JPH06309004A - Controller - Google Patents

Abstract

PURPOSE:To provide the economical controller which evades the complexity of a program and changes optionally a control constant from outside, and can speedily and securely be designed, manufactured, and adjusted. CONSTITUTION:The controller which performs control arithmetic by a digital computer on the basis of the measurement results of the states of a controlled system by properly arranged sensors to calculate a necessary manipulated variable, and outputs a command signal to a manipulator is so constituted that the control constant, etc., can be set as an input value and varied with external inputs 9 and 10 during real-time control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates generally to general control devices.

[0002]

2. Description of the Related Art For example, in the attitude control and wobbling control of a hydrofoil using a digital computer, the hydrofoil 3 is controlled based on a signal from a sensor 2 mounted on the ship 1, as shown in FIG. It adjusts the sailing attitude of the hull and reduces its sway. In the conventional control device, the calculation unit 4 is provided with a control calculation program assembled according to an appropriate control algorithm such as PID control, and the control target value 5 and the control gain 6 set as initial input data are used to detect by the sensor 2. A command signal to the manipulator 7 is calculated from the data and output. That is, it is usual that a predetermined control algorithm is incorporated into the arithmetic unit 4 as a control arithmetic program, and set values such as control constants are given by initial input data.

[0003]

However, the conventional control device as described above has the following problems. (1) In general, at the development stage of new products, the control constants and control algorithms are often incomplete, so it is necessary to change the control constants frequently in the process of making adjustments by repeating experiments, and sometimes even recombining the control algorithms. Often becomes. In the conventional control device, it is necessary to change the input data or modify the program, which takes a lot of time, which may impair the development efficiency. (2) Speaking of the example shown in FIG. 3, the generated lift is adjusted by changing the angle of the hydrofoil 3 to adjust the running attitude and reduce the sway, but since the lift is proportional to the square of the speed, It is desirable that the control constant for changing the angle be changed according to the speed. Such a device that changes the control constant in response to changes in the environment is often called a gain scheduler, but it is a great development to assemble a control device with a gain scheduler function based on the configuration of a conventional control device. And adjustment time is required.

The present invention has been proposed in view of the above circumstances, and it is possible to arbitrarily change the control constants from the outside while avoiding complication of the program, and to design and manufacture and adjust quickly and surely. It is an object of the present invention to provide an economical control device that is capable of performing.

[0005]

To this end, according to the present invention, a control calculation is performed by a digital computer based on a result of measuring a state of a controlled object by an appropriately arranged sensor, and a required operation amount is calculated. In the control device that outputs the command signal to the manipulator, not only can the control constants be set as input values, but the control constants can be changed by external input during real-time control. To do.

[0006]

According to this structure, the following actions are performed. (1) The control constant to which the external signal data input from the voltage setter is assigned is given as the initial input data, that is, the control constant to be adjusted can be arbitrarily selected by adjusting the voltage setter. The control constant can be changed while confirming the control status even during the control calculation. (2) By using the data detected by the sensor 2 as external signal data and changing the control constant, it is possible to build a control algorithm with a gain scheduler function while avoiding complication of the program.

[0007]

1 is a block diagram showing a first embodiment of the present invention, and FIG. 2 is a second embodiment of the same. It is a block diagram showing.

In the above figure, the same reference numerals as those in FIG. 3 denote the same members and devices as those in the same figure. First, in the first embodiment shown in FIG. A control calculation program assembled according to a control algorithm is provided. Control target value 5 and control gain 6
Is set to the arithmetic unit 4 as initial input data. The voltage set by the external voltage setter 8 is converted into external signal data by the AD converter 9, and is assigned to the target external control target value 11 and external control gain 12 by the control constant selection unit 10.

According to such an apparatus, the control constant to be adjusted can be arbitrarily changed from the outside without modifying the control calculation program and the initial value input data. The arithmetic unit 4 calculates a command signal to the manipulator 7 using the initial input data, the external signal data, and the detection data from the sensor 2, and the DA converter 13 outputs this as a voltage signal.

The manipulator 7 operates the hydrofoil 3 by the output voltage from the DA converter 13. The lift generated is adjusted by changing the angle of the hydrofoil 3 to adjust the running posture of the ship 1 and reduce the shaking. As one method of the voltage setting device 8, if a DC power source is applied to the potentiometer and the potentiometer is manually adjusted, an arbitrary control constant can be changed even during the control calculation.

Next, in the second embodiment of the present invention shown in FIG. 2, the voltage setter 8 is used as the setter for the external signal data in the first embodiment, whereas the control constant selector 10 is used. The detection signal from the sensor 2 is connected to the input of the AD converter 9 in the preceding stage. Other functions and configurations are first
Example and upset. In the second embodiment, it is assumed that the lift generated by changing the angle of the hydrofoil 3 is adjusted to adjust the running attitude and reduce the sway, and the lift is proportional to the square of the speed. It is desirable that the control constant for changing the blade angle be changed according to the speed. Therefore, a signal from the speed sensor 2a of the ship 1 is input to the AD converter 9 in the preceding stage of the control constant selection unit 10 as external signal data, and the control constant is changed by this signal. In addition, by using various sensors other than the speed sensor as the sensor 2a, various algorithms can be configured.

[0012]

As described above in detail, according to the present control device, the following effects can be obtained. (1) Which control constant to assign the external signal data of the voltage setting device 8 is given as initial input data. That is, by making it possible to arbitrarily select the control constant to be adjusted from the outside and adjusting the external signal data with the potentiometer, it is possible to change the control constant while checking the control status even during control calculation. Therefore, the development efficiency is improved. (2) Since the detection data by the sensor 2a is used as the external signal data and the control constant is changed, the gain scheduler function which can recombining the control algorithm without modifying the program is provided.
Development efficiency can be significantly improved. (3) By the way, in the conventional control device, a predetermined control algorithm is incorporated in the arithmetic unit 4 as a control arithmetic program, and set values such as control constants are given by initial input data. That is, since the control is performed under a certain fixed condition during the control calculation, the development efficiency is poor because the control constants are frequently changed and adjusted while repeating the experiment in the development stage of the new product. Further, assembling a control device having a gain scheduler function based on the configuration of the conventional control device requires a great deal of development and adjustment time.

In short, according to the present invention, the control calculation is performed by the digital computer based on the result of measuring the state of the controlled object by the appropriately arranged sensor, the required operation amount is calculated, and the command signal to the manipulator is calculated. In the control device that outputs, not only can the control constants be set as input values, but also the control constants can be changed by external input during real-time control, thus avoiding complication of the program. The present invention is extremely useful industrially, since an economical control device can be obtained in which the control constant can be arbitrarily changed from the outside and the design, manufacture and adjustment can be performed quickly and reliably.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment in which the present invention is applied to attitude control and motion control of a ship.

FIG. 2 is a block diagram of a control device showing a second embodiment in which the present invention is also applied to attitude control and motion control of a ship.

FIG. 3 is a block diagram showing a conventional control device using a digital computer.

[Explanation of symbols]

 1 Hydrofoil (Ship) 2 Sensor 3 Hydrofoil 4 Calculation part 5 Control target value 6 Control gain 7 Manipulator 8 Voltage setting device 9 AD converter 10 Control constant selection part 11 External control target value 12 External control gain 13 DA converter

Claims (1)

[Claims] 1. A control device for performing a control calculation by a digital computer based on a result of measuring a state of a controlled object by an appropriately arranged sensor, calculating a required operation amount, and outputting a command signal to a manipulator. 2. A control device characterized in that, in addition to being able to set a control constant or the like to an input value, the control constant can be changed by an external input during real-time control.