JPS61256401A - Adaptive controller - Google Patents

Abstract

PURPOSE:To attain the automatic control of a controlled system and to avoid the danger caused by a manual operation by using a PID controller to back up a self-tuning regulator STR when it has a trouble and suppressing the disturbance produced by the initial working of the STR. CONSTITUTION:A self-tuning regulator STR2 is connected to a controlled system 1 and a PID controller 4 is tracked with the output value of the STR2. A changeover switch which is controlled by a switch controller 9 is provided between the output part of the STR2 and the controlled system 1. Thus the STR2 is separated and the controller 4 is connected to the controlled system 1 when the STR2 has a trouble or has its initial working. The switch 3 is changed over by the self-diagnosis function when the STR2 has a trouble. Then the controller 4 tracks a manipulated variable 6 through a tracking device 5. This can avoid the danger caused by a manual operation.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The BA of the present invention can be applied to chemical processes such as distillation towers and fermentation processes, and thermal processes such as steam temperature control in Deira. R@gulat
or).

[Conventional technology]

For example, there is a growing need in various fields for control systems that can automatically adjust controllers in response to changes in plant conditions over time and operating conditions, and maintain control systems in good condition at all times. ing. Among these, adaptive control devices can proactively eliminate deterioration in control performance due to fluctuations in the dynamic characteristics of the ground, and can aim for a much higher level of control than conventional control devices, so they can meet the above needs. It is considered suitable.

This type of adaptive control device is configured as shown in FIG. 2, for example. In Figure 2, 01 is the controlled object, 02 is 8TR
, OJ is a changeover switch, and 04 is a manual setting device. This 8TTtOjl operates so as to minimize the difference between the control amount and the target value, that is, the variance of the control deviation.

[Problem that the invention seeks to solve]

In the conventional adaptive control device shown in FIG.
When activating 2 initially, selector switch 03
Cut TRo2, manually determine the amount of operation, and set 5TRO.
When 2 is at the stage where it can output the normal manipulated variable, it changes to the automatic side.
Since the connection has to be made, it is difficult to operate the controlled object o1 during manual operation. Another problem is what to do when 5TROJ becomes abnormal.

The present invention was proposed to solve the above-mentioned conventional problems, and it facilitates the initial operation of the STR and its disconnection in the event of a failure, and enables automatic control of the controlled object even after the STR is disconnected, thereby eliminating manual operation. The object is to provide an adaptive control device that can avoid danger.

[Means for solving problems]

The adaptive control device according to the present invention has an S
TR, a PID controller that performs tracking using the output value of this STR, and a PID controller that is disposed between the output section of the STR and the controlled object, and that controls the STR at the time of failure or initial operation of the 'STR. The present invention is characterized in that it includes a changeover switch that disconnects and connects the PID controller to the side and the target.

[Effect]

According to the present invention, when the self-diagnosis function of the STR determines that the STR is malfunctioning, or when it is determined that a normal output cannot be obtained during the initial operation of the STR, the changeover switch is operated to control the STR. The PID controller and the controlled object are connected to each other while being separated from the object, and when the STR and the controlled object are connected, the tracking of the PID adjuster is performed using the output value of the STR. The tracking value is synchronized with STR sampling and set to the STR output value at the previous sampling time to facilitate the initial operation of the STR, and to shift to PID control in the event of a failure, thereby ensuring smooth operation. It is designed to enable automatic driving and solve the problems of the conventional technology.

〔Example〕

An embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a diagram showing the configuration of an embodiment of the present invention, where 1 is a controlled object, 2 is a 5TR13 is a changeover switch, and 4 is a PID.
A regulator, 5 a tracking device, 6 a manipulated variable, 1 a controlled variable, 8 an output, and 9 a switch changeover device. In Fig. 1, a changeover switch 3 is placed in a system that controls the controlled object 1 by 5TR2''q, and under certain conditions described later, the connection between A and 0 of the changeover switch 3 is changed to the connection between B and 0, and the PID controller It consists of 4 switching systems.

Further, the PID controller 4 uses the tracking device 5 to set the value of the manipulated variable 6 to STR, ? is tracked in synchronization with the sampling period of However, the tracking value is the value held during the previous sampling. Further, tracking is canceled when the changeover switch 3 is connected between B and 0, and is performed only when A and 0 are connected. Next K 5
The TR2 has a general function of sampling the manipulated variable 6 and the controlled variable 7 and always calculating the output 8 regardless of the switching of the changeover switch 3.

The changeover switch 3 is changed over by a switch changeover device 9. Since the switch changeover device 9 cannot obtain a normal output during the initial operation of the 5TRj, a command is given to the switch changeover device 9 when the operator determines that it is in a normal state. Switch 3 to A-0
Since 5TRj is generally realized by a computer, the computer has a self-diagnosis function that switches the changeover switch 3 to the connection between B and 0 in the event of a failure.

The operation of the above embodiment of the present invention will be explained.

In Fig. 1, when the 5TRJ is initially operated, the changeover switch 3 is connected between B and 0, a PID control system is configured, and the ST
R,? When it reaches the stage where it outputs a normal output, the changeover switch 3 is connected between A and 0, and 5TRJ is connected to the controlled object 1 to form the original adaptive control system. Next, when 5TR2 breaks down, use the self-diagnosis function to set changeover switch 3 to B-0.
The PID control system is configured by switching the connection between the two. here,
The PID controller 4 tracks the operation amount 6 using the tracking device 5, and the changeover switch 3 changes from A to C to B.
-C, a smooth operation ft6 can be applied to the controlled object l. Also, the tracking value is 5TR2
Synchronize with the sampling period of STR,?
The value is set to hold the previous sampling of the output of 7'.

〔Effect of the invention〕

In view of the above, according to the present invention, it is possible to suppress the disturbance during the initial operation of the STR, and the pack axle at the time of STR failure is reduced to PID.
This is possible with a regulator. In particular, the pre-sampled value of the STR output is used for tracking the PID controller,
Since the output at the time when the STR determines a failure through self-diagnosis is not normal, it has excellent effects such as being able to track the normal output before it is determined to be a failure through self-diagnosis to the PID14 node. It is something.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of an embodiment of the present invention, and FIG. 2 is a diagram showing a conventional example. No. Controlled object, 2. STR, J. Changeover switch, 4. PID controller, 5. Tracking device, 9. Switch changeover device. Figure 1

Claims (1)

[Claims] An STR connected to a controlled object, a PID controller that performs tracking using the output value of the STR, and the STR
is arranged between the output section of the STR and the controlled object, and the STR
An adaptive control device comprising: a changeover switch that disconnects the STR and connects the PID regulator to the controlled object at the time of failure or initial operation of the adaptive control device.