JPS6010301A - Operation controller - Google Patents

Abstract

PURPOSE:To attain bumpless switching by feeding back an output of a data storage device to an input side of a register when the data storage device and the register are opened in the changeover of automatic control and manual control. CONSTITUTION:A switch 15 changes over an output signal of an operating device 5 and an output signal of the data storage device 8 and gives an either signal to the register 6. When the manual-automatic setter 12 is thrown to the automatic position, the register 6 is connected to the operating device 5 and when thrown to the manual position, the register 6 is connected to the output side of the device 8. Although the setter 12 is thrown again to the automatic position, the switch 7 is closed and the output signal of the register 6 is inputted to the device 8, since the register 6 holds the final output of the device 8 as the initial value, the operation is executed from the self-hold data of the device 8 and the changeover without rapid fluctuation in the manipulated variable is attained.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an arithmetic and control device that performs bumpless switching between automatic control and manual control.

Conventionally, there was a device of this type shown in Figure 1 (
January Controlled object, (2) is a converter that converts the feedback signal of controlled object (1) into the input signal of the first computing unit (4), (3) sets the control amount of controlled object (1) (4) is the 1st calculation unit that calculates the difference between the setting device (3) and the input converter (2), (5) is the second calculation unit that calculates the operator input to the controlled object (1) The register (8) that holds the calculation results of the arithmetic unit (5) is a data holding device and is connected to the register (6) through the switch (7). (9
) is the control target (1) for the output signal of the data holding device (8).
DI is a data holding device (
8) Switch on the setting device to increase the retained data □□□
It is connected to the data holding device (8) via the. αp is a setting device that decreases the data held by the data holding device (8) and switch 041? M is connected to the data holding device (8). (B) is an automatic-manual setting device that switches switch (7) f4 (1◆).

Next, the operation will be explained. The feedback signal of the control pair rυ is converted by the input converter (2) and sent to the first υ operator (
The difference between the control amount and the control amount of the setter (3) given in April is calculated. The output signal of the first arithmetic unit (4) is transmitted to the second arithmetic unit (
6) and is operated on the data held in register (6). The operation result of the second 9-contributor (5) is stored in the register (6
) is retained. Switch (7) is automatic-manual setting'a
) is closed and the data held in the register (6) is transmitted to the output data holding device (8).

The switch (turn) and θ are closed when the automatic hand wJ setter @ is on the automatic side, separating the setters αq and θρ from the data holding M k (8). Output data holding device a
! The output signal (8) is converted into the manipulated variable of the controlled object (1) by the output conversion device (9). In this way, when the automatic-manual setting device 4 is on the automatic side, the controlled object (ri) is controlled by the computing unit (5).Next, when the automatic-manual setting device (2) is on the manual side, The operation of the arithmetic unit (5) is stopped.

That is, the switch (7) is opened and the output signal of the data holding device k (8) maintains the same state. At this time, switch (
to).

(+41 is closed, and setting devices 01 and 0η are connected to the gutter holding device to increase or decrease the output signal of the data holding device (8). In this way, in manual operation, the setting device αQ or the setting device Qυ is used. Operation M to controlled object (1)
The control amount can be controlled by changing L.

Conventional arithmetic and control devices are configured as described above, so if you switch from automatic to manual and manually increase the amount of operation (7JI) or decrease it, then switch to automatic, the data held by the shishista and the gutter holding device will be changed. This has the drawback that a 1ζ difference in the retained data occurs, and the manipulated variable changes rapidly, which adversely affects the controlled object.

This invention was made for the purpose of eliminating the above-mentioned drawbacks of the conventional device, and when the data holding device is separated from the register, the final output of the gutter holding device is used as the initial value of the register. An arithmetic and control device capable of bumpless switching is provided.

An example of this investigation will be described below.

In FIG. 2, (a) is a switch that switches between the output signal of the second arithmetic unit (5) and the output signal of the gutter holding device (8), and supplies one of the signals to the register (6); When the manual-automatic dosing device (2) is on the automatic side, connect the register (6) to the second computing unit (5), and on the automatic side, connect the register (6) to the output of the data holding device (8). Connect to the side.The other configuration is the same as in Figure 1, so
The explanation will be omitted.

Next, the operation of the embodiment will be explained. The switch (g) is closed to the a side when the automatic-manual setting device (a) is on the automatic side, and the register (6) is connected to the second arithmetic unit (5). In this case, the controlled object (1) is automatically controlled by the arithmetic unit (5) in the same way as in the conventional system. Next, when the automatic-manual setting device (2) is set to the manual side, the switch) is closed to the b side, and the register (switching) is connected to the output side of the data holding device (8). With the switch 0η, the output signal of the gutter holding device (8) is increased or decreased to control the operation amount of the controlled object (1), but when the switch 0
After passing through 1G, the output signal of the data holding device if (8) is also applied to the register (6) and always has 14- data and data.

Once again, when the automatic-manual setting device (b) is set to the automatic side, the switch (7) is closed and the output signal of the register (6) is input to the data holding device (8). Since the final output of (8) is held as the initial value, calculations are executed from the self-held data of the data holding device (8), so switching can be performed without sudden fluctuations in the manipulated variable.

Although the above embodiment describes switching between automatic control and manual control, the same effect as in the above embodiment can be achieved even when switching between different control systems.

As described above, according to the present invention, when the gutter holding device and the register are disconnected, the power of the data holding device is returned to the input side of the register, so that bumpless switching is possible and sudden control fluctuations This has the effect of providing an arithmetic and control device that is free of noise.

[Brief explanation of the drawing]

FIG. 1 is a circuit diagram showing a conventional arithmetic and control device, and FIG. 2 is a circuit diagram showing one embodiment of the arithmetic and control device according to this investigation. In the figure, (1) is the controlled object, (2) is the input converter, (3) is the control amount setting device, (April is the first computing unit, and (5) is the second
arithmetic unit, (6) 1 is a register, (7) is 0, 0→,
ah is a changeover switch, (8) is a data holding device, (9)
is the output converter, θQ. (b) is an increase/decrease setting device, and @ is an automatic-manual setting device. In the drawings, the same reference numerals indicate the same or equivalent parts. Agent Masuo Oiwa

Claims (1)

[Claims] A 10th circuit that holds the first input, a second circuit that holds either the output of the first circuit or the input of ttm2 and serves as the operator to be controlled, and the national power of this second circuit. a loop feeding back to the input side of the first circuit; and a loop feeding back to the input side of the first circuit;
When the circuit holds the output of the first circuit, the first circuit holds the output of the first circuit.
an arithmetic and control device, comprising switching means for connecting the input of the loop to the first circuit, the second circuit holding the second input, and the switching means for connecting the loop to the first circuit.