JPH0756604A - Process controller - Google Patents

Abstract

PURPOSE: To provide a sufficient adaptive controlling capability form many applicable fields by receiving a signal indicating a sensed input parameter and output parameter, and generating an output control signal for controlling the sensed output parameter. CONSTITUTION: An identifying part 126 repeatedly calculates a proper parameter for establishing a secondary room model by using a control signal U and an actual room temperature signal Yg from a controller 122. Moreover, the identifying part. 126 outputs the parameter in the form of a vector Q designated by a reference number 130, and outputs a coefficient K indicating the number of the sampling cycles of the controller in the time delayed period of the room to a line 132. Each room is provided with a parameter related with different models, and those parameters can be changed according to time. The identifying part 126 matches those parameters with a target value, and follows-up the parameters according to the change of those parameters.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention Generally speaking, the present invention relates to a proportional integral control (PI control) function or a proportional integral derivative control (P).
The present invention relates to a process control device including a process controller having one of the functions of ID control: proportional differential integration control. More particularly, the present invention relates to process control devices with adaptive control capabilities.

[0002]

[Prior Art and Problems to be Solved by the Invention]
The technology related to the process control device of the present invention is 1993.
US patent application (USSN 5242) filed on June 16, 2014 and currently under examination by Gorski, et al.
No. 5) "Direct Digital Control Thermostat".

Generally, various processes within a process system, such as a thermostat, require multiple types of controllers to control a single variable that provides effective control. One example of an application where these controllers are easily observed for all people in an indoor environment is the temperature control example.
If ineffective temperature control is provided in the indoor environment, the inconvenience of such temperature control is apparent to people in the room who feel uncomfortable. Therefore, in this case, it is necessary to continuously perform effective control by heating and ventilation of the room and effective control by the air conditioning system in any kind of building.

In recent years, more and more sophisticated controllers have tended to be developed, and further, with the progress in electronics,
A relatively high degree of robust control capability has been achieved and achieved at a reasonable cost. In this case, there are multiple controllers for controlling a single loop by controlling one output, i.e., a controller for controlling a single variable such as temperature, or humidity, or the like. , Usually prepared. Further, by providing a control system including three independent factors or constituents, it is possible to perform more improved control.

These three independent factors consist of a proportional gain coefficient, an integral gain coefficient and a derivative integral gain coefficient.
A controller for performing process control using the above three factors, that is, a PID controller, controls a controlled variable, in addition to an error signal determined at a specific time point, a period of a certain fixed time. Since it is possible to determine the integral of the change in the error and the derivative of the change in the error, it is possible to realize better control.

The PID controller for PID control described above has many advantages as compared with a controller that only performs proportional control. Therefore, in recent years, a controller for significantly improved PID control is required for special applications and applications where more precise control is required. However, as mentioned above, the PID controller includes more factors (eg, three factors) to control than ever before, so that while maintaining a relatively low cost, a significantly sophisticated control is achieved. It becomes difficult to guarantee the continuous. Therefore, there arises a problem that the application field of the PID control is limited to only a special field.

The present invention has been made in view of the above problems, and provides a process control device having a PID controller improved so as to have sufficient adaptive control capability for many possible application fields. Is the first purpose. Furthermore, the present invention provides, among other things, an adaptive control capability suitable for controlling a single control loop, i.e. such that a single variable is controlled and provides one output. Second, to provide a process controller with an improved PID controller
Is the purpose of.

Furthermore, the present invention provides an improved adaptive controller for controlling a single variable, and the ability to operate in series with another collection of single control loops. A third object of the present invention is to provide a process control device having an adaptive control type controller improved. Furthermore, the present invention is
It is a fourth object of the present invention to provide a process control device including an adaptive control type controller improved so as to have an ability to operate in a cascaded configuration of plural kinds of control loops.

Furthermore, the invention uses an internal model of the application to be controlled, and this model is
A process control device which meets the expected application and further comprises an adaptive control type controller which is self-tuned in response to load, individual equipment or time variations during operation. The fifth purpose is to provide

Furthermore, the present invention examines the input, further compares this input with what it should be, and
It is possible to change the parameters in the internal model so that the current conditions are closer to the desired conditions,
A sixth object is to provide a process control device capable of controlling output based on the internal model after the parameter change.

Furthermore, the present invention provides a thermostat modified to have adaptive control capability, that is, it monitors itself in a manner that verifies the effectiveness of the control during operation and is of a relatively high degree. It is a seventh object of the present invention to provide a process control device including a thermostat improved so that more effective operating parameters can be generated within a special algorithm in order to realize accuracy control. is there.

[0012]

In order to achieve the above-mentioned object, the process control device of the present invention, at least in response to a predetermined variable input parameter in one process system, is provided. When controlling one variable output parameter, means for sensing the variable input parameter and generating a signal representative of the sensed input parameter; and sensing the output parameter and sensing the output parameter. It comprises means for generating signals representative of output parameters and processing means including memory means for holding instructions and data relating to the operation of the process controller.

Further, the processing means is adapted to receive a signal representative of the sensed input parameter and the sensed output parameter and generate an output control signal for controlling the sensed output parameter. Is composed of. Further, the processing means has instructions and data that define the control means for controlling the operation of the process control device, and the control means further comprises adaptive control means, identification means and tuner means. Have.

The identifying means defines a model that includes parameters representing the operating characteristics of the process system, and the identifying means operates to monitor the operation of the adaptive control means and the adaptive means. In order to improve the operation of the control means, it operates to selectively change the parameters of the model. The adaptive control means receives an electrical signal from the input parameter sensing means, an electrical signal from the output parameter sensing means, and a predetermined gain factor as received from the tuner means. Is used to generate the output control signal.

The tuner means receives the parameters of the model from the identifying means, calculates an appropriate value of a predetermined gain coefficient, and supplies the gain coefficient to the adaptive control means. , The adaptive control means is configured to use this gain factor. Furthermore, the process control apparatus of the present invention comprises means for effectively connecting to the processing means and adjusting the value of the variable input parameter.

[0016] Preferably, the process control apparatus of the present invention further comprises means operatively connected to the processing means and communicating with one remote control means. Further, preferably, the adaptive control means includes a proportional differential integration control means for producing an output control signal composed of a sum of a proportional term, an integral term and a differential term, and the proportional term, the differential term and the integral in the output control signal. The terms include respective gain constants K _p , K _d and K _i .

Further, preferably, the output control signal from the PID control means is supplied to the dynamic model means having the output of the dynamic model, and the output of the dynamic model is the output of the delay model. To the delay model means, the output of the delay model means producing a first error signal by adding signals representative of the sensed output parameters, the first error signal being of the kinetic model. A second error signal is produced by adding the outputs, the second error signal producing an input error signal by adding the values of the variable input parameters,
This input error signal is supplied to the PID control means.

Further, preferably, the adaptive control means operates so as to repeatedly generate the output control signal for each predetermined sampling period. In a preferred embodiment of the present invention, a type having one pneumatic source line and a plurality of pneumatic output control lines,
And an electrically digital thermostat for use in an aerodynamically controlled type temperature control system, wherein the pressure in each of the plurality of pneumatic power control lines is a temperature in a particular room area. The thermostat is configured to maintain a desired ambient temperature within an interior region, the thermostat determines a temperature set point for the thermostat, and
It comprises adjusting means and valve means effectively connected to said pneumatic source line and one exhaust pipe.

The valve means controls the pressure in each of the pneumatic output control lines in response to an electrical control signal provided to the valve means, the controlled pressure being the pneumatic pressure control line. It is within the range defined by the pressure of the supply source line and the pressure of the exhaust pipe. The thermostat further includes means for sensing ambient temperature and generating an electrical signal representative of the sensed ambient temperature, and sensing air pressure in each of the pneumatic output control lines, and And means for generating an electrical signal representative of the sensed pressure and processing means including memory means for holding instructions and data relating to the operation of the thermostat.

The processing means receives an electrical signal representative of the sensed ambient temperature and the sensed pressure and provides an electrical control signal for controlling the valve means. Configured to generate. The memory means in the processing means has instructions and data such as to define control means for controlling the operation of the thermostat,
Furthermore, this control means has an adaptive control means, an identification means, and a tuner means.

The identifying means defines a model including a parameter representing an operating characteristic of a temperature control system for controlling the temperature of the indoor area, and the identifying means monitors the operation of the adaptive control means. Works like
And, in order to improve the operation of the adaptive control means, it operates to selectively change the parameters of the model.
The adaptive control means receives an electrical signal representative of the sensed ambient temperature and an electrical signal representative of the sensed pressure and has a predetermined gain as received from the tuner means. A coefficient is used to generate the output control signal.

The tuner means receives the parameters of the model from the identifying means, calculates an appropriate value of the predetermined gain coefficient, and supplies the gain coefficient to the adaptive control means. Thereby, the gain factor is configured to be used by the adaptive control means. The thermostat further comprises means for supplying power to operate the thermostat.

More specifically, the present invention provides a P with sufficient adaptive control capability for many possible applications.
It is directed to a process control device with an ID controller. This type of controller may operate in various PID process control applications. And the controller is ideally suited for various applications in the field of HVAC. The controller according to the invention is adapted to be used for the purpose of controlling a single loop. That is, the controller is adjusted to be used to control one variable that has one output. Further, the controller can be optimized for special applications such as room temperature control.

Other applications where a single adaptive control loop is desired and are suitable for the present invention include the following: Room temperature control by ventilator unit or constant volume damper device, humidity control in duct or room, temperature control of exhaust air by controlling valve, damper by coil or bypass, flow control, air / Control of mixed state of water and static pressure control can be considered.

By preparing a plurality of single adaptive control loops, it is possible to arrange these adaptive control loops in series. For example, one adaptive control loop
Control the temperature of the air in the air supply duct, while
Another adaptive control loop can control the room temperature by changing the damper in the air supply duct. Since the series of loops described above are not interlocked with each other, they can be controlled by two independent control algorithms. The single adaptive control loop above is
It is also possible to combine with each other by making a subordinate connection configuration.

For example, the ventilator unit may perform exhaust air temperature control, while one adaptive control loop may control the exhaust air temperature by changing coil valves or bypass dampers. In addition, other adaptive control loops can control room temperature by establishing a temperature set point for exhaust air relative to the inner adaptive control loop. Such a cascaded adaptive control loop can be used to control a two-part duct. Then, the above-mentioned slave connection type adaptive control loop can be controlled by one controller that operates by two types of adaptive control algorithms.

The process controller of the present invention is suitable for many other applications as well as the above applications.
In the preferred embodiment of the present invention, the application of a controller provided in a thermostat, such as that used in a ventilator unit of the type having a pneumatic control function, will be mainly discussed. The fact that most building heating, ventilation and air conditioning systems are controlled by pneumatic control valves means
It is generally known. In this case, the pressures in the plurality of air supply lines are individually controlled. Further, these controlled pressures control the pneumatic control valves described above. These control valves are used to control the position of the dampers as well as the valves for passing heat to the heating coils and other heating elements.

Conventional thermostats used in such heating and ventilation systems have the ability to adjust the temperature set point for the room or other enclosed space intended to be controlled by the thermostat. Moreover, the thermostat typically operates to provide a controlled pressure to one air supply line. This air supply line is connected to control elements such as dampers, valves and the like. Furthermore, the thermostat, when increasing the temperature,
It operates so that the increased pressure is supplied from the air supply line. On the other hand, when the temperature is lowered, the thermostat operates so that the reduced pressure is supplied from the air supply line. Controlled air pressure typically adjusts the position of valves, dampers, and the like, with the purpose of adjusting the temperature in the area to be controlled.

In addition, there may be many buildings controlled by multiple air-operated thermostats that control the operation of multiple ventilator units. Air-operated thermostats of this kind are often used in schools, for example. In this case, the plurality of ventilation device units are typically independent of each other and include a fan for circulating air. Furthermore, the ventilation device unit includes a heating coil. Through the heating coil, the steam or hot water circulates with the flow rate of the steam or hot water being controlled by a valve. Mechanical, air-operated thermostats such as those described above adequately control the temperature within the area in which they are located. However, these thermostats are generally units independent of each other and far from system control. in this case,
Operation similar to system control is only when switching between day and night operation by changing the pressure in the air supply line. Switching between the daytime operation / night operation is a generally known technique.

The controller according to the process control device of the present invention is incorporated in a digital thermostat.
This type of digital thermostat can be used in temperature control systems of the aerodynamically controlled type which have an air supply line extending towards the various components in the temperature control system. It is possible. In this case, the control elements in the system are controlled by changing the control pressure connected to the control elements. For example, the pressure in the air supply line can be varied by adjusting the position of dampers, control valves or the like. With the above control valve,
The amount of steam, air or water can be controlled for a heating coil, radiator or the like. On the other hand, the amount of air supplied to the space to be controlled can be controlled by the damper or the like.

In general, systems such as those described above were essentially controlled by just a mechanical, pneumatically actuated thermostat. The adjustment of the set point to obtain the desired temperature has been performed by manual operation except when switching between the daytime operation mode and the nighttime operation mode. That is, only a few things can be automatically controlled by the air-actuated thermostat.

In contrast, thermostats incorporating the process control device of the present invention are intended to operate automatically by the aerodynamic control system described above. Further, this type of thermostat can operate each part independently or, if desired, by an integrated monitoring and control system. Such a good design makes it possible to simply replace the conventional thermostat without any special modification or replacement of the control element or the heating device.

The thermostat to which the present invention is applied is a mechanical air actuated type of the type commonly used in school systems and similar systems and which controls the operation of the ventilator unit. It can be replaced by a thermostat of the form. Such a conventional ventilator unit usually has a fan and a heating coil. The heating element of this heating coil is steam or an electrical component. The ventilation unit described above usually does not have the function of air conditioning in the true sense. The ventilation unit described above often only comprises an outer damper for supplying the room with outside air that is cooler than the room air.

The ventilator unit described above typically operates in an independent mode, but does not have the ability to operate at system scale. However, the ability to operate on such a system scale is highly desirable from the perspective of efficient energy utilization. Another advantage of the thermostat to which the invention applies is that the thermostat may be battery operated or may be connected to an independent power source. Further, the thermostat described above can be connected to a communication network such as a LAN, which will be described later, via a two-wire cable. Such a connection to a LAN or the like allows the thermostat described above to operate as part of an overall monitoring and control system.

The thermostat to which the present invention is applied includes processing means having an internal memory. With the configuration including this processing means, the thermostat according to the present invention,
A relatively complex control algorithm can be performed. In this control algorithm, Smith (Smit
Among the control systems of the predictive control type of h), it becomes possible to provide, in particular, proportional control and integral control, as well as derivative control.

Further, in the thermostat according to the present invention, the day / night operation mode and the heating / cooling operation mode are realized by defining different temperature set points for each operation mode. This type of thermostat can be manually adjusted, if necessary, so that its set point can be adjusted by positioning the thermostat to suit the individual needs.
Alternatively, the thermostat described above may be programmatically operated such that it does not respond to the personal control described above for some sampling period or similar period.

[0037]

DETAILED DESCRIPTION OF THE INVENTION The present invention will be readily understood by the following description of a specific example of a process control device illustrated by the accompanying drawings (FIGS. 1-10). Figure 1
It is a perspective view showing composition of a thermostat to which one example of the present invention is applied.

In FIG. 1, the appearance of the thermostat 10 is shown. The thermostat 10 includes an outer enclosure 12, and an end wall portion 14 and a side wall portion 16 are provided at a position facing the outer enclosure 12.
And a front wall portion 18. The side wall portion 16 preferably has a plurality of openings 20 formed therein. Air passes through these openings 20. According to such a configuration, the temperature sensing device arranged in the enclosure is provided with the thermostat 10.
Can measure the temperature of the air surrounding the controlled area. A display 22 is shown on the front wall 18 of the thermostat 10.

The display 22 preferably comprises a liquid crystal display. The liquid crystal display is not only capable of displaying the current time (12:00 pm) and the current temperature (74 ° F or 23 ° C), it is also capable of displaying other information. This type of information includes temperature set points that are set according to day mode, night mode, and which of the other modes of operation.

Further, the thermostat 10 has a pair of switches 24 and 26 on the front wall portion 18 thereof. One down switch 24 of the pair of switches is represented by a downward arrow (↓) in FIG. 1. On the other hand, the other up switch 26 has an upward arrow (↑) in FIG.
Represented by By pressing the appropriate push button in the pair of switches, the temperature set point of the thermostat 10 can be increased or decreased. For example, pressing the push button on the front of the down switch 24 will decrease the temperature set point of the thermostat 10, while pressing the push button on the front of the up switch 26 will increase the temperature set point of the thermostat 10. To do.

FIG. 2 is a schematic view showing a ventilation device unit together with a thermostat to which an embodiment of the present invention is applied, and FIG. 3 is a perspective view showing an internal structure of a thermostat to which an embodiment of the present invention is applied. 4 to 6 are detailed circuit block diagrams of the control circuit system of the thermostat to which the embodiment of the present invention is applied. Note that, hereinafter, the same components as those described above will be denoted by the same reference numerals.

Since the thermostat 10 must interface with pneumatic lines and electrical circuitry, the electrical components within the thermostat are preferably constructed using a printed circuit board as shown in FIG. Further, the thermostat 10 is provided with a processing means 28 as a temperature sensing device for sensing the temperature. The processing means 28 is composed of a thermistor 30 and other electric parts as shown in FIG. Furthermore, the processing means 28 are mounted on a printed circuit board 32, which is not shown in greater detail in FIG.

As shown in FIG. 3, a connector 33 is provided to connect the display 22 and the switches 24 and 26. In the connector 33 shown in FIG. 3,
Not all numbers of this type of connector are shown. Here, the construction intended according to the invention is merely shown diagrammatically. In this case, it is possible to use a ribbon-shaped ribbon connector 35, ie a striped connector (Zebra), or any other suitable conductor or any commonly known type of connector. It should be noted that it is possible.

Further, in FIG. 3, the connector 34 is
It is intended to connect the electropneumatic components fixed to the substrate 36 and the circuitry of the printed circuit board 32.
Furthermore, local area networks (LA
N: Local Area Network) and an additional connector 38 is provided for the purpose of realizing the connection to the power supply. Although not shown in FIG. 3, several openings are formed in the above-mentioned substrate 36, and connectors for a power supply and a LAN are arranged through these openings. The substrate 36 also has a plurality of openings formed therein. Pneumatic lines are attached to these openings. And, at the ends of these openings, the first
An air supply port 44 connected to the electropneumatic valve 46 of FIG. The first electro-pneumatic valve 46 is also fitted with another air port 48 which serves as a control opening. That is, the first electropneumatic valve 46 is
It has a controlled output from the air outlet 48. The air port 48, or control port, is connected to a second electropneumatic valve 50. Further, the second electropneumatic valve 50 is connected to the exhaust port 52.

It should be noted here that the electropneumatic valves 46 and 50 are usually shown as cylindrical shapes, but may have a shape like a general electromagnetic valve. It should also be noted that any suitable control device may be used in response to a suitable externally supplied electrical signal. The pressure of the air at the air port 48 is variable within the range between the supplied pressure and the atmospheric pressure, and
It is generally known that the controlled pressure can be adjusted by operating one or the other of the two electropneumatic valves 46,50.

When the above-mentioned valves are opened, these valves selectively transmit air between the three openings of the air supply port 44, the air port (control port) 48 and the exhaust port 52. Works like. On the other hand, when the valves are closed, they operate to separate one opening from the other. From this point of view, the controlled output side air port 48 is opened by opening the first electropneumatic valve 46 for transmitting a relatively high pressure to the controlled output side air port 48. The pressure inside increases. On the other hand, if it is desired to reduce the pressure in the air port 48, the second electro-pneumatic valve 50 may be opened to exhaust the air pressure through the exhaust port 52 to atmospheric pressure. The air outlet 48 on the controlled output side has a small molded multifunctional part. This multi-functional part comprises a pneumatic transducer 54 for connecting to the body of the air port 48. This pneumatic converter 54 is shown diagrammatically in FIG. 3 and is similar to the circuit system of FIG.
For supplying an electrical signal representative of the controlled pressure within.

The thermostat 10 (abbreviated TI in FIG. 2) can be adjusted for use in a device such as a ventilator unit, as shown schematically in FIG. In addition, this ventilation unit includes a fan 60
And an aeroelectric switch 62 (abbreviated as PE in FIG. 2). This pneumatic switch 62
Is placed under the condition that the fan 60 operates,
This is for starting the fan 60 unless there are special circumstances. In FIG. 2, the thermostat 10
Are shown connected to a power supply line 64 and a local area network (LAN) line 66. This LAN line 66 can be connected to a remote central control station 67.

Further, the thermostat 10 has an air supply line 44 'and an output line 48'. The former air supply line 44 'is attached to the air supply port 44, and the latter output line 48' is connected to the air port 48 '.
Is attached to. Furthermore, this output line 48 '
Extends towards a valve 68 for passing hot water, steam or the like through the heating coil 70. The output line 48 'also extends to an aerodynamically controlled damper control 72 (abbreviated as MI in FIG. 2) and another valve 74. This valve 74 controls the flow of hot water, steam or the like to the auxiliary radiation coil 76.

Next, a schematic and electrical circuit system of the thermostat 10 will be described with reference to FIGS. 4, 5 and 6. This circuit system is driven by the processing means 28 shown in FIG. This processing means 28
Is preferably 68H manufactured by Motorola.
It consists of a C11 type microcontroller. This microcontroller is driven by a clock circuit having a crystal 80. The crystal 80 in this clock circuit is connected to pin terminals 7 and 8 of the microcontroller. Furthermore, the pin terminals 9 to 15 of the microcontroller extend toward the display 22 through the integrated circuit of the display driver of the usual design. Here, the integrated circuit of the display driver is
Since it is not related to the present invention, it is not particularly shown.

In FIG. 4, electropneumatic valves 46, 50 are shown.
Are shown as solenoid valves. The solenoid valve corresponding to the first electro-pneumatic valve 46 is driven by the line from pin terminals 37 and 38 of the microcontroller when increasing the pressure. On the other hand, the solenoid valve corresponding to the second electropneumatic valve 50 is driven by the line from the pin terminals 35 and 36 of the microcontroller when reducing the pressure. From this point of view, when the solenoid valve is first operated, the up line from the 37th pin terminal is operated and
This up line is held by the signal on the line from the 37th pin terminal. The circuit system described above also includes a reset circuit 84 upon power-up or power-down.

The power supply line 64 shown in FIG. 6 is preferably an alternating current line having a voltage of 24 V (volt).
This alternating current line is supplied to the full-wave rectifier 86.
Further, the output of the full wave rectifier 86 is supplied to the switching mode power supply circuit 88. This power circuit 88
Preferably consists of a Motorola MC34129 type integrated circuit. This MC34129 type integrated circuit has + 5V and − on lines 90 and 92.
A direct current voltage (VDC) of 5V is supplied. These two DC voltages are distributed to various parts of the circuit system, as shown.

Further, lines 90 and 92 are integrated circuit 9
4 (FIG. 5). This integrated circuit 94 supplies a reference voltage of 1.5 (1-1 / 2) VDC on line 96,
Also, a reference voltage of 4.1 VDC is supplied on the line 98. Further, these reference voltages are respectively connected to the processing means 28, eg pin terminals 51 and 52 of the microcontroller. The down switch 24 and the up switch 26 are used to adjust the set point of the thermostat by setting the numbers 49 and 47 of the microcontroller.
No. pin terminals. Furthermore, line 100 is provided as a reserve to provide other functional input signals as may be needed. The temperature measurement function is performed by the pair of thermistors 30. These thermistors 30 are connected in parallel with each other and supply an electrical output to pin number 45 of the microcontroller. This electrical output is proportional to the sensed temperature. From this point of view, the above two thermistors are used to provide an average value as used by the processing means 28 such as a microcontroller.

The pneumatic transducer 54, or pressure transducer, has a positive output and a negative output. These positive and negative outputs are connected to amplifier circuit 102 (FIG. 5). The amplifier circuit 102 supplies the amplified signal to the 43rd pin terminal of the microcontroller.
Communicating with a LAN over the LAN line 66 is
It is realized by a circuit system related to the S485 type transmitting / receiving integrated circuit 103 (FIG. 5). This integrated circuit 103
Has a line 104 that extends toward the pin terminals 20 and 21 of the microcontroller. Further, the integrated circuit 103 is a microcontroller 4
It has a select line 106 which extends towards the second pin terminal.

FIG. 7 is a block diagram showing the configuration of an adaptive control loop system showing the relationship between the control system and the room in one embodiment of the present invention. In FIG. 7, a data flow diagram for an adaptive control algorithm for controlling the operation of the thermostat is shown. This adaptive control algorithm has a temperature set point supplied by the control dial switch of the thermostat itself. Alternatively,
The adaptive control algorithm described above is supplied by the remote control station via a LAN communication line. The adaptive control algorithm described above continuously calculates the gain of the robust controller (robust controller) required for accurate room temperature control.

As the attributes and characteristics of the room change, the adaptive control algorithm adjusts the gain of the robust controller to accommodate maintaining robust control. The adaptive control algorithm described above is well adapted, especially when gradually changing the parameters of the room. For example, the temperature in the room temporarily fluctuates due to a sudden change such as a sudden rise or a sudden fall in the temperature of the water for heating and cooling the coil. Such temporary temperature fluctuations occur in any type of controller. However, the controller for adaptive control described above can perform retuning by itself, so that the temperature of the room can be quickly returned to a good control state.

As shown in FIG. 7, the above adaptive control algorithm is a control means for performing a single loop control, for example,
It is realized by an adaptive controller. The input Y _q (n) sent from the temperature sensor 108 for measuring the room temperature is supplied to the adaptive controller 112 via the line 110. Then, the adaptive controller 112 uses the line 1
The output U (n) is provided to the 116 blocks on 14.
Here, 116 indicates the dynamics block of the chamber, such as containing an actuator for adaptive control algorithm operation. The output X (t) from this kinetic block 116
Indicates the temperature rise or fall in the room due to the operation of the actuator. The room model in FIG. 7 is provided with an addition coupling unit 118 when represented by a symbol. The summing coupler 118 receives the temperature output X (t) and the load (value thereof). Furthermore, the addition combining unit 118
The room temperature output from is represented by Y (t) on line 120. The room temperature Y (t) is sensed by the temperature sensor 108. The above load is defined as the effect of any temperature in the room. This temperature effect is not a direct result of adaptive control attempts performed through the actuator. Room temperature Y (t) is sampled by a temperature sensor and quantized with an accuracy of 0.25 ° F or higher. As a result, the input Y _q (n) is generated.

The adaptive controller 112 itself of FIG. 7 is composed of three basic blocks, as shown in FIG. These three blocks are the controller 122 as the adaptive control means and the tuner 1 as the tuner means.
24 and an identification unit 126 as identification means.
These blocks form the algorithm for room temperature control. The controller 122 receives the room temperature set point r (n) on line 128 and an input Y indicating the room temperature as measured.
_The control signal U (n) is generated by using _q (n). This control signal U (n) operates the actuator in such a way that it holds the measured room temperature value at the set point.

In FIG. 8, the discriminating unit 126 controls the control signal U (n) from the controller and the actual room temperature signal (Y _q
(N)) is used to iteratively calculate the appropriate parameters to establish a second-order chamber model. Further, the identification unit 126 outputs the parameter in the form of the vector Q _aux designated by the reference numeral 130, and
A coefficient k representing the number of sampling cycles of the controller in the calculated room time delay period is given in line 13.
Output to 2. Each room (room) has parameters relating to different models, and these parameters can change with time. The identification unit 126 adjusts these parameters to the target values, and follows the same parameters according to changes in these parameters. The tuner 124 uses the estimated values of the parameters of the room model as generated by the identification unit 126,
The controller 122 calculates the appropriate controller gain available. The controller gain thus calculated includes the proportional gain coefficient K _p on line 134, the integral gain coefficient K _i on line 136, and the line 13
The differential gain coefficient K _d on 8 is included.

FIG. 9 is a block diagram showing the details of the data flow in the adaptive controller according to the embodiment of the present invention, particularly in the controller of FIG. In FIG. 9, the configuration of the controller 122 of FIG. 8 is illustrated. The controller 122 comprises Smith's predictive control structure with an embedded PID controller. In this predictive control structure, a room model based on estimation (prediction) is used. Further, this model is divided into two parts, a first and a second. The first part contains the kinetic elements of the model and the second part contains only the time-delayed part. The principle of Smith's predictive control is simple. In Smith's predictive control, if the estimated chamber model is exactly correct, the signal C (n) is the temperature output X
Will be equal to (t). In addition, the signal (Y
_q (n) -C (n)) will be equal to the load.
In this case, the problem of controlling the room taking into account the time delay is reduced to the problem of controlling the dynamic part of the estimated model of the room without causing the time delay. Unless the effects of this time delay are removed, Smith's predictive control will be limited.

As shown in FIG. 9, the structure of the controller 122 includes a PID controller 140, a chamber dynamic model 142, and a chamber delay model 144, and these blocks are predetermined. Connected to each other in a relationship. The control signal U (n), which is the output from the PID controller 140, is provided to the kinetic model 142 of the chamber via line 114. This kinetic model 142 provides the output A (n) on line 146.

Further, the output A (n) is supplied to the room delay model 144 and the summing and coupling unit 148. The output of the chamber delay model 144 is the signal C on line 150.
Corresponds to (n). This signal C (n) is added to the summing and coupling unit 1
At 52, it is compared to Y _q (n), which is indicative of the sensed room temperature signal on line 110. Furthermore, the addition combining unit 15
The difference value determined by 2 is provided to summing combiner 148 via line 154. The output of this summing combiner 148 appears on line 156. The output on line 156 is compared in summing combiner 159 to the room temperature setpoint r (n) on line 128. Further, the adder combiner 159 produces the input error signal e (n) on line 158. The input error signal e (n) is supplied to the PID controller 140.

The PID circuit in this PID controller consists of a standard digital PID. The P-term (proportional term), I-term (integral term), and D-term (differential term) in this digital PID are calculated individually.
Specifically, these P-, I- and D- terms are
It is represented by the following equation (21).

[0063]

[Equation 21]

Where e (n) is the input error signal on line 158 (specifically, e (n) is the error due to prediction from temperature, set point and r (n) (line 15 in FIG. 9).
6)) and T _s is the sampling period of the controller. The description made so far regarding the controller shown in FIG. 9 also applies to the controller having only the proportional-plus-integral control function. In this type of controller, the D-term in the above [Formula 21] does not exist.

The room model includes the effects of the actuator, temperature sensor, and the room itself. The dynamic part of the chamber model is given by the quadratic equation below.

[0066]

[Equation 22]

Further, this quadratic equation can be rewritten as the following vector equation.

[0068]

[Equation 23]

Here, Q _aux is a vector containing the parameters of the dynamic model of the room, and Q _aux = (a _1Q a
_2Q b _1Q b _2Q ) ^T. The room delay model is simply the output A (n) delayed by a time k * T _s . The signal C (n) corresponding to the output of the room delay model is represented by the following equation.

[0070]

[Equation 24]

Here, k is the length of the time delay in some predetermined sampling period. The tuner 124 is a Zeigler-Nichol
Calculate the PID gain of the controller using the tuning formula of s). Until now, as was the case with classical tuning processes, the “final gain (maximum proportional gain coefficient K _max )” and the period of oscillation (T
_s ), it was necessary to perform a cumbersome and time-consuming process in order to increase the P-gain by successive trials. In the embodiment of the present invention,
Instead, the final gain and period of oscillation are calculated directly by performing an analysis based on the parameters of the auxiliary chamber model.

The process of these calculations is expressed by the following equations.

[0073]

[Equation 25]

Further, in order to obtain a robust control PID gain, the following equation is used:

[0075]

[Equation 26]

If a proportional-integral controller is used, the following equation is used to obtain the PI gain for robust control.

[0077]

[Equation 27]

FIG. 10 is a block diagram showing in detail the flow of data in the adaptive controller according to the embodiment of the present invention, particularly in the identification section of FIG. The identification unit shown in FIG.
It consists of 6 blocks. These six blocks include two difference calculation units 160 and 162, a time delay identifying unit 164, a functional coefficient identifying unit 166, and a coefficient filter 1.
68 and a stability monitoring unit 170.

The difference calculators 160 and 162 are for simply subtracting the previous value from the current value. In this case, the two discriminators, the time delay discriminator 164 and the coefficient discriminator 166, are not the actual values themselves,
Since only the change of the value from one sampling time to the next sampling time is required, it is necessary to provide the above two difference calculation units 160 and 162. The signals input to these two difference calculation units 160 and 162 are the signals (U
(N)) and a signal (Y _q (n)) indicating the measured (sensed) room temperature signal. The difference signals U _i (n) and Y _i (n) respectively output from the two difference calculation units are represented by the following equations.

[0080]

[Equation 28]

Further, the coefficient identifying section 166 repeatedly determines the parameter values of the set of models. By repeatedly setting the values of such parameters, it becomes possible to best match the action of the controller with the response of the room by using the output of the model by prediction. The algorithm used in the above form is the Recursive Instrumental V algorithm.
ariables Algorithm) is called. The algorithm actually used in the vector / matrix form is represented by the following equation.

[0082]

[Equation 29]

Here, β is a Forgetting Factor. Further, the coefficient filter 168 performs a filtering process on each of the estimated model parameters held in the vector Q. The coefficient filter 168 is required to guarantee that the estimated value of the model changes very smoothly. By satisfying such requirements, the controller can be controlled more smoothly. The output of the coefficient filter 168 used here is represented by the following equation.

[0084]

[Equation 30]

Here, r is a filter coefficient, which is initially set to 0.01. Furthermore, the coefficient stability monitoring unit 1
70 inspects the estimated values of the parameters sent from the coefficient identification unit 166, and confirms that the estimated model is stable. The stability monitor 170 also checks whether the K _max delivered by the tuner 124 is positive. Positive K _max is a necessary condition for maintaining loop stability.

The above stability test is carried out according to the following criteria. That is, the model becomes unstable when any of the following conditions 1) to 4) is satisfied.

[0087]

[Equation 31]

Here, the subscript Q represents a parameter obtained from the Q vector (not Q _aux ). The above
When any one of the conditions 1) to 4) is satisfied, the stability monitoring unit 170 executes the following three items. (1) Set the rough diagonal scale to 0.1 and then set all values in the dispersion matrix to 0.

(2) Skip processing is performed to update Q in the coefficient filter and the old Q _aux before is _replaced by the new Q _aux.
Set to _aux . (3) Only when K _max is not positive (K _max ≦ 0), skip processing is performed to update K _{max in} the tuner, and the old K _{max is changed} to the new K _max . Further, the time delay identifying unit 164 estimates the time delay by evaluating the cost function J (kt) for various values of kt. The value of kt that causes the lowest J is selected as k indicating the estimated time delay.

The above cost function is the previously defined k _max
And all integers that _lie between k _min . The cost function is represented by the following formula.

[0091]

[Equation 32]

Where β _k is the focusing factor and Y _i (n, kt) is the predicted difference for any possible delay time. In this case, several cost functions are always active and each of these cost functions is evaluated by using possible time delays kt that differ from each other. The time delay value as selected and used for parameter evaluation and control corresponds to the time delay value that produces the lowest J.

It is to be understood that the foregoing description of the inventive process control apparatus illustrates and discloses a controller having desirable attributes, characteristics and advantages. To be The adaptive control capability of the controller enables the application of the present invention, such as the thermostat described in the embodiments. In this case, the process control device according to the invention is self-starting and self-starting in the sense that the parameters of the model inside the thermostat can be changed in response to load, individual equipment or time variation. It has the ability to tune with its own power. Such an ability, that is,
Adaptive control capability enables effective control without external manipulation.

While the particular embodiments of the process control system of the present invention have been described above, it is believed that they merely illustrate one example of the present invention. Further, it is not desirable to limit the present invention only to the configurations shown in the present text, because those skilled in the art can easily make many variations and modifications. Accordingly, all suitable modifications and equivalents are conceivable as long as they come within the scope of the invention described in the claims appended hereto and their equivalents.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a thermostat to which an embodiment of the present invention is applied.

FIG. 2 is a schematic view showing a ventilation device unit together with a thermostat to which an embodiment of the present invention is applied.

FIG. 3 is a perspective view showing an internal structure of a thermostat to which an embodiment of the present invention is applied.

FIG. 4 is a detailed circuit block diagram (No. 1) of the control circuit system of the thermostat to which the embodiment of the present invention is applied.

FIG. 5 is a detailed circuit block diagram (No. 2) of the control circuit system of the thermostat to which the embodiment of the present invention is applied.

FIG. 6 is a detailed circuit block diagram (No. 3) of the control circuit system of the thermostat to which the embodiment of the present invention is applied.

FIG. 7 is a block diagram showing a configuration of an adaptive control loop system showing a relationship between a control system and a room in an embodiment of the present invention.

8 is a block diagram showing a configuration of the adaptive controller of FIG.

FIG. 9 is an adaptive controller according to an embodiment of the present invention,
9 is a block diagram showing in detail the data flow in the controller of FIG. 8. FIG.

FIG. 10 is a block diagram showing in detail the data flow in the adaptive controller according to the embodiment of the present invention, in particular, in the identification unit in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Thermostat 12 ... Outer enclosure 14 ... End wall part 16 ... Side wall part 18 ... Front wall part 20 ... Opening 22 ... Display 24 ... Down switch 26 ... Up switch 28 ... Processing means 30 ... Thermistor 32 ... Printed circuit board 33, 34 ... connector 35 ... ribbon connector 36 ... substrate 46 ... first electro-pneumatic valve 50 ... second electro-pneumatic valve 54 ... pneumatic converter

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G05D 23/19 J 9132-3H E 9132-3H

Claims (39)

[Claims] 1. A process controller for controlling at least one variable output parameter in response to a predetermined variable input parameter in one process system, wherein the variable input parameter is sensed. And a means for generating a signal representative of the sensed input parameter, a means for sensing the output parameter and a signal representative of the sensed output parameter, and related to the operation of the process controller. Processing means including memory means for holding instructions and data, the processing means receiving a signal representative of said sensed input parameter and said sensed output parameter, And configured to generate an output control signal for controlling the sensed output parameter, the processing means comprising: The control means has instructions and data for defining the control means for controlling the operation of the process control device, and the control means has adaptive control means, identification means, and tuner means. Defines a model that includes parameters that represent operating characteristics of the process system, and wherein the identifying means operates to monitor the operation of the adaptive control means, and the operation of the adaptive control means. Operative to selectively alter the parameters of the model, wherein the adaptive control means receives the electrical signal from the input parameter sensing means and outputs from the output parameter sensing means. Receiving the electrical signal and producing the output control signal using a predetermined gain factor as received from the tuner means. The tuner means receives the parameter of the model from the identifying means, calculates an appropriate value of the predetermined gain coefficient, and supplies the gain coefficient to the adaptive control means. By so doing, the gain coefficient is used by the adaptive control means, and the process control device is further effectively connected to the processing means, and the variable input parameter A process control device comprising means for adjusting a value. 2. The process control device according to claim 1, wherein the process control device further comprises means that is effectively connected to the processing means and that communicates with one remote control means. 3. The adaptive control means comprises proportional-integral (PI) control means for producing an output control signal consisting of the sum of a proportional term and an integral term, wherein the proportional term and the integral term in the output control signal are , The process controller of claim 1, including respective gain constants K _p and K _i . 4. The gain constant K _i is represented by the following equation: The process control device according to claim 3, wherein the a _2Q and b _2Q are predetermined input parameters. 5. The adaptive control means comprises a proportional derivative integral (PID) control means for producing an output control signal consisting of a sum of a proportional term, an integral term and a derivative term, and the proportional term in the output control signal. , The derivative term and the integral term include associated gain constants K _p , K _d and K _i , respectively.
Process control device as described. 6. An output control signal from the PID control means is provided to a kinetic model means having an output of a kinetic model, the output of the kinetic model being a lag model having an output of a lag model. Means for producing a first error signal by summing the signals representative of the sensed output parameters, the first error signal being the output of the kinetic model. A second error signal is produced by adding the outputs, the second error signal producing an input error signal by adding the values of the variable input parameters, the input error signal being the PID control signal. The process control device according to claim 5, wherein the process control device is supplied to the means. 7. The process control device according to claim 6, wherein the adaptive control means operates so as to repeatedly generate an output control signal for each predetermined sampling period. 8. The proportional term of the output control signal from the PID control means, that is, the P− term, is represented by the following equation: Here, e (n) is the input error signal.
Process control device as described. 9. The differential term of the output control signal from the PID control means, that is, the D-term, is represented by the following equation: Where e (n) is the input error signal at sampling time n, e (n-1) is the input error signal at the previous sampling time, and T _s is the sampling period. 7. The process control device according to 7. 10. The integral term of the output control signal from the PID control means, that is, the I-term, is represented by the following equation: Where e (n) is the input error signal at sampling time n, I-term (n-1) is the I-term calculated at the previous sampling time, and T _s is the sampling period. The process control device according to claim 7. 11. The output of the kinetic model is represented by the following equation: Here, Q _aux is a vector containing the parameters of the dynamic model, and Q _aux = (a _1Q a _2Q b _1Q b
Process controller according to claim 7, represented as _2Q ) ^T. 12. The output of the lag model comprises the output of a kinetic model in previous several sampling periods, the output of the lag model being represented by the following equation: 8. The process control device according to claim 7, wherein k is a length of a time delay in some predetermined sampling period. 13. The process controller of claim 11 wherein said tuner means determines a maximum proportional gain factor before providing an appropriate value for said predetermined gain factor. 14. The maximum proportional gain coefficient K _max is analytically determined from the parameters of the kinetic model according to the equation: Further, the gain factor is determined according to the following equation: 14. The process control device according to claim 13. 15. The process control device according to claim 1, wherein the predetermined input parameter is a temperature set point, and the output parameter represents a temperature value. 16. Electrical for use in an aerodynamically controlled temperature control system of the type having one pneumatic source line and a plurality of pneumatic output control lines. A digital thermostat, wherein the pressure in each of the plurality of pneumatic output control lines controls the temperature of a particular room area so that the thermostat maintains a desired ambient temperature within the room area. In the process control device configured as described above, the thermostat is operatively connected to the means for determining and adjusting the temperature set point of the thermostat, the pneumatic source line, and one exhaust pipe. Valve means for responsive to each of the pneumatic output control lines in response to an electrical control signal provided to the valve means. Controlling the pressure in the range defined by the pressure of the pneumatic source line and the pressure of the exhaust pipe, the thermostat further senses the ambient temperature, And means for generating an electrical signal representative of the sensed ambient temperature; and an electrical signal sensing the pressure of air in each of the pneumatic output control lines and representative of the sensed pressure. And processing means including memory means for holding instructions and data relating to the operation of the thermostat, the processing means comprising the sensed ambient temperature and the The memory means in the processing means is configured to receive an electrical signal representative of the sensed pressure of and to generate an electrical control signal for controlling the valve means. It has instructions and data that define a control means for controlling the operation of the thermostat, and further, the control means has an adaptive control means, an identification means, and a tuner means, and the identification means, Defining a model that includes parameters representative of operating characteristics of a temperature control system for controlling the temperature of the indoor area, wherein the identifying means further operates to monitor the operation of the adaptive control means, and Operating to selectively alter the parameters of the model to improve the operation of the adaptive control means, the adaptive control means comprising: an electrical signal representative of the sensed ambient temperature; and Electrical signal representative of the sensed pressure of the output signal and producing the output control signal using a predetermined gain factor as received from the tuner means. The tuner means receives the parameter of the model from the identifying means, calculates an appropriate value of the predetermined gain coefficient, and supplies the gain coefficient to the adaptive control means. The adaptive control means is configured to use the gain coefficient, and the thermostat further comprises means for supplying power for operating the thermostat. apparatus. 17. The process control device according to claim 16, wherein said thermostat further comprises means operatively connected to said processing means and communicating with one remote control means. 18. The process control device according to claim 16, further comprising means for operatively connecting to said processing means and communicating with one remote control means. 19. The adaptive control means comprises a proportional derivative integral (PID) control means for producing an output control signal consisting of a sum of a proportional term, an integral term and a derivative term, and the proportional term in the output control signal. , differential term and the integral term gain constants K _p associated respectively, the process control system of claim 16 including the K _d and K _i. 20. An output control signal from the PID control means is provided to a kinetic model means having an output of a kinetic model, the output of the kinetic model being a lag model having an output of a lag model. Means for producing a first error signal by adding signals representative of the sensed output parameters, the first error signal being the output of the kinetic model. A second error signal is produced by adding the outputs, the second error signal producing an input error signal by adding the values of the variable input parameters, the input error signal being the PID control signal. 20. The process control device as claimed in claim 19, provided to the means. 21. The process control device according to claim 20, wherein the adaptive control means operates so as to repeatedly generate an output control signal for each predetermined sampling period. 22. A proportional term of the output control signal from the PID control means, that is, a P-term, is represented by the following equation: Here, e (n) is the input error signal.
1. The process control device according to 1. 23. The differential term of the output control signal from the PID control means, that is, the D-term, is represented by the following equation: Where e (n) is the input error signal at sampling time n, e (n-1) is the input error signal at the previous sampling time, and T _s is the sampling period. 21. The process control device according to 21. 24. The integral term of the output control signal from the PID control means, that is, the I-term, is represented by the following equation: Where e (n) is the input error signal at sampling time n, I-term (n-1) is the I-term calculated at the previous sampling time, and T _s is the sampling period. 22. The process control device according to claim 21. 25. The output of the kinetic model is represented by the equation: Here, Q _aux is a vector containing the parameters of the dynamic model, and Q _aux = (a _1Q a _2Q b _1Q b
22. The process control device according to claim 21, represented as _2Q ) ^T. 26. The output of the lag model comprises the output of a kinetic model in previous several sampling periods, the output of the lag model being represented by the following equation: 22. The process control device according to claim 21, wherein k is a length of time delay in some predetermined sampling period. 27. The process controller of claim 25, wherein the tuner means determines a maximum proportional gain factor before providing an appropriate value for the predetermined gain factor. 28. The maximum proportional gain coefficient K _max is analytically determined from the parameters of the kinetic model according to the equation: Further, the gain factor is determined according to the following equation: 28. The process control device according to claim 27. 29. A type having at least one pneumatic source line and at least one pneumatic output control line, and for use in an aerodynamically controlled type temperature control system. An electrically digital thermostat is provided, wherein the pressure in the pneumatic power control line controls the temperature of a particular room area so that the thermostat maintains a desired ambient temperature within at least one particular room area. In the process control device according to claim 1, the thermostat accommodates various means of the thermostat and has a compact overall size, and means for determining and adjusting a temperature set point of the thermostat. And one pneumatic source line and valve means effectively connected to one exhaust pipe The valve means is responsive to an electrical control signal provided to the valve means to control pressure in the pneumatic output control line, the controlled pressure being the pneumatic pressure control line. Within the range defined by the source line pressure and the exhaust pipe pressure, the thermostat further senses the ambient temperature and generates an electrical signal representative of the sensed ambient temperature. Means for sensing the pressure of air in each of the pneumatic output control lines and generating an electrical signal representative of the sensed pressure; and instructions and data relating to the operation of the thermostat. Processing means including memory means for holding a temperature of the sensed ambient temperature, the sensed ambient temperature, the sensed pressure, and an electrical signal representative of the temperature set point. Is configured to generate an electrical control signal for controlling the valve means, the memory means in the processing means defining control means for controlling operation of the thermostat. The control means receives the electrical signal representative of the sensed ambient temperature and the electrical signal representative of the sensed pressure, and An adaptive control means for producing the output control signal using a defined gain factor, the thermostat being further operatively connected to the processing means and communicating with one remote control means; And a means for supplying power for operating the thermostat. 30. The control means further comprises an identification means and a tuner means, the identification means including a parameter representing an operating characteristic of a temperature control system for controlling the temperature of the indoor area. A further model, the identification means being operable to monitor the operation of the adaptive control means, and selectively changing the parameters of the model to improve the operation of the adaptive control means. The tuner means receives the parameter of the model from the identifying means, calculates an appropriate value of the predetermined gain coefficient, and outputs the gain coefficient to the adaptive control means. The gain coefficient is used by the adaptive control means by supplying, the adaptive control means preliminarily receiving the gain coefficient from the tuner means. 30. The process controller of claim 29, configured to use a defined gain factor. 31. The process controller of claim 30 wherein said tuner means determines a maximum proportional gain factor before providing an appropriate value for said predetermined gain factor. 32. The adaptive control means comprises a proportional derivative integral (PID) control means for producing an output control signal consisting of a sum of a proportional term, an integral term and a derivative term, and the proportional term in the output control signal. , differential term and the integral term gain constants K _p associated respectively, the process control system of claim 31 including the K _d and K _i. 33. An output control signal from the PID control means is provided to dynamic model means having an output of a dynamic model, the output of the dynamic model being a delayed model having an output of a delayed model. Means for producing a first error signal by adding signals representative of the sensed output parameters, the first error signal being the output of the kinetic model. A second error signal is produced by adding the outputs, the second error signal producing an input error signal by adding the values of the variable input parameters, the input error signal being the PID control signal. 33. A process control device according to claim 32, provided to the means. 34. The process control apparatus according to claim 33, wherein the adaptive control means operates so as to repeatedly generate an output control signal for each predetermined sampling period. 35. A proportional term of the output control signal from the PID control means, that is, a P− term is expressed by the following equation: Here, e (n) is the input error signal.
4. The process control device according to 4. 36. The differential term of the output control signal from the PID control means, that is, the D-term, is represented by the following equation: Where e (n) is the input error signal at sampling time n, e (n-1) is the input error signal at the previous sampling time, and T _s is the sampling period. 34. The process control device according to 34. 37. The integral term of the output control signal from the PID control means, that is, the I-term, is represented by the following equation: Where e (n) is the input error signal at sampling time n, I-term (n-1) is the I-term calculated at the previous sampling time, and T _s is the sampling period. 35. The process control device according to claim 34. 38. The output of the kinetic model is represented by the following equation: Here, Q _aux is a vector containing the parameters of the dynamic model, and Q _aux = (a _1Q a _2Q b _1Q b
_35. The process controller of claim 34, _{designated 2Q} ) ^T. 39. The output of the lag model comprises the output of a kinetic model in previous several sampling periods, the output of the lag model being represented by the following equation: The process control device according to claim 34, wherein k is a length of a time delay in some predetermined sampling periods.