JPH08286707A - Automatic adjustment method of controller for multiplex loop control - Google Patents
Automatic adjustment method of controller for multiplex loop controlInfo
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- JPH08286707A JPH08286707A JP8550295A JP8550295A JPH08286707A JP H08286707 A JPH08286707 A JP H08286707A JP 8550295 A JP8550295 A JP 8550295A JP 8550295 A JP8550295 A JP 8550295A JP H08286707 A JPH08286707 A JP H08286707A
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- closed loop
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- transfer function
- reference model
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は多重ル−プ制御系のＰＩ
Ｄ制御器のＫi ，Ｋp ，Ｋd 等の制御パラメ−タを自動
調整する方法に係り、特に制御特性を指定する参照モデ
ルを複数回用い、それぞれのル−プのコントロ−ラのパ
ラメ−タを自動調整する方法に関する。BACKGROUND OF THE INVENTION The present invention relates to a PI of a multiple loop control system.
The present invention relates to a method for automatically adjusting control parameters such as Ki, Kp, and Kd of a D controller. Particularly, a reference model for designating control characteristics is used a plurality of times, and parameters of a controller of each loop are used. Regarding automatic adjustment method.
【０００２】[0002]
【従来の技術】自動制御の様々な分野で、ＰＩＤ制御系
が用いられている。この場合に、参照モデルを用いて、
その応答特性が合うようにオ−トチュ−ニングが行われ
ている。チュ−ニングしている制御系は、Ｉ−ＰＤ、Ｐ
ＩＤの２つのコントロ−ラに対応しているが、単一ル−
プの制御系に限定されている。2. Description of the Related Art PID control systems are used in various fields of automatic control. In this case, using the reference model,
Auto tuning is performed so that the response characteristics are matched. The tuning control system is I-PD, P
Corresponds to two controllers of ID, but single rule
It is limited to the control system.
【０００３】[0003]
【発明が解決しようとする課題】しかし、実際の制御系
としては、位置制御系の中にマイナ−ル−プとして速度
制御系を持つような多重ル−プ制御系が多く、従来の単
一ル−プ用のオ−トチュ−ニングではオ−トチュ−ニン
グすることはできないという問題があった。However, as an actual control system, there are many multiple loop control systems having a velocity control system as a minor loop in the position control system, and the conventional single control system. There is a problem that auto tuning cannot be performed with the auto tuning for the loop.
【０００４】本発明は上記の点に鑑みてなされたもの
で、その目的は、多重制御ル−プを持つ制御系それぞれ
がもつ制御器の制御パラメ−タを自動調整することがで
きる多重ル−プ制御におけるコントロ−ラの自動調整方
法を提供することにある。The present invention has been made in view of the above points, and an object thereof is a multiple loop capable of automatically adjusting the control parameters of the controllers of the respective control systems having multiple control loops. It is an object of the present invention to provide an automatic adjustment method for a controller in control of a loop.
【０００５】[0005]
【課題を解決するための手段】請求項１に係わる多重ル
−プ制御におけるコントロ−ラの自動調整方法は、制御
対象をオ−プンル−プにして、制御対象に同定信号を入
力させ、その出力信号から制御対象のモデルを同定する
工程と、この工程により同定された制御対象と第ｎのＰ
ＩＤ制御器を有して構成される第ｎの閉ル−プの伝達関
数を求める工程と、予め応答特性が既知である第ｎの参
照モデルと上記第ｎの閉ル−プの伝達関数の応答特性が
一致するように上記第ｎのＰＩＤ制御器の制御パラメ−
タを決定する工程と、上記第ｎの参照モデルと第（ｎ＋
１）のＰＩＤ制御器とにより構成される第（ｎ＋１）の
閉ル−プの伝達関数を求める工程と、予め応答特性が既
知である第（ｎ＋１）の参照モデルと第（ｎ＋１）の閉
ル−プの伝達関数の応答特性とが一致するように上記第
（ｎ＋１）のＰＩＤ制御器の制御パラメ−タを決定する
工程とを具備し、上記ｎを奇数の自然数（ｎ＝１，３，
５，…）として（ｎ＋１）のＰＩＤ制御器の制御パラメ
−タを決定することを特徴とする。According to a first aspect of the present invention, there is provided a method for automatically adjusting a controller in multiple loop control, wherein an object to be controlled is opened and an identification signal is input to the object to be controlled. A step of identifying the model of the controlled object from the output signal, the controlled object identified by this step, and the n-th P
A step of obtaining a transfer function of an n-th closed loop having an ID controller, an n-th reference model whose response characteristic is known in advance, and a transfer function of the n-th closed loop. Control parameters of the n-th PID controller so that the response characteristics match.
The process of determining the data, the nth reference model and the (n +
1) a step of obtaining the transfer function of the (n + 1) th closed loop constituted by the PID controller, the (n + 1) th reference model and the (n + 1) th closed loop whose response characteristics are known in advance. The step of determining the control parameter of the (n + 1) th PID controller so that the response characteristic of the transfer function of the loop is matched.
5, ...), the control parameters of the (n + 1) PID controller are determined.
【０００６】請求項２に係わる多重ル−プ制御における
コントロ−ラの自動調整方法は、制御対象をオ−プンル
−プにして、制御対象に同定信号を入力させ、その出力
信号から制御対象のモデルを同定する第１の工程と、こ
の第１の工程により同定された制御対象と第１のＰＩＤ
制御器を有して構成される第１の閉ル−プの伝達関数を
求める第２の工程と、予め応答特性が既知である第１の
参照モデルと上記第１の閉ル−プの伝達関数の応答特性
が一致するように上記第１のＰＩＤ制御器の制御パラメ
−タを決定する第３の工程と、上記第１の参照モデルと
第２のＰＩＤ制御器とにより構成される第２の閉ル−プ
の伝達関数を求める第４の工程と、予め応答特性が既知
である第２の参照モデルと上記第２の閉ル−プの伝達関
数の応答特性とが一致するように上記第２のＰＩＤ制御
器の制御パラメ−タを決定する第５の工程とから構成さ
れる。According to a second aspect of the present invention, there is provided a method for automatically adjusting a controller in a multiple loop control, wherein an object to be controlled is an open loop, an identification signal is input to the object to be controlled, and an output signal of the object to be controlled is used. First step of identifying a model, control object and first PID identified by this first step
A second step of obtaining a transfer function of a first closed loop having a controller, a first reference model whose response characteristic is known in advance, and the transfer of the first closed loop. A third step of determining the control parameters of the first PID controller so that the response characteristics of the functions match, and a second step composed of the first reference model and the second PID controller. The fourth step of obtaining the transfer function of the closed loop of the above, and the second reference model whose response characteristic is known in advance and the response characteristic of the transfer function of the second closed loop are matched so that And a fifth step of determining the control parameters of the second PID controller.
【０００７】請求項３に係わる多重ル−プ制御における
コントロ−ラの自動調整方法は、制御対象をオ−プンル
−プにして、制御対象に同定信号を入力させ、その出力
信号から制御対象のモデルを同定する第１の工程と、こ
の第１の工程により同定された制御対象と第１のＰＩＤ
制御器を有して構成される第１の閉ル−プの伝達関数を
求める第２の工程と、予め応答特性が既知である第１の
参照モデルと上記第１の閉ル−プの伝達関数の応答特性
が一致するように上記第１のＰＩＤ制御器の制御パラメ
−タを決定する第３の工程と、上記第１の参照モデルと
第２のＰＩＤ制御器とにより構成される第２の閉ル−プ
の伝達関数を求める第４の工程と、予め応答特性が既知
である第２の参照モデルと上記第２の閉ル−プの伝達関
数の応答特性が一致するように上記第２のＰＩＤ制御器
の制御パラメ−タを決定する第５の工程と、上記第２の
参照モデルと第３のＰＩＤ制御器とにより構成される第
３の閉ル−プの伝達関数を求める第６の工程と、予め応
答特性が既知である第３の参照モデルと上記第３の閉ル
−プの伝達関数の応答特性とが一致するように上記第３
のＰＩＤ制御器の制御パラメ−タを決定する第７の工程
とを具備したことを特徴とする。According to a third aspect of the present invention, in a method for automatically adjusting a controller in multiple loop control, an object to be controlled is opened, an identification signal is input to the object to be controlled, and an output signal from the controller outputs the identification signal to the object to be controlled. First step of identifying a model, control object and first PID identified by this first step
A second step of obtaining a transfer function of a first closed loop having a controller, a first reference model whose response characteristic is known in advance, and the transfer of the first closed loop. A third step of determining the control parameters of the first PID controller so that the response characteristics of the functions match, and a second step composed of the first reference model and the second PID controller. In the fourth step of obtaining the transfer function of the closed loop, and the second reference model whose response characteristic is known in advance and the second closed loop so that the response characteristics of the transfer function of the second closed loop match. A fifth step of determining control parameters of the second PID controller, and a step of obtaining a transfer function of a third closed loop constituted by the second reference model and the third PID controller. 6, the third reference model whose response characteristic is known in advance, and the transfer function of the third closed loop. The third as the answer characteristics match
And a seventh step of determining the control parameter of the PID controller.
【０００８】[0008]
【作用】制御対象をオ−プンル−プにして、制御対象に
同定信号を入力させ、その出力信号から制御対象のモデ
ルを同定させ、その後同定されたモデルとＰＩＤ制御器
を有して構成される閉ル−プ伝達関数を求め、予め応答
特性が既知である参照モデルの応答特性に一致するよう
に閉ル−プ伝達関数の制御パラメ−タを決定するように
している。The control object is open-looped, the identification signal is input to the control object, the model of the control object is identified from the output signal, and then the identified model and the PID controller are provided. The closed loop transfer function is calculated, and the control parameters of the closed loop transfer function are determined so as to match the response characteristics of the reference model whose response characteristics are known in advance.
【０００９】[0009]
【実施例】以下図面を参照して本発明の一実施例に係わ
る多重ル−プ制御におけるコントロ−ラの自動調整方法
について説明する。図１は多重ル−プ制御を用いた制御
システムである。図１において、１１は制御対象である
同定モデルである。この制御対象１１は伝達関数Ｇm(s)
を有し、その伝達関数Ｇm(s)は数１に示す内容を持つ。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for automatically adjusting a controller in multiple loop control according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a control system using multiple loop control. In FIG. 1, 11 is an identification model that is a control target. This controlled object 11 has a transfer function Gm (s)
, And its transfer function Gm (s) has the content shown in Equation 1.
【００１０】[0010]
【数１】 [Equation 1]
【００１１】この制御対象１１の入力側には切り替えス
イッチ１３が設けられており、一方の接点１３ａには同
定信号が入力されており、他方の接点１３ｂには制御器
１２の出力端子に接続されている。A changeover switch 13 is provided on the input side of the controlled object 11, an identification signal is input to one contact 13a, and the output terminal of the controller 12 is connected to the other contact 13b. ing.
【００１２】さらに、この制御対象１１の出力は制御器
１２の前段に設けられた減算器１４の「−」端子に負帰
還される。さらに、制御対象１１の出力側には、制御対
象の出力を外部に取り出すための出力ライン１５が設け
られている。この制御器１２は伝達関数Ｃ(s) を有し、
その伝達関数Ｃ(s) は数２に示すなうな特性を有する。
なお、伝達関数Ｃ(s) において、Ｋi ，Ｋp ，Ｋd は制
御パラメ−タである。Further, the output of the controlled object 11 is negatively fed back to the "-" terminal of the subtracter 14 provided in the preceding stage of the controller 12. Further, on the output side of the controlled object 11, an output line 15 for extracting the output of the controlled object to the outside is provided. This controller 12 has a transfer function C (s),
The transfer function C (s) has such a characteristic as shown in Equation 2.
In the transfer function C (s), Ki, Kp and Kd are control parameters.
【００１３】[0013]
【数２】 [Equation 2]
【００１４】以上のようにして、破線Ａに示すように例
えば速度ル−プ用の１つの閉ル−プシステムが形成され
る。この閉ル−プシステムＡの出力は、積分器１６を介
して出力される。As described above, one closed loop system for, for example, the velocity loop is formed as shown by the broken line A. The output of the closed loop system A is output via the integrator 16.
【００１５】さらに、前述した減算器１４の「＋」端子
には、制御器１７の出力が入力されている。また、閉ル
−プシステムＡの出力は積分器１６を介して制御器１７
の前段に設けられた減算器１８の「−」端子に入力され
る。この減算器１８の「＋」端子には制御指令ｘが入力
されている。ここで、制御器１７は伝達関数Ｃ(s) を有
し、その伝達関数Ｃ(s) は上記制御器１２の伝達関数と
同様の特性を有する。Further, the output of the controller 17 is input to the "+" terminal of the subtractor 14 described above. Further, the output of the closed loop system A is supplied to the controller 17 via the integrator 16.
Is input to the "-" terminal of the subtracter 18 provided in the preceding stage. The control command x is input to the “+” terminal of the subtracter 18. Here, the controller 17 has a transfer function C (s), and the transfer function C (s) has the same characteristics as the transfer function of the controller 12.
【００１６】そして、破線Ａで示した速度ル−プ用の１
つの閉ル−プシステムは、積分回路１６を介して減算器
１８の「−」端子にフィ−ドバックされている。そし
て、閉ル−プシステムＡと制御器１７とで１つの閉ル−
プシステムＢが形成される。この閉ル−プシステムＢ
は、例えば、位置制御用の１つの閉ル−プシステムとな
る。以上のようにして、閉ル−プシステムＡ及びＢが併
存する２重ル−プシステムが構成される。Then, one for the velocity loop indicated by the broken line A
The two closed loop systems are fed back to the "-" terminal of the subtractor 18 via the integrating circuit 16. Then, the closed loop system A and the controller 17 form one closed loop.
System B is formed. This closed loop system B
Is, for example, a closed loop system for position control. As described above, the double loop system in which the closed loop systems A and B coexist is constructed.
【００１７】次に、上記のように構成された本発明の一
実施例の動作について説明する。まず、閉ル−プシステ
ムＡで構成される速度制御系から制御する制御対象を同
定するため、切り替えスイッチ１３を接点１３ａ側に閉
じる。Next, the operation of the embodiment of the present invention constructed as above will be described. First, in order to identify a control target to be controlled from the speed control system configured by the closed loop system A, the changeover switch 13 is closed to the contact 13a side.
【００１８】そして、接点１３ａから同定信号を入力
し、その出力信号を出力ライン１５から取り出す。この
ように接続することにより、制御対象１１をオ−プンル
−プシステムとして取り扱うことができる。Then, the identification signal is inputted from the contact 13a and the output signal is taken out from the output line 15. By connecting in this way, the controlled object 11 can be handled as an open loop system.
【００１９】このようにして、制御対象１１を同定し
て、伝達関数Ｇm(s)が求められる。次に、同定された制
御対象１１と制御器１２とを図２（Ａ）に示すように接
続し、制御対象１１の出力を制御器１２の入力側に負帰
還させるようにした速度制御閉ル−プの伝達関数を求め
る。In this way, the controlled object 11 is identified and the transfer function Gm (s) is obtained. Next, the identified controlled object 11 and the controller 12 are connected as shown in FIG. 2 (A), and the output of the controlled object 11 is negatively fed back to the input side of the controller 12. − Find the transfer function of
【００２０】制御器１２の伝達関数をＣ(s) 、制御対象
１１の伝達関数をＧm(s)とした場合に、速度制御閉ル−
プの伝達関数Ｇcl(s) はＧcl(s) ＝Ｃ(s) ＊Ｇm(s)／
（１−Ｃ(s) ＊Ｇm(s)）となる。When the transfer function of the controller 12 is C (s) and the transfer function of the controlled object 11 is Gm (s), the speed control closed loop is
Transfer function Gcl (s) is Gcl (s) = C (s) * Gm (s) /
(1-C (s) * Gm (s)).
【００２１】上記のように算出した伝達関数Ｇcl(s) の
パラメ−タの値は変数のままである。次に、あらかじめ
その応答特性が既知である速度ル−プ用の参照モデル２
１を指定して、この参照モデル２１にできるだけ一致す
るように、制御器１２のパラメ−タＫi ，Ｋp ，Ｋd を
求める。ここで、参照モデル２１の伝達関数Ｇr(s)は数
３で示される。The values of the parameters of the transfer function Gcl (s) calculated as described above remain variable. Next, a reference model 2 for a velocity loop whose response characteristic is known in advance.
By designating 1, the parameters Ki, Kp and Kd of the controller 12 are calculated so as to match the reference model 21 as much as possible. Here, the transfer function Gr (s) of the reference model 21 is expressed by Equation 3.
【００２２】[0022]
【数３】 (Equation 3)
【００２３】具体的には、速度制御閉ル−プの伝達関数
Ｇcl(s) の分母を分子で除算して分子を１にした後、指
定した参照モデル２１の分母係数と速度制御閉ル−プの
伝達関数の分母係数をできるだけ高次まで一致するよう
に、制御器１２の制御パラメ−タＫi ，Ｋp ，Ｋd を求
めるようにしている。Specifically, after the denominator of the transfer function Gcl (s) of the speed control closed loop is divided by the numerator to make the numerator 1, the denominator coefficient of the designated reference model 21 and the speed control closed loop. The control parameters Ki, Kp, and Kd of the controller 12 are calculated so that the denominator coefficients of the transfer function of the control unit match as high as possible.
【００２４】以上のようにして、速度閉ル−プの伝達関
数Ｇcl(s) を参照モデル２１に一致させることができ
る。次に、参照モデル２１と制御器１７とを図２（Ｂ）
に示すように接続し、参照モデル２１の出力を制御器１
７の入力側に負帰還させるようにした位置ル−プ用の伝
達関数を求める。As described above, the transfer function Gcl (s) of the velocity closed loop can be matched with the reference model 21. Next, the reference model 21 and the controller 17 are shown in FIG.
, And connect the output of the reference model 21 to the controller 1
A transfer function for the position loop, which is designed to be negatively fed back to the input side of 7, is obtained.
【００２５】例えば、制御器１２の伝達関数をＣ(s) 、
参照モデル２１の伝達関数をＧr(s)とした場合に、位置
制御閉ル−プの伝達関数Ｇcl1(s)はＧcl1(s)＝Ｃ(s) Ｇ
r(s)／（１−Ｃ(s) Ｇr(s)）となる。For example, the transfer function of the controller 12 is C (s),
When the transfer function of the reference model 21 is Gr (s), the transfer function Gcl1 (s) of the position control closed loop is Gcl1 (s) = C (s) G
r (s) / (1-C (s) Gr (s)).
【００２６】上記のように算出した伝達関数Ｇcl1(s)の
パラメ−タの値は変数のままである。次に、あらかじめ
その応答特性が既知である位置ル−プ用の参照モデル３
１を指定して、この参照モデル３１にできるだけ一致す
るように、制御器１７のパラメ−タＫi ，Ｋp ，Ｋd を
求める。The parameter values of the transfer function Gcl1 (s) calculated as described above remain variable. Next, a reference model 3 for a position loop whose response characteristics are known in advance.
By designating 1, the parameters Ki, Kp and Kd of the controller 17 are calculated so as to match the reference model 31 as much as possible.
【００２７】具体的には、位置制御閉ル−プの伝達関数
Ｇcl1(s)の分母を分子で除算して分子を１にした後、指
定した参照モデル３１の分母係数と位置制御閉ル−プの
伝達関数の分母係数をできるだけ高次まで一致するよう
に、制御器１７の制御パラメ−タＫi ，Ｋp ，Ｋd を求
めるようにしている。Specifically, after the denominator of the transfer function Gcl1 (s) of the position control closed loop is divided by the numerator to set the numerator to 1, the denominator coefficient of the designated reference model 31 and the position control closed loop. The control parameters Ki, Kp, and Kd of the controller 17 are determined so that the denominator coefficients of the transfer function of the control unit match as high as possible.
【００２８】以上のようにして、位置閉ル−プの伝達関
数Ｇcl1(s)を参照モデル３１に一致させることができ
る。なお、上記実施例では２重ル−プの制御ル−プを持
つシステムの制御器の制御パラメ−タを自動的に求める
方法について説明したが、３重ル−プ以上の多重ル−プ
の制御器の制御パラメ−タも同様に求めることができ
る。As described above, the transfer function Gcl1 (s) of the position closed loop can be matched with the reference model 31. In the above embodiment, the method for automatically obtaining the control parameters of the controller of the system having the double loop control loop has been described. The control parameters of the controller can be obtained in the same way.
【００２９】[0029]
【発明の効果】以上詳述したように本発明によれば、多
重制御ル−プを持つ制御系のそれぞれのもつコントロ−
ラパラメ−タを自動調整する多重ル−プ制御におけるコ
ントロ−ラの自動調整方法を提供することができる。As described above in detail, according to the present invention, the control system of each control system having multiple control loops is provided.
It is possible to provide an automatic adjustment method of a controller in a multiple loop control for automatically adjusting a parameter.
【図１】本発明の一実施例に係わる多重ル−プ制御にお
けるコントロ−ラの自動調整方法を説明するためのシス
テム構成図。FIG. 1 is a system configuration diagram for explaining an automatic controller adjustment method in multiple loop control according to an embodiment of the present invention.
【図２】速度ル−プ用及び位置ル−プ用の制御ブロック
図。FIG. 2 is a control block diagram for a velocity loop and a position loop.
１１…制御対象、１２，１７…制御器、１４…減算器、
１５…出力ライン、１６…積分回路、２１，３１…参照
モデル。11 ... Control object, 12, 17 ... Controller, 14 ... Subtractor,
15 ... Output line, 16 ... Integrator circuit, 21, 31 ... Reference model.
Claims (3)
対象に同定信号を入力させ、その出力信号から制御対象
のモデルを同定する工程と、 この工程により同定された制御対象と第ｎのＰＩＤ制御
器を有して構成される第ｎの閉ル−プの伝達関数を求め
る工程と、 予め応答特性が既知である第ｎの参照モデルと上記第ｎ
の閉ル−プの伝達関数の応答特性が一致するように上記
第ｎのＰＩＤ制御器の制御パラメ−タを決定する工程
と、 上記第ｎの参照モデルと第（ｎ＋１）のＰＩＤ制御器と
により構成される第（ｎ＋１）の閉ル−プの伝達関数を
求める工程と、 予め応答特性が既知である第（ｎ＋１）の参照モデルと
第（ｎ＋１）の閉ル−プの伝達関数の応答特性とが一致
するように上記第（ｎ＋１）のＰＩＤ制御器の制御パラ
メ−タを決定する工程とを具備し、 上記ｎを奇数の自然数（ｎ＝１，３，５，…）として
（ｎ＋１）のＰＩＤ制御器の制御パラメ−タを決定する
ことを特徴とする多重ル−プ制御におけるコントロ−ラ
の自動調整方法。1. A step of opening an object to be controlled, inputting an identification signal to the object to be controlled, and identifying a model of the object to be controlled from the output signal, and the object to be controlled and the nth object identified in this step. Determining the transfer function of the n-th closed loop having the PID controller of the above, and the n-th reference model whose response characteristic is known in advance and the n-th reference model
Determining control parameters of the n-th PID controller so that the response characteristics of the transfer function of the closed loop of the above-mentioned n-th reference model and the (n + 1) -th PID controller And a step of obtaining a transfer function of the (n + 1) th closed loop, the response of the (n + 1) th reference model whose response characteristic is known in advance and the transfer function of the (n + 1) th closed loop. Determining a control parameter of the (n + 1) th PID controller so that the characteristics match with each other, where n is an odd natural number (n = 1, 3, 5, ...) And (n + 1). ) A method for automatically adjusting a controller in multiple loop control, characterized in that control parameters of the PID controller of (1) are determined.
対象に同定信号を入力させ、その出力信号から制御対象
のモデルを同定する第１の工程と、 この第１の工程により同定された制御対象と第１のＰＩ
Ｄ制御器を有して構成される第１の閉ル−プの伝達関数
を求める第２の工程と、 予め応答特性が既知である第１の参照モデルと上記第１
の閉ル−プの伝達関数の応答特性が一致するように上記
第１のＰＩＤ制御器の制御パラメ−タを決定する第３の
工程と、 上記第１の参照モデルと第２のＰＩＤ制御器とにより構
成される第２の閉ル−プの伝達関数を求める第４の工程
と、 予め応答特性が既知である第２の参照モデルと上記第２
の閉ル−プの伝達関数の応答特性とが一致するように上
記第２のＰＩＤ制御器の制御パラメ−タを決定する第５
の工程とを具備したことを特徴とする多重ル−プ制御に
おけるコントロ−ラの自動調整方法。2. A first step of opening a controlled object, inputting an identification signal to the controlled object, and identifying a model of the controlled object from the output signal, and identifying by the first step. Controlled object and first PI
A second step of obtaining a transfer function of a first closed loop having a D controller; a first reference model whose response characteristic is known in advance;
Third step of determining the control parameters of the first PID controller so that the response characteristics of the transfer function of the closed loop of the above-mentioned PID controller, and the first reference model and the second PID controller are determined. A fourth step of obtaining a transfer function of a second closed loop composed of and, a second reference model whose response characteristic is known in advance, and the above second
Fifth, the control parameters of the second PID controller are determined so that the response characteristics of the transfer function of the closed loop of
And an automatic adjustment method of the controller in the multiple loop control.
対象に同定信号を入力させ、その出力信号から制御対象
のモデルを同定する第１の工程と、 この第１の工程により同定された制御対象と第１のＰＩ
Ｄ制御器を有して構成される第１の閉ル−プの伝達関数
を求める第２の工程と、 予め応答特性が既知である第１の参照モデルと上記第１
の閉ル−プの伝達関数の応答特性が一致するように上記
第１のＰＩＤ制御器の制御パラメ−タを決定する第３の
工程と、 上記第１の参照モデルと第２のＰＩＤ制御器とにより構
成される第２の閉ル−プの伝達関数を求める第４の工程
と、 予め応答特性が既知である第２の参照モデルと上記第２
の閉ル−プの伝達関数の応答特性が一致するように上記
第２のＰＩＤ制御器の制御パラメ−タを決定する第５の
工程と、 上記第２の参照モデルと第３のＰＩＤ制御器とにより構
成される第３の閉ル−プの伝達関数を求める第６の工程
と、 予め応答特性が既知である第３の参照モデルと上記第３
の閉ル−プの伝達関数の応答特性とが一致するように上
記第３のＰＩＤ制御器の制御パラメ−タを決定する第７
の工程とを具備したことを特徴とする多重ル−プ制御に
おけるコントロ−ラの自動調整方法。3. A first step of opening a controlled object, inputting an identification signal to the controlled object, and identifying a model of the controlled object from the output signal, and identifying by the first step. Controlled object and first PI
A second step of obtaining a transfer function of a first closed loop having a D controller; a first reference model whose response characteristic is known in advance;
Third step of determining the control parameters of the first PID controller so that the response characteristics of the transfer function of the closed loop of the above-mentioned PID controller, and the first reference model and the second PID controller are determined. A fourth step of obtaining a transfer function of a second closed loop composed of and, a second reference model whose response characteristic is known in advance, and the above second
Step of determining the control parameters of the second PID controller so that the response characteristics of the transfer function of the closed loop of FIG. A sixth step of obtaining a transfer function of a third closed loop constituted by, a third reference model whose response characteristic is known in advance, and the above-mentioned third
Seventh, the control parameters of the third PID controller are determined so that the response characteristics of the transfer function of the closed loop of
And an automatic adjustment method of the controller in the multiple loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8550295A JPH08286707A (en) | 1995-04-11 | 1995-04-11 | Automatic adjustment method of controller for multiplex loop control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8550295A JPH08286707A (en) | 1995-04-11 | 1995-04-11 | Automatic adjustment method of controller for multiplex loop control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08286707A true JPH08286707A (en) | 1996-11-01 |
Family
ID=13860717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8550295A Pending JPH08286707A (en) | 1995-04-11 | 1995-04-11 | Automatic adjustment method of controller for multiplex loop control |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08286707A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002005414A1 (en) * | 2000-07-11 | 2002-01-17 | Kabushiki Kaisha Yaskawa Denki | Motor control device |
| CN105259756A (en) * | 2015-10-20 | 2016-01-20 | 广东电网有限责任公司电力科学研究院 | Power plant control loop model identification method and system |
-
1995
- 1995-04-11 JP JP8550295A patent/JPH08286707A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002005414A1 (en) * | 2000-07-11 | 2002-01-17 | Kabushiki Kaisha Yaskawa Denki | Motor control device |
| CN105259756A (en) * | 2015-10-20 | 2016-01-20 | 广东电网有限责任公司电力科学研究院 | Power plant control loop model identification method and system |
| CN105259756B (en) * | 2015-10-20 | 2018-05-04 | 广东电网有限责任公司电力科学研究院 | Power plant's control loop identification Method and system |
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