JPH0410102A - Process controller - Google Patents
Process controllerInfo
- Publication number
- JPH0410102A JPH0410102A JP11402490A JP11402490A JPH0410102A JP H0410102 A JPH0410102 A JP H0410102A JP 11402490 A JP11402490 A JP 11402490A JP 11402490 A JP11402490 A JP 11402490A JP H0410102 A JPH0410102 A JP H0410102A
- Authority
- JP
- Japan
- Prior art keywords
- manipulated variable
- fuzzy
- fuzzy inference
- integral
- control
- 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.)
- Pending
Links
- 238000004886 process control Methods 0.000 claims description 13
- 230000001419 dependent effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 238000012369 In process control Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010965 in-process control Methods 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、温度調整等を行う制御対象の制御に用いられ
るプロセス制御装置に関し、特にファジィ推論による制
御を含むプロセス制御に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a process control device used to control a controlled object that performs temperature adjustment, etc., and particularly relates to process control including control based on fuzzy inference.
（従来の技術）
温度調整等のプロセス制御に於て、ファジィ推論による
制御を採用することは従来より行われている。(Prior Art) In process control such as temperature adjustment, control based on fuzzy inference has been conventionally employed.
従来一般に、ファジィ推論によるプロセス制御は、制御
目標値と制御量との制御偏差及び前記制御偏差の微分値
を入力要件として所定のファジィルールによるファジィ
推論によってファジィ操作量を決定し、これを制御対象
にｒ与えるようになっている。Conventionally, in general, process control using fuzzy inference determines a fuzzy manipulated variable by fuzzy inference based on a predetermined fuzzy rule using a control deviation between a control target value and a controlled variable and a differential value of the control deviation as input requirements, and determines the fuzzy manipulated variable by fuzzy inference based on a predetermined fuzzy rule. It is designed to give r to
（発明が解決しようとする課題）
−１−述の如きファジィ推論によるプロセス制御装置に
於ては、制御の安定のために人力のスケールケインが大
きくされると、制御偏差が零になることが保証されず、
これに対し制御偏差が零になるように人力のスケールゲ
インが小さくされると、制御が不安定になり、振動的に
なる。(Problems to be solved by the invention) -1- In a process control device using fuzzy reasoning as described above, if the scale scale of human power is increased to stabilize control, the control deviation may become zero. not guaranteed,
On the other hand, if the scale gain of human power is reduced so that the control deviation becomes zero, the control becomes unstable and becomes oscillatory.
本発明は、上述の如き従来のファジィ推論によるプロセ
ス制御装置に於ける問題点に鑑み、ファジィ推論を適用
して、制御の安定性を維持した上で、制御偏差が零にな
ることを保証することがてきるプロセス制御装置を提供
することを目的としている。In view of the problems in conventional process control devices using fuzzy inference as described above, the present invention applies fuzzy inference to maintain control stability and guarantee that control deviation becomes zero. The objective is to provide a process control device that can
（課題を解決するための手段）
上述の如き目的は、本発明によれば、制御目標値と制御
量との制御偏差及び前記制御偏差の微分値を入力要件と
してファジィ推論によりファジィ操作量を決定するファ
ジィ推論部と、前記制御偏差の積分による積分操作量を
決定する積分操作量演算部とを有し、前記ファジィ推論
部により決定されたファジィ操作量と前記積分操作量演
算部により決定された積分操作量との合計の操作量が制
御対象に与えられるよう構成されていることを特徴とす
るプロセス制御装置によって達成される。(Means for Solving the Problem) According to the present invention, the above-mentioned object is to determine a fuzzy manipulated variable by fuzzy inference using a control deviation between a control target value and a controlled amount and a differential value of the control deviation as input requirements. a fuzzy inference unit that determines an integral manipulated variable by integrating the control deviation; and an integral manipulated variable calculation unit that determines an integral manipulated variable by integrating the control deviation; This is achieved by a process control device characterized in that it is configured so that the total manipulated variable including the integral manipulated variable is given to the controlled object.
（作用）
上述の如き構成によれは、従来のファジィ推論によるフ
ァジィ操作量に加えて線形制御による積分操作量が追加
される。(Operation) According to the above configuration, an integral manipulated variable by linear control is added in addition to the fuzzy manipulated variable by conventional fuzzy inference.
（実施例）
以下に添付の図を参照して本発明を実施例について詳細
に説明する。(Example) The present invention will be described in detail below with reference to the accompanying drawings.
第１図は本発明によるプロセス制御装置の基本的構成を
示している。本発明によるプロセス制御装置は、ファジ
ィ推論部１０と、積分操作量演算部１２とを有している
。FIG. 1 shows the basic configuration of a process control device according to the present invention. The process control device according to the present invention includes a fuzzy inference section 10 and an integral manipulated variable calculation section 12.
ファジィ推論部１０は、制御目標値Ｒと制御対象１４よ
りの制御量Ｙとの差による制御偏差ｅを加え合せ点１６
より与えられると共に、この制御偏差ｅの微分値合を微
分演算器１８より与えられ、制御偏差ｅと制御偏差ｅの
微分値ｄとを入力要件として、第２図に示されている如
きファジィルールに従ってファジィ推論を行い、推論結
果としてファジィ操作量Ｕｆを決定し、これを加え合せ
点２０へ出力するようになっている。The fuzzy inference unit 10 adds the control deviation e due to the difference between the control target value R and the control amount Y from the controlled object 14 at a point 16.
and the differential value sum of this control deviation e is given by the differential calculator 18, and with the control deviation e and the differential value d of the control deviation e as input requirements, a fuzzy rule as shown in FIG. Fuzzy inference is performed according to the inference, and the fuzzy operation amount Uf is determined as the inference result, which is output to the summing point 20.
第２図に於けるＮＢ、ＮＭ、ＮＳ、ＺＲ，ＰＳ。NB, NM, NS, ZR, PS in Figure 2.
ＰＭＳＰＢは言語情報に付けられたファジィラベルであ
り、−船釣には三角形のメンバーシップ関数が用いられ
てよい。ここで、ＮＢは負に大きい、ＮＭは負で中位、
ＮＳは負に小さい、ＺＲはおおよそ零、ＰＳは正に小さ
い、ＰＭは正で中位、ＰＢは正に大きいを各々示すもの
である。PMSPB is a fuzzy label attached to linguistic information, and a triangular membership function may be used for boat fishing. Here, NB is negatively large, NM is negative and medium,
NS is negatively small, ZR is approximately zero, PS is positively small, PM is positive and medium, and PB is positively large.
積分操作量演算部１２は、制御偏差ｅを与えられて、こ
れを人力要件として、下式に従って積分操作量Ｕｉを決
定し、これを加え合せ点２０へ出力するようになってい
る。The integral manipulated variable calculation section 12 is provided with the control deviation e, uses this as a human power requirement, determines the integral manipulated variable Ui according to the following formula, and outputs it to the summing point 20.
Ｕｉ＝Ｋｉ ＊ ｅｏ＋Ｕｉ、−１
但し、Ｋｉ：積分ゲイン
ｅｏ ：今回の制御偏差
ＬＪｉ、−、：前回の積分操作量
加え合せ点２０はファジィ推論部１０よりのファジィ操
作量Ｕｆと積分操作量演算部１２よりの積分操作量Ｕｉ
とを加え合せ、その加え合せによる操作量Ｕを制御対象
１４へ出力するようになっている。Ui=Ki *eo+Ui, -1 However, Ki: Integral gain eo: Current control deviation LJi, -,: Previous integral operation amount addition point 20 is the fuzzy operation amount Uf from the fuzzy inference unit 10 and integral operation amount calculation Integral operation amount Ui from section 12
The operation amount U resulting from the addition is output to the controlled object 14.
この場合には、ファジィ推論部１０の入力ゲインスケー
ルは従来に比して大きく設定されてよく、これにより安
定を得るおおまかな制御が行われればよい。そして制御
対象１４に与えられる操作量Ｕには線形制御による積分
操作量Ｕｉが含まれていることにより、制御偏差が零に
なることが保証される。In this case, the input gain scale of the fuzzy inference unit 10 may be set larger than in the past, and rough control to achieve stability may be performed. Since the manipulated variable U given to the controlled object 14 includes the integral manipulated variable Ui by linear control, it is guaranteed that the control deviation will be zero.
（発明の効果）
以上の説明から明らかな如く、本発明によるプロセス制
御装置に於ては、ファジィ推論によるファジィ操作量と
通常の線形制御による積分操作量との合計値によって制
御対象が操作されることから、ファジィ推論による制御
の安定性と、制御偏差が零になることとか両立し、ＰＩ
Ｄ制御の如き線形制御では制御が困難な非線形な制御対
象も良好に制御され、整定操作量が不明でもルールが決
められ、ファジィ制御に於ては難しかった微小偏差の除
去が可能になる。(Effects of the Invention) As is clear from the above explanation, in the process control device according to the present invention, the controlled object is operated by the sum of the fuzzy manipulated variable by fuzzy inference and the integral manipulated variable by ordinary linear control. Therefore, the stability of control by fuzzy inference and the control deviation becoming zero are both compatible, and the PI
Non-linear control objects that are difficult to control with linear control such as D control can be well controlled, rules can be determined even if the settling operation amount is unknown, and it is possible to remove minute deviations that are difficult with fuzzy control.
第１図は本発明によるプロセス制御装置の一つの実施例
を示す概略構成図、第２図は本発明によるプロセス制御
装置に用いられるファジィルールの一例を示すルールテ
ーブル図である。
１０・・・ファジィ推論部
１２・・・積分操作量演算部
１４・・・制御対象
１８・・・微分演算器FIG. 1 is a schematic configuration diagram showing one embodiment of a process control device according to the present invention, and FIG. 2 is a rule table diagram showing an example of fuzzy rules used in the process control device according to the present invention. 10... Fuzzy inference unit 12... Integral operation amount calculation unit 14... Controlled object 18... Differential calculation unit
Claims (1)
の微分値を入力要件としてファジィ推論によりファジィ
操作量を決定するファジィ推論部と、前記制御偏差の積
分による積分操作量を決定する積分操作量演算部とを有
し、前記ファジィ推論部により決定されたファジィ操作
量と前記積分操作量演算部により決定された積分操作量
との合計の操作量が制御対象に与えられるよう構成され
ていることを特徴とするプロセス制御装置。1. A fuzzy inference unit that determines a fuzzy manipulated variable by fuzzy inference using a control deviation between a control target value and a controlled variable and a differential value of the control deviation as input requirements; and an integral that determines an integral manipulated variable by integrating the control deviation. a manipulated variable calculating section, and is configured such that a total manipulated variable of the fuzzy manipulated variable determined by the fuzzy inference section and the integral manipulated variable determined by the integral manipulated variable calculating section is given to the controlled object. A process control device characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11402490A JPH0410102A (en) | 1990-04-27 | 1990-04-27 | Process controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11402490A JPH0410102A (en) | 1990-04-27 | 1990-04-27 | Process controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0410102A true JPH0410102A (en) | 1992-01-14 |
Family
ID=14627135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11402490A Pending JPH0410102A (en) | 1990-04-27 | 1990-04-27 | Process controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0410102A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07121244A (en) * | 1993-10-27 | 1995-05-12 | Sekisui Chem Co Ltd | Fuzzy temperature control system |
| US6270145B1 (en) | 1998-07-14 | 2001-08-07 | Suzuki Motor Corporation | Canvas top attaching structure |
-
1990
- 1990-04-27 JP JP11402490A patent/JPH0410102A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07121244A (en) * | 1993-10-27 | 1995-05-12 | Sekisui Chem Co Ltd | Fuzzy temperature control system |
| US6270145B1 (en) | 1998-07-14 | 2001-08-07 | Suzuki Motor Corporation | Canvas top attaching structure |
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