JPS60100205A - Direct digital control regulating device - Google Patents

Direct digital control regulating device

Info

Publication number
JPS60100205A
JPS60100205A JP20619883A JP20619883A JPS60100205A JP S60100205 A JPS60100205 A JP S60100205A JP 20619883 A JP20619883 A JP 20619883A JP 20619883 A JP20619883 A JP 20619883A JP S60100205 A JPS60100205 A JP S60100205A
Authority
JP
Japan
Prior art keywords
circuit
deviation
type pid
manipulated variable
direct digital
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP20619883A
Other languages
Japanese (ja)
Inventor
Junichi Kikuchi
淳一 菊池
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP20619883A priority Critical patent/JPS60100205A/en
Publication of JPS60100205A publication Critical patent/JPS60100205A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00Automatic controllers
    • G05B11/01Automatic controllers electric
    • G05B11/36Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.

Abstract

PURPOSE:To prevent an overshoot of a manipulated variable by adding a speed type PID arithmetic circuit, deviation comparing circuit, and integration circuit to a conventional device of DDC. CONSTITUTION:The operation command V of a controlled system 4 is compared CP with a feedback value (f) passed through an AD converter 5 to obtain a deviation (e), thereby calculating a manipulated variable by a position type PID arithmetic circuit 1. In this case, the deviation comparing circuit 7 which compares said deviation (e) with a specific value, the speed type PID arithmetic circuit 6, and the integration circuit 8 which integrates this arithmetic value are provided. When the deviation (e) decreases, the deviation comparing circuit 7 outputs a control switch signal (d) to switch normally-closed and normally-open contacts C1 and C2, and the speed type PID arithmetic circuit 6 calculates the manipulated variable. This is the correction amount of operation, so this is integrated 8 and added to the arithmetic result of said position type PID arithmetic circuit 1, obtaining the specific manipulated variable.

Description

【発明の詳細な説明】 〔発明の技術分野〕 この発明は、プロセス制御系における。直接ディジタル
コントロール(DDC)による調節装置に関するもので
ある。
DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a process control system. It relates to an adjustment device with direct digital control (DDC).

〔従来技術〕[Prior art]

あった。第1図において、1は位置形比例積分微分(P
ID)演算回路、2はディジタル・アナログ(DA)変
換器、3はホールド回路、4は制御対象、5はアナログ
・ディジタル(八〇)変換器、CPは比較器、Vは目標
値、fはフィードバック値、eは偏差、yは操作量、X
は制御量、Sl、 S2はサンプラーである。DDCで
あるのでサンプル値制御系として表わした。
there were. In Figure 1, 1 is the position type proportional integral derivative (P
ID) Arithmetic circuit, 2 is a digital-to-analog (DA) converter, 3 is a hold circuit, 4 is a controlled object, 5 is an analog-to-digital (80) converter, CP is a comparator, V is a target value, f is Feedback value, e is deviation, y is manipulated variable, X
is the control amount, Sl and S2 are the samplers. Since it is a DDC, it is expressed as a sample value control system.

次に動作について説明する。制御対象4の動作の目標値
が目標値Vにより与えられる。比較器cpは目標値Vと
、制御対象4の動作状態のフィードバック量をAD変換
器5によりディジタル量としたフィードバック値fとを
比較して偏差eを出力する。位置形PID演算回路1は
この偏差eを入力として操作量を演算する。これKより
演算された操作量はDA変換器2によりアナログ量に変
換され、次いでホールド回路3により、サンプラーS1
が閉じる次回サンプリング時間までホールドされる。こ
の量が制御量yとして制御対象4に入ここで、位置形P
ID演算回路1の動作を説明する。DDCにおいてはP
ID制御式として式(1)が基本制御式として用いられ
る。
Next, the operation will be explained. A target value for the operation of the controlled object 4 is given by a target value V. The comparator cp compares the target value V with a feedback value f, which is a feedback amount of the operating state of the controlled object 4 converted into a digital amount by the AD converter 5, and outputs a deviation e. The position type PID calculation circuit 1 calculates the manipulated variable using this deviation e as input. The operation amount calculated from this K is converted into an analog amount by the DA converter 2, and then by the hold circuit 3, it is transferred to the sampler S1.
It is held until the next sampling time when is closed. This quantity enters the controlled object 4 as the controlled quantity y. Here, the position form P
The operation of the ID calculation circuit 1 will be explained. In DDC, P
Equation (1) is used as the basic control equation as the ID control equation.

ただし、PH:n回目サンプリング時の出力、en :
n回目サンプリング時の偏差、K :比例ゲイン、 T■:積分時間、 TD:微分時間、 Δt :サンプリング周期。
However, PH: Output at the nth sampling, en:
Deviation at the nth sampling, K: Proportional gain, T: Integral time, TD: Differential time, Δt: Sampling period.

これを係数分離形に直すと、 Pll =KPen + KIEen +xD(en 
’ll−1)・・・・−・(2)ただし、KP:比例ゲ
イン、 KX:積分項ゲイン(K・Δt/T、)、KD:微分項
ゲイン(K”To/Δt)。
Converting this into coefficient-separated form, Pll = KPen + KIEen + xD(en
'll-1)...-(2) However, KP: Proportional gain, KX: Integral term gain (K・Δt/T, ), KD: Differential term gain (K”To/Δt).

式(2)により、位置形PID演算回路1において操作
量が演算される。
The manipulated variable is calculated in the position type PID calculation circuit 1 according to equation (2).

従来のPID調節装置は、以上のように構成されている
ので、制御量が目標値に近づいた場合、積分項の影響に
より操作量にオーバーシュートを来たし、制御の行き過
ぎが発生しがちであった。
Conventional PID adjustment devices are configured as described above, so when the controlled variable approaches the target value, the manipulated variable tends to overshoot due to the influence of the integral term, resulting in over-control. .

〔発明の概要〕[Summary of the invention]

この発明は、上記のような従来のものの欠点を除去する
ためになされたもので、速度形PID演算回路と、偏差
比較回路と、積分回路を付加することにより、制御量が
目標値に近づいた場合の、積分項による操作量のオーバ
ーシュートを防ぐことができる直接ディジタルコントロ
ール調節装置を提供することを目的としている。
This invention was made to eliminate the drawbacks of the conventional ones as described above, and by adding a speed type PID calculation circuit, a deviation comparison circuit, and an integration circuit, the controlled variable can be brought closer to the target value. It is an object of the present invention to provide a direct digital control adjustment device that can prevent overshoot of the manipulated variable due to the integral term when

〔発明の実施例〕[Embodiments of the invention]

以下、この発明の一実施例を図について説明する。第2
図において、1〜5は第1図に示す従来のものと同一部
分であり、7は偏差eが所定値よりも小さい状態を検出
するための偏差比較回路、6は速度形PID演算回路、
8は速度形PID演算回路6の演算値を積分する積分回
路、C1は常閉接点、C2は常開接点である。なお、常
閉接点Ci と常開接点C2とが破線で結んであるのは
同じタイミングで動作することを示す。
An embodiment of the present invention will be described below with reference to the drawings. Second
In the figure, 1 to 5 are the same parts as the conventional one shown in FIG. 1, 7 is a deviation comparison circuit for detecting a state where the deviation e is smaller than a predetermined value, 6 is a speed type PID calculation circuit,
Reference numeral 8 denotes an integrating circuit that integrates the calculated value of the speed type PID calculation circuit 6, C1 is a normally closed contact, and C2 is a normally open contact. Note that the fact that the normally closed contact Ci and the normally open contact C2 are connected by a broken line indicates that they operate at the same timing.

以下、動作を説明する。速度形PID演算回路6は次の
原理で演算を行なう。
The operation will be explained below. The speed type PID calculation circuit 6 performs calculations based on the following principle.

式(2)で与えられた位置形PID制御式を微分すると
、次式が得られる。
By differentiating the position type PID control equation given by equation (2), the following equation is obtained.

ΔPn=Kp (en−en−1)+KI en+KD
(en−2en−1+en−2)・・・・・・・・・(
3) ここで制御量をXo、目標値をRとすれば、en= n
 −xn−−−−−−−・−(4)よって(3)式から Δpn=Kp(xn−s XH)+に夏(R−Xn)+
KDC2Xn−1Xn −Xn−2)・・・・・・・・
・(5) 式(5)において、目標値Rは積分項ゲインKx Kの
み含まれており、目標値Rに近づく場合には、比例ゲイ
ン′KPと積分項ゲインに■の符号が逆圧なる。この性
質から、積分項ゲインに、 Kよるオーバーシュートを
抑制することができる。
ΔPn=Kp (en-en-1)+KI en+KD
(en-2en-1+en-2)・・・・・・・・・(
3) Here, if the control amount is Xo and the target value is R, then en= n
−xn−−−−−−・−(4) Therefore, from equation (3), Δpn=Kp(xn−s XH)+ and summer(R−Xn)+
KDC2Xn-1Xn-Xn-2)・・・・・・・・・
・(5) In equation (5), the target value R includes only the integral term gain Kx K, and when approaching the target value R, the sign of ■ becomes an opposite pressure to the proportional gain 'KP and the integral term gain. . Due to this property, overshoot due to K can be suppressed in the integral term gain.

位置形PID演算回路1と速度形PID演算回路6の制
御の切替は、偏差比較回路7により行な値が大きい間は
、比例動作を主体にした位置形PID演算回路1により
操作量を演算する。偏差eが小さくなると偏差比較回路
7より、制御切替信号dが出力され、常閉接点C1と常
開接点C2がそれぞれ切替わり、積分動作を主体にした
速度形PID演算回路6により操作量を演算する。しか
し、この速度形PID演算回路6での演算結果は操作の
修正量が得られるだけであるので、積分回路8により積
分し、これを位置形PID演算回路1の演算結果に加え
ることにより、所定の操作量を得ることができる。この
とき、位置形PID演算回路1は入力が零であるので、
制御が切替わる前の出力値を保持し続けている。
Control switching between the position type PID calculation circuit 1 and the speed type PID calculation circuit 6 is performed by the deviation comparison circuit 7, and while the value is large, the manipulated variable is calculated by the position type PID calculation circuit 1, which mainly performs proportional operation. . When the deviation e becomes smaller, the control switching signal d is output from the deviation comparison circuit 7, the normally closed contact C1 and the normally open contact C2 are respectively switched, and the operation amount is calculated by the speed type PID calculation circuit 6 which mainly performs integral operation. do. However, since the calculation result of the speed type PID calculation circuit 6 only provides the amount of correction of the operation, it is integrated by the integration circuit 8 and added to the calculation result of the position type PID calculation circuit 1 to obtain a predetermined value. It is possible to obtain the operation amount of . At this time, since the input to the position type PID calculation circuit 1 is zero,
The output value before the control is switched continues to be held.

〔発明の効果〕〔Effect of the invention〕

以上のよ5IC5この発明によれば、従来の装置に速度
形PID演算回路と、偏差比較回路と、積分回路を付加
することにより、オーバーシュートの発生しない安定し
た動作のPID調節装置を実現できる効果がある。
According to the present invention, by adding a speed-type PID calculation circuit, a deviation comparison circuit, and an integration circuit to a conventional device, it is possible to realize a PID adjustment device that operates stably without overshoot. There is.

第1図は従来の直接ディジタルコントロール調節装置の
制御ブロック図、第2図はこの発明の一実施例による直
接ディジタルコントロール調節装置の制御ブロック図で
ある。
FIG. 1 is a control block diagram of a conventional direct digital control adjustment device, and FIG. 2 is a control block diagram of a direct digital control adjustment device according to an embodiment of the present invention.

1・・・位置形PID演算回路、2・・・DA変換器、
3・・・ホールド回路、4・・・制御対象、5・・・A
D変換器、6・・・速度形PID演算回路、1・・・偏
差比較回路、8・・・積分回路、Sl * 82・・・
サンプ2−1C1・・・常閉接点、C2・・・常開接点
1... Position type PID calculation circuit, 2... DA converter,
3...Hold circuit, 4...Controlled object, 5...A
D converter, 6... Speed type PID calculation circuit, 1... Deviation comparison circuit, 8... Integrating circuit, Sl*82...
Sump 2-1C1...Normally closed contact, C2...Normally open contact.

なお、図中、同一符号は同一、又は相当部分を示す。In addition, in the figures, the same reference numerals indicate the same or equivalent parts.

特許出願人 三菱電機株式会社 代理人 弁理士 8311%+@扇°≧コ、I : ・ +1 11゛許庁長官殿 1、事件の表示 特願昭 58−206198号2、発
明の名称 直接ディジタルコントロール調節装置 :3.補正をする雪 代表者片山仁へ部 5、補正の対象 159、3.2:3 6、補正の内容 (11別紙の通り特許請求の範囲を補正する。
Patent applicant Mitsubishi Electric Co., Ltd. agent Patent attorney 8311%+@fan°≧ko, I: ・ +1 11゛Mr. Commissioner of the Japan Patent Office 1. Indication of case Patent application No. 58-206198 2. Name of invention Direct digital control Adjustment device: 3. Part 5, Subject of Amendment 159, 3.2:36, Contents of Amendment (11 The scope of claims is amended as shown in Attachment 11).

(2)明細書をつぎのとおり訂正する。(2) The description shall be amended as follows.

7、 添付書類の目録 補正後の特許請求の範囲を記載した書面 1通以上 補正後の特許請求の範囲 積分特性を有しない制御対象に対するプロセス制御系の
直接ディジタルコントロール調節装置において、操作量
を演算する演算回路として、位置形PID演算回路と速
度形PID演算回路とを備え、入出力信号間で検出され
る偏差量により上記位置形PID演算回路及び速度形P
ID演算回路のいずれかを選択して上記操作量を演算さ
せろようにしたことを特徴とする直接ディジタルコント
ロール調節装置。
7. List of attached documents A document stating the amended scope of claims One or more amended claims In a direct digital control adjustment device of a process control system for a controlled object that does not have integral characteristics, the manipulated variable is calculated. The position type PID calculation circuit and the speed type PID calculation circuit are provided as calculation circuits for calculating the position type PID calculation circuit and the speed type PID calculation circuit according to the amount of deviation detected between the input and output signals.
A direct digital control adjustment device characterized in that the operation amount is calculated by selecting one of the ID calculation circuits.

Claims (1)

【特許請求の範囲】[Claims] 積分特性を有しない制御対象に対するプロセス制御系の
直接ディジタルコントロール調節装置において、操作量
を演算する演算回路として、位置形の第1比例積分微分
演算回路と速度形の第2比例積分微分演算回路とを備え
、入出力信号間で検出される偏差量により上記第1及び
第2比例積分微分演算回路のいずれかを選択して上記操
作量を演算させるよう圧したことを特徴とする直接ディ
ジタルコントロール調節装置。
In a direct digital control adjustment device for a process control system for a controlled object that does not have integral characteristics, a first proportional-integral-differential calculating circuit of position type and a second proportional-integral-differential calculating circuit of velocity type are used as calculation circuits for calculating the manipulated variable. Direct digital control adjustment, characterized in that one of the first and second proportional-integral-differential calculation circuits is selected and pressed to calculate the manipulated variable according to the amount of deviation detected between the input and output signals. Device.
JP20619883A 1983-11-02 1983-11-02 Direct digital control regulating device Pending JPS60100205A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP20619883A JPS60100205A (en) 1983-11-02 1983-11-02 Direct digital control regulating device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP20619883A JPS60100205A (en) 1983-11-02 1983-11-02 Direct digital control regulating device

Publications (1)

Publication Number Publication Date
JPS60100205A true JPS60100205A (en) 1985-06-04

Family

ID=16519415

Family Applications (1)

Application Number Title Priority Date Filing Date
JP20619883A Pending JPS60100205A (en) 1983-11-02 1983-11-02 Direct digital control regulating device

Country Status (1)

Country Link
JP (1) JPS60100205A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0449550A2 (en) * 1990-03-27 1991-10-02 Honeywell Inc. Thermostat with means for disabling PID control
JP2003039914A (en) * 2001-08-01 2003-02-13 Bridgestone Corp Pneumatic tire, and tire-rim assembly

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0449550A2 (en) * 1990-03-27 1991-10-02 Honeywell Inc. Thermostat with means for disabling PID control
JP2003039914A (en) * 2001-08-01 2003-02-13 Bridgestone Corp Pneumatic tire, and tire-rim assembly

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