JPS60225903A - Control parameter optimizing device of control device - Google Patents

Abstract

PURPOSE:To obtain a control parameter optimizing device of a control device having a high generality by constituting it so that a control parameter of various control systems can be optimized freely. CONSTITUTION:An optimizing device 10 is constituted of an input part 12 to which a set value input signal S1 is inputted, an input part 14 to which a detecting value input signal S2 is inputted, an output part 16 of a set adding signal S3, an output part 18 of a parameter setting signal S4, an output part 20 of an optimization end signal S5, an output part 22 of an abnormality end signal S6, and an operating part which is not shown in the figure. First of all, a value of a control parameter is outputted in the step S1, and subsequently, a target response and a set adding signal are determined in the step S2, and an operation of an evaluating function is executed based on an inputted detecting value in the step S4. Subsequently, a value of a control parameter is determined in a parameter search range based on an optimizing calculation by said operated evaluation function value in the step S5.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field] The present invention relates to a control parameter optimization device for a control device.

[Prior art]

As a device for optimizing control constants (parameters) of a control device, there is a conventional method of tentatively drafting a control system model, identifying the system, and determining control parameters by performing optimization on the model.田1-h□4411
#I+I11. The conventional methods depend on the degree of approximation of the model and are not versatile enough to be applied to any control system.

[Purpose of the invention]

The present invention has been made in view of the above points, and an object of the present invention is to provide a control parameter optimization device for a control device that is extremely versatile and can freely optimize control parameters of various control systems. shall be.

[Summary of the invention]

In order to achieve the above object, the present invention provides a means for outputting a control parameter setting signal to a control device, and determining a target response and setting addition signal at the end of optimization processing and controlling the setting addition signal to the control device. A means for outputting to the device and a means for inputting the detected value from the control device are provided. In the present invention, further.

A means is provided for calculating an evaluation function by the descent method, which is an optimization method, based on the detected value from the input means, and an optimal parameter is searched for a predetermined parameter based on the nine evaluation functions calculated by the print calculation means. There is a means to search and decide within a range. If the control parameters determined in this way are optimized, the control device performs the prescribed control based on the control parameters, whereas if the control parameters are not optimized, the above-mentioned methods are used until the control parameters are optimized. procedure
.

It is configured to output an optimization end signal at the point of repeated optimization.

〔Example〕

Hereinafter, one embodiment of the present invention will be described with reference to the attached nine drawings.

FIG. 1 is an explanatory diagram showing the relationship between input and output signals of a control parameter optimization device for a control device according to the present invention. 10 is a control parameter optimization device, and this optimization device 10 includes signal input units 12, 14 and signal output units 16, 18, 2.
0, 22 and an arithmetic unit (not shown) are provided.

A set value input signal S1 is input to the input section 12, and a detected value input signal S1 is input to the input section 14. Further, the setting addition signal Sa is output from the output section 16, and the output section 1
8 outputs a parameter setting signal S4, and the output section 2
An optimization end signal S is output from output section 2.
2 outputs an abnormal end signal S@.

In this P optimization device 10, as initial settings, the target response, the calculation time of the evaluation function, the control parameters, the parameter increments for calculating the differential coefficient, , parameter increments for end determination, etc. can be set. The targeted response can also use a set point input signal.

In addition, as shown in FIG. 2, which will be described later, the calculation section performs optimization calculations for control parameters, calculations for evaluation functions, determination of target responses, determination of setting addition signals, determination of completion of optimization, and determination of abnormal termination. Make judgments, etc.

In this case, the control parameter optimization calculation is performed using a descent method based on a well-known evaluation function, and the calculation formula for the evaluation function can be redefined as appropriate within the calculation unit.

FIG. 2 is an explanatory diagram conceptually showing the configuration of the control parameter optimization device, and is a flowchart showing an example of its operation.

In the same figure, 30 is a means for outputting the set bond of control parameters to a target control device (not shown). 3
Reference numeral 2 denotes means for determining a target response and a setting addition signal and outputting the setting addition signal to the control device when the optimization process is not completed. 34 is a means for inputting the detected value from the control device, and 36 is a means for calculating a descent evaluation function, which is an optimization method, based on the detected value from the input means 34. 38 is a means for calculating this calculation means. 36 is a means for searching and determining the optimum control parameters within a predetermined search range based on the evaluation function calculated by the search means 36. 40 is a means for searching and determining the optimum control parameters within a predetermined search range based on the evaluation function calculated by the search means 38. The optimization processing determining means 40 generates a command f to repeat the procedure by the above means until optimization is achieved, and outputs an optimization end signal at the time of optimization. In addition to the optimization termination process, a function to determine whether or not the termination has occurred abnormally is also added.

The control parameter optimization device of this embodiment is configured as described above, and its operation will be explained next.

First, in step S1, control parameter values are output.

Next, in step Sm, a target response and a set addition signal are determined. Next, in step Sm, a setting addition signal is output and a detected value is input.

Next, an evaluation function is calculated based on the detected value input in step S4. In this case, the evaluation function is calculated only for the set time. Next, using the value of the evaluation function calculated in the step S, the value of the control parameter is determined within the parameter search range based on the optimization calculation. Determine whether optimization of has been completed. If completed, step 8. Go to step S, if it has not finished, return to step S and repeat the execution of the steps described above until the optimization point.0 At step S, it is determined whether or not it has ended abnormally, and if normal, go to step S1 and perform the optimization Output the conversion completion signal, and if there is an abnormality, step 8. and outputs an abnormal end signal.

FIG. 3 is a block diagram showing the basic connection relationship between the control ζ parameter optimization device and the control system according to the present invention.

In the same figure, 42 is a control device connected to this optimization device 10, 44 is a controlled object, and 4B is a set value input signal, 48 is a setting addition signal, 50 is a parameter setting signal, and 52 is a detected value input. The signal 54 is an input signal to the controlled object 44, and 56 is a detection signal from the controlled object 44.

By connecting the control parameter optimization device 1o to the control system as described above, control parameters can be easily optimized in accordance with the control system.

FIG. 4 is a block diagram showing an example in which the basic connection relationship shown in FIG. 3 is applied to an automatic speed control system for a DC motor.

In the figure, 10(1) and 10(2) are control parameter optimization devices for the speed control system (major loop) and the current control system (minor loop), respectively. 58 is an amplifier for speed control, 60 is an amplifier for current control, 62 is a DC motor which is a load to be controlled, 64 is a connection part between a speed (rotation speed) detection signal and a setting addition signal to be described later, 66 is an armature current 68 is a motor input voltage output device, 70 is an armature current detection unit, 12 is a speed detection unit, 74 is a setting addition signal to the speed control amplifier 58, and 76 is a matching unit with a setting addition signal to be described later. A gain setting signal for the amplifier 58, 78 a time constant setting signal for the amplifier 58, and 80 a current control amplifier 6.
0, a setting addition signal to the amplifier 60 from 82 companies, 84 a gain setting signal to the amplifier 60, 86 a time constant setting signal to the amplifier 60, 88 an input to the speed detection amplifier S8 signal, 90 is an input signal to the amplifier 58;
92 is the output signal of the amplifier 58, 94 is the input voltage to the motor 62, 96 is the armature current, 98 is the armature current detection signal, 100 is the speed of the motor, and 102 is the speed detection signal.

As described above, even when there are two or more control systems in the control system, the desired objective can be achieved by providing each control parameter optimization device.

〔Effect of the invention〕

As described above, the present invention has the following effects.

(1) Unlike conventional devices, this device does not have the disadvantage of being applicable only to a specific control system, and is a general-purpose device that can be widely applied to various control systems.

(2) The control parameter optimization device of the present invention can be easily connected to various types of control devices, and there is no trouble in implementing it.

(3) A target response can be freely determined by the arithmetic unit in the optimization device.

(4) Similarly, the calculation formula for the evaluation function that provides the criteria for determining control parameters can be freely defined depending on the control system.

(5) Similarly, the search range for control parameters can be set depending on the control system.

(6) Furthermore, the accuracy at the end of the optimization process can be changed depending on the control system.

(7) Furthermore, since signals indicating the end of the optimization process and the end of the abnormal process can be output, the operator can quickly know that the optimization process has ended and that the abnormal process has ended.

(8) Furthermore, the optimization device of the present invention has no limit to the number of control parameters to be optimized, and is highly expandable6.

[Brief explanation of drawings]

FIG. 1 is a schematic explanatory diagram of a control parameter optimization device for a control device according to the present invention, which is equipped with an input/output unit, etc., and FIG. 2 conceptually shows the configuration of the device shown in FIG. 1, and an example of the operating procedure. 3 is a four-dimensional diagram showing the basic configuration when the device of the present invention is connected to a control system, and FIG. 4 is a flow chart showing the basic configuration of the device of the present invention when connected to a control system. It is a block diagram when applied to. 10... Control parameter optimization device 12... Input unit for setting value input signal 14... Input unit for detected value input signal 16... Output unit for setting addition signal 18... Output of parameter setting signal Unit 20... Optimization end signal output unit 22... Abnormal end signal output unit 30... Control parameter setting signal output means 32...
- Means 34 for determining the target response and set addition signal and outputting the set addition signal...Detected value input means 3B...Evaluation function calculation means 38...Control parameter determining means 40...・Optimization process completion determination means

Claims (1)

[Claims] (1) In a device for optimizing control parameters of a control device, there is a means for outputting a control parameter setting signal to the control device, and a means for determining a target response and a setting addition signal at the end of the optimization process and adding the setting. A means for outputting a signal to the control device, a means for inputting a detected value from the control device, and a means for calculating an evaluation function by a descent method, which is an optimization method, based on the detected value from the input means. Then, based on the evaluation function calculated by the calculation means, the non-optimal control parameters are searched within a predetermined parameter search range, and the results are as follows: Katsuai - 1 sun = pi, aI - tuna table 6 - m54 * b -; Cn + la −νh
``Funi8JPj^'' - means for determining whether or not the control parameters have been optimized, instructing to repeat the procedure by the above means until optimization is achieved, and outputting an optimization end signal at the time of optimization; A control parameter optimization device for a control device, characterized in that: