JPS61226805A - Program control device - Google Patents

Abstract

PURPOSE:To execute the program control without fail by selecting respectively one necessary group out of the arrival target group and the target change ratio group corresponding to respective sequence steps of the program control and obtaining the target operating output. CONSTITUTION:When the selecting signal S1 is given from a sequence control part 13 to selecting circuits 11 and 12, the circuit 11 selects one out of arrival change value groups A, supplies to a change-over part 14, and the circuit 12 selects one out of target change ratio groups B and supplies to a change ratio limit part 15. The change-over part 14 fetches the target value selected by a change-over signal S2 from the control part 13 and supplies to the limit part 15. The limit part 15 receives a control signal S3, changes the target setting value toward the target value in accordance with the target change ratio from the circuit 12 and sends to a setting value selecting output part 16. An output part 16 changes over to a program control mode by a change-over S4, and then, sends the target setting value to a feed-back control part 17 and sends to the change-over part 14 while the change of the target setting value is stored. The control part 17 outputs the operating signal in accordance with the deviation with the target setting value and the process detecting value PV.

Description

[Detailed description of the invention] [Technical field of invention] The present invention relates to improvements in program control devices.

[Technical background of the invention and its problems] This type of conventional programmable m+ device uses a function generator and a program setting device to calculate the time t as shown in FIG.
The program control is executed while outputting a broken line pattern that changes the target set value s from time to time as the time progresses. Therefore, the means for determining the target setting value in this device is set at every moment according to the broken line pattern shown in FIG.
The feature is that the set value s■ is changed.

However, when using the above target setting value determination means, it is difficult to track the target setting value at the beginning of the program fsIIIW@, and it is difficult to track the target setting value at the beginning of the program fsIIIW@. When performing control to jump to a value, it is necessary to perform processing in accordance with the time axis of the broken line pattern, but there is a drawback that this time axis alignment processing becomes extremely complicated.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and
It is an object of the present invention to provide a program control device that eliminates the need for conventional polygonal line patterns and time axis alignment processing of the patterns, determines a target setting value or a target operation output value through simple processing, and executes program control.

[Summary of the invention]

In the present invention, a target value and a target change rate are determined in advance in correspondence with each sequence step, and a target value and a target change necessary for a predetermined sequence step are selected from among a group of target values and a group of target change rates. The present invention is a program control device that selects a rate and executes program control while changing a target setting value or a target operation output value in accordance with the selected target rate of change toward the target value.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2. First, when executing program control as shown in the first factor in the apparatus of the present invention, the required target values A1 to A4 and target change rates 81 to B4, etc., are determined in advance in correspondence with each sequence step, and these are The target value group A and the target change rate group B are supplied to a selection circuit 11.12 shown in FIG. This selection circuit 11
．． 12, upon receiving the selection signal S1 from the sequence control unit 13, selects both or any one of the target value to be achieved and the target rate of change corresponding to the sequence step from the target value group A and the target rate of change group B. Select and output,
It is supplied to the subsequent switching section 14. The sequence control section 1
3 has a time clock means, and outputs a selection signal S1 corresponding to each sequence step every time a predetermined time determined based on the program control shown in FIG. 1 is reached.
In response to the settings of the program control mode and manual control mode, either manually or under program control, it outputs, for example, a switching signal S2, a rate of change control signal S3, and a control mode signal S4. The switching section 14 has a function of receiving the switching signal S2 and switching between the input terminal of the current target setting value S1 and the input terminal of the attained target value outputted from the selection circuit 14. Reference numeral 15 denotes a rate-of-change limiting unit which receives the rate-of-change control signal S3 output from the sequence control unit 13, takes in the target rate of change selected by the selection circuit 12, and outputs the target value from the switching unit 14. It has a function of changing and outputting the target setting value according to the target rate of change. Reference numeral 16 has a switching selection section and a storage section, which takes in and outputs the target setting value from the change rate limiting section 15 when in the program control mode, and also stores it in a storage section such as a register and stores the current target setting value. This is a set value selection output section which is applied to the switching section 14 as a set value. Although not shown in the figure, this set value selection output section 16 can output the target set value by artificially changing the contents of the storage section in the manual control mode, and at this time, the selection section 14 similarly outputs the target set value. The target setting value is sent. Reference numeral 17 denotes a feedback control unit that compares the target set value and the process detection value (control value) PV and obtains a manipulated output MV that makes the deviation zero.

Next, the operation of the device configured as above will be explained.

Assume that the program control mode is set artificially or based on a sequence program, and then the program control shown in FIG. 1 is performed. First, when the selection signal S1 is given from the sequence control unit 13 to each selection circuit 11.12 at the start point STI shown in FIG. A1 is selected and supplied to the switching section 14, and the other selection circuit 12 selects one target change rate B1 from the target change rate group B and supplies it to the change rate limiting section 15. The switching unit 14 receives the switching signal S2 from the sequence control unit 13 for selecting the output of the selection circuit 11 in the program control mode, so upon receiving this switching signal, it takes in the target value A1 and selects the target value A1. The rate of change is supplied to the rate of change limiting section 15. Here, since the rate of change control signal S3 is inputted to the rate of change limiter 15 in the program control mode as described above, when one target IA1 is sent from the switching unit 14, this target ( i[A1, the target set value is changed and output according to the target change rate B1 from the selection circuit 12. As a result, the change rate limiting section 1
5 outputs a target setting value as shown in FIG. When the set value selection output section 16 switches from the non-program control mode to the program control mode, the set value selection output section 16 takes in the target set value from the change rate limiting section 15 and supplies it to the subsequent feedback control section 17, and also outputs the target set value. The change value is sent to the switching section 14 while being stored and held in the storage section from time to time. The feedback control unit 17 compares the target setting value based on A in FIG. 1 with the process detection value PV, obtains an operation output according to the deviation, and controls a process (not shown).

Next, as time passes and a certain point ST2 is reached,
The selection signal S1 is output again from the sequence control section 13 and applied to each selection circuit 11.12. Here, the selection circuit 11 selects the next attained target value A2 from the attained target value group A, as described above, and then sends the selected value to the change rate limiting section 15 via the switching section 14. Similarly, the selection circuit 12 selects the next target rate of change B2 from the target rate of change group B and supplies it to the rate of change limiter 15. As a result, the change rate limiting section 15 outputs a target setting value that changes toward the target setting value A2 according to the target change/change rate B2, and supplies it to the setting value selection output section 16. This setting value selection output section 16
takes in the target setting value from the change rate limiting section 15 and supplies it to the subsequent feedback control section 17 . As a result, the feedback control unit 17 compares the target setting value based on the position shown in FIG. Become. As described above, the target values A1 to A4 and the target change rates 81 to B4 are sequentially selected from the target value group A and the target change rate group B for each sequence step, and the target change rate corresponding to each sequence step is selected. While changing the target setting value so as to reach the target value, the feedback control unit 17 obtains an operation output and controls the process.

Therefore, according to the configuration of the embodiment as described above, the target value and target change rate are selected based on the selection signal and switching signal from the sequence 11111 section 13 for each sequence step, and the target setting is performed using the selected values. Since we decided to control the process by setting values, we simply set each part 11 to 16.
By simply giving a timing signal to the Depending on the state of other process detection values, program control can be stopped or
Although it may be necessary to skip to the next step, this device allows you to easily stop program control or change to manual control by switching each part of the sequence control section 13.
Since the target set value for program control of the set value selection output unit 16 is stored and held at the time of switching, the stored target set value can be used to execute program control in R&1 again. On the other hand, conventional programs that execute program control along a polyline pattern
When stopping time or jumping in time, the time axis alignment process becomes extremely complicated.

In the above embodiment, separate signal lines are used to supply the signals S21'3 and S3 to each switching section 14 and rate of change limiting section 15, but the same signal line is used to supply signals S21'3 and S3 to each section 14, 15. It is also possible to supply the signal S2 or S3 to the signal S2 or S3. Furthermore, although the switching signal S2 is obtained separately from the program control mode signal S4, both signals S2 and S4
Each signal may be obtained using the AND condition.

Furthermore, although the above embodiment has been described with respect to an example of obtaining a target setting value, it can be similarly applied to obtaining a target operation output. In this case, feedback control is not required, and the target value group A and the target rate of change group B are respectively determined for the operation output.

〔Effect of the invention〕

As detailed above, according to the present invention, the program 111
The configuration is such that the target setting value or target operation output is obtained by selecting the required one from the target value group and target change rate group corresponding to each of the 11 sequence steps, so it is very simple. It is possible to provide program control 81 in which program control can be reliably executed through processing, and in which temporary stop of program control and control to jump to the next step can be easily realized.

[Brief explanation of drawings]

1 and 2 are for explaining an embodiment of the program control device according to the present invention, and FIG. 1 is a diagram for explaining the target value and target change rate of program control;
FIG. 2 is an overall configuration diagram of the device, and FIG. 3 is a broken line pattern diagram illustrating conventional program control. 11.12...Selection circuit, 13...Sequence control section, 14...Switching section, 15...Change rate limiting section, 16
... Set value selection output section, 17... Feedback control section.

Claims (1)

[Claims] In a program control device that executes program control according to predetermined program sequence steps, a target value group and a target change rate group corresponding to each sequence step are provided, and from each group, the target value at a predetermined sequence step is determined. A selection means for selecting and outputting an attained target value and a target rate of change, a current target setting value or an operation output value, and the attained target value are input, and selects and outputs the attained target value in the program control mode. The apparatus also includes a change rate control means for changing and outputting the target setting value or target operation output value according to the selected target change rate toward the attained target value, and a setting means in a manual control mode and a program control mode. death,
Program control characterized by comprising a set value or manipulated output value selection output unit that stores and outputs the target set value or target manipulated output value output from the rate of change control means when in the program control mode. Device.