切替るも
のである。(Embodiment) Fig. 1 is a block diagram of an embodiment of the multivariable control device of the present invention, and the basic structure shown in Fig. 2 is a two-man power, two-output control system, which is a conventional example. It is the same as the second figure, but the tracking gain is determined by the driving information 10? The difference is that it includes a gain switch 11 that switches between -1 and 7-2. The operation information 10 indicates whether each of the upper controllers 3-1, 3-2 is in control or tracking, and the gain switch 11 indicates whether the control system in the state indicated by the operation information 10 is stable. It switches to the tracking gain set to
本構成によって、複数の上位制御器３−１．３−２が別
々にトラッキング中となった場合においても、ゲイン切
替器でトラッキングゲインを切替ることで、制御系を安
定にすることが可能となる。With this configuration, even if multiple higher-level controllers 3-1 and 3-2 are tracking separately, the control system can be stabilized by switching the tracking gain using the gain switch. Become.
以上、本実施例は２人力２出力の制御系で、レギュレー
タを構成した場合について説明したが、他の多変数制御
系についても同様であり、サーボ系等についても上位制
御系のトラッキングは必要となり同様の効果が得られる
。Above, this embodiment has been described for the case where the regulator is configured in a two-man power, two-output control system, but the same applies to other multivariable control systems, and tracking of the upper control system is also necessary for servo systems etc. A similar effect can be obtained.
以上説明したように１本発明によれば、複数の上位制御
系を有する多変数制御装置について、上位制御系の運転
状態に応じてトラッキングゲインを切替るゲイン切替器
を付加することで、あらゆる状況で安定な制御系とする
ことができ、制御性の向上を図ることができる。As explained above, according to the present invention, for a multi-variable control device having a plurality of host control systems, by adding a gain switch that switches the tracking gain according to the operating state of the host control system, it is possible to Therefore, a stable control system can be achieved, and controllability can be improved.
第１図は本発明の一実施例を示す多変数制御装置の構成
図、第２図は従来の多変数制御装置の構成図である。
１・・・制御対象
２・・状態フィードバック制御系
３−１．３−２・・・上位制御器
４−１．４−２．６−１．６−２．８−１．８−２・・
・加算器５−１．５−２・・・切替器
７−１．７−２・・・トラッキングゲイン９−１．９−
２・・−１−位制御器の制御偏差１０・・・運転情報
１１・・・ゲイン切替器FIG. 1 is a block diagram of a multivariable control device showing an embodiment of the present invention, and FIG. 2 is a block diagram of a conventional multivariable control device. 1... Controlled object 2... State feedback control system 3-1.3-2... Upper controller 4-1.4-2.6-1.6-2.8-1.8-2.・
-Adder 5-1.5-2...Switcher 7-1.7-2...Tracking gain 9-1.9-
2... Control deviation of -1- position controller 10... Operating information 11... Gain switching device
Claims (1)
制御装置において、プロセスの状態変数から状態フィー
ドバック制御を行う状態フィードバック制御系と、状態
フィードバック制御系の上位の制御系で複数の操作力に
対応した複数の上位制御系と、上位制御系が制御から切
り離された時に上位制御系出力を状態フィードバック制
御系に追従させるトラッキング回路と、複数の上位制御
系の制御入／切の状態に合わせて各トラッキング回路の
ゲインを制御系が安定となるゲインに切替るゲイン切替
器とを具備し、複数の上位制御系のすべての制御状況に
おいても制御系全体が安定とさせることを特徴とした多
変数制御装置。In a multivariable control device that controls a process that has multiple state variables, there is a state feedback control system that performs state feedback control from the process state variables, and a control system above the state feedback control system that supports multiple operating forces. A tracking circuit that tracks the output of the higher-level control system to the state feedback control system when the higher-level control system is disconnected from control, and a tracking circuit that tracks the output of the higher-level control system to the status feedback control system when the higher-level control system is disconnected from control, and each tracking circuit that tracks the control on/off state of the multiple higher-level control systems. A multivariable control device that is equipped with a gain switcher that switches the circuit gain to a gain that stabilizes the control system, and that the entire control system is stabilized even under all control situations of multiple upper control systems. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63194506A JP2575832B2 (en) | 1988-08-05 | 1988-08-05 | Multi-variable control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63194506A JP2575832B2 (en) | 1988-08-05 | 1988-08-05 | Multi-variable control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0244402A true JPH0244402A (en) | 1990-02-14 |
| JP2575832B2 JP2575832B2 (en) | 1997-01-29 |
Family
ID=16325656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63194506A Expired - Fee Related JP2575832B2 (en) | 1988-08-05 | 1988-08-05 | Multi-variable control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2575832B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USRE38071E1 (en) | 1991-05-01 | 2003-04-08 | The Henry M. Jackson Foundation For The Advancement Of Military Medicine | Method for treating infectious respiratory diseases |
| JP2010153854A (en) * | 2008-12-23 | 2010-07-08 | Asml Netherlands Bv | Method of damping object, active damping system, and lithographic apparatus |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6098106A (en) * | 1983-11-01 | 1985-06-01 | Mitsubishi Heavy Ind Ltd | Electric turbine governor |
-
1988
- 1988-08-05 JP JP63194506A patent/JP2575832B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6098106A (en) * | 1983-11-01 | 1985-06-01 | Mitsubishi Heavy Ind Ltd | Electric turbine governor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USRE38071E1 (en) | 1991-05-01 | 2003-04-08 | The Henry M. Jackson Foundation For The Advancement Of Military Medicine | Method for treating infectious respiratory diseases |
| JP2010153854A (en) * | 2008-12-23 | 2010-07-08 | Asml Netherlands Bv | Method of damping object, active damping system, and lithographic apparatus |
| US8619232B2 (en) | 2008-12-23 | 2013-12-31 | Asml Netherlands B.V. | Method for damping an object, an active damping system, and a lithographic apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2575832B2 (en) | 1997-01-29 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |