JPS6170607A - Process controller - Google Patents
Process controllerInfo
- Publication number
- JPS6170607A JPS6170607A JP19216284A JP19216284A JPS6170607A JP S6170607 A JPS6170607 A JP S6170607A JP 19216284 A JP19216284 A JP 19216284A JP 19216284 A JP19216284 A JP 19216284A JP S6170607 A JPS6170607 A JP S6170607A
- Authority
- JP
- Japan
- Prior art keywords
- identification
- signal
- control
- transfer function
- process control
- Prior art date
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
- G05B13/022—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance using a perturbation of the variable
- G05B13/0225—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance using a perturbation of the variable being a periodic perturbation
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、プロセス制御装置に関し、特に制御・（ラメ
ータを自動的だ設定する機能を持った −プロセス制御
装置の改良に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a process control device, and particularly to an improvement of a process control device having a function of automatically setting control parameters.
プロセス制御対象全最適に制御するには、プロセス制御
装置を構成する調節計のＰＩＤ演算処理での各ＰＩＤパ
ラメータ全プロセス制御対象の動特性に適した値に設定
する必要がある。そこで従来％ＰＩＤ／４１ラメータは
、プロセス制御対象の同定を行なってプロセス制御対象
の動特性を求め、この動特性から算出して設定している
。In order to optimally control all the process control objects, it is necessary to set each PID parameter in the PID calculation processing of the controller constituting the process control device to a value suitable for the dynamic characteristics of all the process control objects. Therefore, conventionally, the %PID/41 parameter is set by identifying the process control target, determining the dynamic characteristic of the process control target, and calculating from this dynamic characteristic.
すなわち、動作中のプロセス制御対象に例えばＭ系列信
号からなる同定信号を与え、これによるプロセス制御対
象の応答出力と、このときのプロセス制御対象への入力
とに基づいて演算処理を行ない、プロセス制御対象の動
特性が求められる。そして、この動特性を表わす伝達関
数からＰＩＤパラメータが算出され、このＰＩＤパラメ
ータが調節計に変更設定される。That is, an identification signal consisting of, for example, an M-sequence signal is applied to an operating process control target, and arithmetic processing is performed based on the response output of the process control target and the input to the process control target at this time, and process control is performed. The dynamic characteristics of the object are required. Then, a PID parameter is calculated from the transfer function representing this dynamic characteristic, and this PID parameter is changed and set in the controller.
ところが、プロセス制御対象の同定は、どの時点をもっ
て終了したのかの判断が難しい。つまり、同定によって
求められる伝達関数は、同定開始時、変動した値とな）
しだいに動特性を示す一定な値になる。そのうえ、伝達
関数が−１定の値になるまでの時間は、各プロセス制御
対象によって異なっている。したがって、全てのプロセ
ス制御対象のＰＩＤパラメータを算出するタイミングを
適切にとることが非常に困難であった。しかして、同定
時間が短か過ぎると、同定が不十分となって正確な動特
性が求められず、現在のプロセス制御対象に不適切なＰ
ＩＤ パラメータが設定されてしまう。また、同定時間
が長すぎると適切なＰｒＤ ／＃ラメータの設定はでき
るが、この設定までに時間がかかり適切なプロセス制御
の開始が遅くなってしまう。However, it is difficult to determine when identification of process control targets has ended. In other words, the transfer function obtained by identification has a fluctuating value at the beginning of identification.)
It gradually becomes a constant value indicating dynamic characteristics. Furthermore, the time it takes for the transfer function to reach a constant value of -1 differs depending on each process control target. Therefore, it has been extremely difficult to find an appropriate timing to calculate PID parameters for all process control targets. However, if the identification time is too short, the identification will be insufficient and accurate dynamic characteristics cannot be obtained, resulting in a P that is inappropriate for the current process control target.
ID parameter is set. Furthermore, if the identification time is too long, although it is possible to set an appropriate PrD/# parameter, it takes time to set this, and the start of appropriate process control is delayed.
本発明は上記実情に基づいてなされたもので、その目的
とするところは、プロセス制御対象に対して最適な制御
・セラメータを最適なタイミングでもって設定し得、迅
速に最適なプロセス制御ができるフロセス制御装置全提
供することにある。The present invention has been made based on the above-mentioned circumstances, and its purpose is to enable a flow process that can quickly perform optimal process control by setting the optimal control and ceramica at the optimal timing for the process control target. The entire control device is to be provided.
−〔発明の概要〕
本発明は、プロセス制御対象に同定信号全操作信号に加
えて与え、このときの前記プロセス制御対象から出力さ
れる制御信号と前記プロセス制御対象に与えた同定信号
と操作信号との加算信号とを演算処理して前記プロセス
制御対象の伝達関数を求め、同定終了判定部はこの伝達
関数の変化が所定範囲内に入ったことを判定して同定終
了信号を出力し、このときパラメータ演算部により伝達
関数を受けて制御・臂うメータを求め、これ全前記プロ
セス制御対象を制御する主制御部に設定するようにした
プロセス制御装置である。- [Summary of the Invention] The present invention provides an identification signal in addition to all operation signals to a process control object, and at this time, a control signal output from the process control object, an identification signal and an operation signal given to the process control object. The transfer function of the process control object is obtained by calculating the transfer function of the process control target, and the identification end determination section determines that the change in the transfer function is within a predetermined range and outputs an identification end signal. In this process control device, a parameter calculation section receives a transfer function, determines a meter to be controlled and controlled, and sets this in a main control section that controls all of the process control objects.
〔発明の実施しＩＪ ］
以下、本発明に係るプロセス制御装置の一実施例につい
て第１図ないし第３図を参照して説明する。第１図はプ
ロセス制御装置の構成図である。第１図において１はプ
ロセス制御対象であり、２は主制御部としてのＰＩＤ制
御部であって、このＰＩＤ制御部２は％ＰＩＤ／ｆラメ
ータが２０ロセス制御対象１の動作状態に応じて適時変
更設定され、プロセス制御対象１から出力嘔れる制御信
号ｍと目標イ言号発生部３から出力される目標信号Ｃと
の偏差信号ｋを受け、この偏差信号ｋ ｔ−ＰＩＤ （
比例、積分、微分）演算処理し。[Practice of the Invention IJ] Hereinafter, one embodiment of a process control device according to the present invention will be described with reference to FIGS. 1 to 3. FIG. 1 is a block diagram of a process control device. In FIG. 1, 1 is a process control target, and 2 is a PID control unit as a main control unit. Receives a deviation signal k between a control signal m that has been changed and output from the process control object 1 and a target signal C output from the target signal generator 3, and calculates this deviation signal k t-PID (
Proportional, integral, differential) calculation processing.
この処理結果に得られた操作信号３をプロセス制御対象
ｌに送出してプロセス制御対象Ｊを制御するものである
０
４け同定信号発生部であって、とｆｉはプロセス制御対
象１の動特性金求めるための２値のＭ系列信号からなる
同定信号ｄを発生するものである。なお、同定信号ｄは
加算器５により扮作信号５ｌｃｉｌｉ畳されてプロセス
制御対象ＪＫ送られるようになっている。The operation signal 3 obtained as a result of this processing is sent to the process control object L to control the process control object J, where 0 and fi are the dynamic characteristics of the process control object 1. It generates an identification signal d consisting of a binary M-sequence signal for determining gold. The identification signal d is multiplied by the impersonation signal 5lcili by the adder 5 and sent to the process control object JK.
６はプロセス同定部であって、これはプロセス制御対象
ノの同定時、プロセス制御対象Ｊに送られる同定信号の
重畳した操作信号ｇとプロセス制御対象ノから出力され
る制御信号ｍとを所定のサンプリング周期でもって取込
んで操作信号ｇと制御信号ｍとの偏差を求め、この偏差
の２乗和か最小となるように、つまり最小２乗法により
プロセス制御対象１の動特性を表わす伝達関数ＧＣ８’
） ’ｃ演ｔ（Ｌ求めるものである。この伝達関数Ｇ（
ｓ）は次式のように表わされる。Reference numeral 6 denotes a process identification unit, which, when identifying a process control object, converts the operation signal g on which the identification signal sent to the process control object J is superimposed and the control signal m output from the process control object into a predetermined manner. The deviation between the operation signal g and the control signal m is acquired at a sampling period, and the transfer function GC8 representing the dynamic characteristics of the process controlled object 1 is calculated using the least squares method so as to minimize the sum of the squares of this deviation. '
) 'c operation t(L). This transfer function G(
s) is expressed as follows.
Ｇ（ｓ）＝□ ・・・（１）
ＧＯ＋Ｇ１・５−１−Ｇ２・Ｓ２＋Ｇ３・ｓ３ここで、
後述する同定終了の判定に重要な係数はＧＯ（！：ＧＩ
とである。すなわち、Ｇｏはプロセスダインの逆数で
あり、Ｇｌはプロセスの時定数をプロセスダインにより
除算したものである０
さて、１０は同定終了判定部であって、この同定終了判
定部１０はプロセス同定部６により求められる伝達関数
Ｇ（ｓ）のうち係数Ｇｏと０１と全監視し、これら係数
ＧＯと０１ とがそれぞれ設定された範囲内に入ったこ
と全判断し、この判定時に同定終了信号Ｅを設定用スイ
ッチＳＷ送出するものである。つまり、伝達関数Ｇ（ｓ
）は、同定開始時、第２図に示すように変動した値をと
る。そして、時間経過とともにプロセス制御対象１の動
特性を示す値に定まってくる。よって、同定終了判定部
１０１−１：、伝達関数Ｇ（ｓ）の変動が一定になって
きたことを係数Ｇｏ＋Ｇｔｔ監視することによって判定
している。G(s)=□...(1) GO+G1・5-1−G2・S2+G3・s3 Here,
The important coefficient for determining the end of identification, which will be described later, is GO(!:GI
That is. That is, Go is the reciprocal of the process dyne, and Gl is the process time constant divided by the process dyne. The coefficients Go and 01 of the transfer function G(s) obtained by are all monitored, and it is determined that these coefficients GO and 01 are within the respective set ranges, and the identification end signal E is set at the time of this determination. The switch SW sends out the signal. In other words, the transfer function G(s
) takes a fluctuating value as shown in FIG. 2 at the start of identification. Then, as time passes, the value becomes determined to be a value indicating the dynamic characteristics of the process control target 1. Therefore, the identification end determination unit 101-1 determines whether the fluctuation of the transfer function G(s) has become constant by monitoring the coefficient Go+Gtt.
ＪｌはＰＩＤパラメータ算出部であって、これは同定終
了判定部１０から出力された同定終了信号Ｅ 、 Ｅ’
によυ設定用スイッチＳＷが閉じたときに、プロセス同
定部６により求められた伝達関数Ｇ（ｓ） ｔ−受け、
この伝達関数Ｇ（ａ）に対応するＰＩＤパラメータを算
出し、設定用スイッチＳＷを介してＰＩＤ制御部２に送
出するものである。Jl is a PID parameter calculating section, which receives identification end signals E, E' output from the identification end determining section 10.
When the υ setting switch SW is closed, the transfer function G(s) obtained by the process identification unit 6 is
A PID parameter corresponding to this transfer function G(a) is calculated and sent to the PID control section 2 via the setting switch SW.
なお、上記した各部２，３，４，６，１０゜１１は中央
制御部（不図示）から発せられる指令により動作する。It should be noted that each of the above-mentioned sections 2, 3, 4, 6, 10.degree. 11 operates according to commands issued from a central control section (not shown).
次に上記の如く構成された装置の動作、特にＰＩＤ ７
４′ラメ一タ設定時の動作について第３図に示す同定終
了判定フローチャートに従って説明する。中央制御部か
ら同定開始指令が発せられると、同定信号発生部４は２
値のＭ系列信号からなる同定信号ｄｔ−送出する。この
同定信号ｄは操作信号Ｓに重畳してプロセス制御対象１
に送られる。プロセス制御対象１ば、同定信号ｄが重畳
した操作信号ｇｔ受け、この信号ｇに応じた制御信号ｍ
ｆ出力する。そこで、プロセス同定部６け、同定信号の
重畳した操作信号ｇと制御信号ｍとを所定のサンプリン
グ周期でもって取込み、これら信号を最小二乗法により
演算処理してプロセス制御対象１の動特性を表わす伝達
関数Ｇ（８）を逐次求める。Next, we will discuss the operation of the device configured as described above, especially PID 7.
The operation when setting the 4' laminate will be explained according to the identification completion determination flowchart shown in FIG. When an identification start command is issued from the central control unit, the identification signal generating unit 4
An identification signal dt consisting of an M-sequence signal of values is transmitted. This identification signal d is superimposed on the operation signal S to process control target 1.
sent to. A process control object 1 receives an operation signal gt on which an identification signal d is superimposed, and receives a control signal m corresponding to this signal g.
Output f. Therefore, the process identification section 6 takes in the operation signal g on which the identification signal is superimposed and the control signal m at a predetermined sampling period, and processes these signals using the method of least squares to express the dynamic characteristics of the process control object 1. The transfer function G(8) is found one after another.
ここで、同定終了判定部１０は、プロセス同定部６によ
り逐次求められている伝達関数Ｇ（ｓ）の係数Ｇｏ、Ｇ
、の値の変化を監視している。Here, the identification end determination unit 10 determines the coefficients Go, G
, is monitoring changes in the value of .
まず、ＣＯの時間経過による変化率Ａが演算し求められ
る。すなわち、
である。そして、この変化率Ａが、伝達関数Ｇ（ｘ）
ｒ一定とみなすことができる値り、よりも小きな値にな
ったかどうかの判断が行なわれる。First, the rate of change A of CO over time is calculated and determined. That is, . Then, this rate of change A is the transfer function G(x)
A determination is made as to whether r has become a value smaller than a value that can be regarded as constant.
次に係数Ｇ１の時間経過による変化率Ｂが演算し求めら
れる。すなわち、
である。そして、この変化率ＢがＡと同様に伝達関数Ｃ
（ｓ） ｉ一定とみなすことができる値Ｄ２よりも小さ
な値になったかどうかの判断が行なわれる。Next, the rate of change B of the coefficient G1 over time is calculated and determined. That is, . Then, like A, this rate of change B is the transfer function C
(s) It is determined whether i has become a value smaller than a value D2 that can be regarded as constant.
そして、以上の判断がいずれも満足し、その回数かに回
連続してなされた場合に、同定終了の判定がなされる。Then, when all of the above judgments are satisfied and have been made consecutively for the specified number of times, it is judged that the identification has ended.
なお、判断の回数には各プロセス制御対象１に応じて設
定されろものである。Note that the number of times of determination should be set according to each process control target 1.
このように同定終了の判定がなされると、同定終了判定
部１０は同定終了信号Ｅ、Ｅ”ｉ送出し、これにより設
定用スイッチＳＷは閉じろ。When it is determined that the identification has ended in this manner, the identification end determination section 10 sends out identification end signals E, E''i, thereby closing the setting switch SW.
このときＰＩＤパラメータ算出部１１は、プロセス同定
部６により求められた現時点での伝達関数Ｇ（ｓ）によ
りＰＩＤ／４′ラメータを算出し、これを設定用スイッ
チＳＷ全通してＰＩＤ制御部２に送出する。そこで、Ｐ
ＩＤ制御部２は送られてきたＰＩＤ／＃ラメータを受け
て、このＰＩＤ／＃ラメータに更新設定する。この結果
、プロセス制御対象ノば、現在の動作状態に適切なＰＩ
Ｄパラメータをもって制御される。At this time, the PID parameter calculation section 11 calculates a PID/4' parameter using the current transfer function G(s) determined by the process identification section 6, and passes this through all setting switches SW to the PID control section 2. Send. Therefore, P
The ID control unit 2 receives the sent PID/# parameter and updates the PID/# parameter. As a result, the process controlled node has the appropriate PI for the current operating state.
It is controlled by the D parameter.
このように本発明の装置においては、プロセス同定部６
により求められる伝達関数Ｇ（ｓ）の特にプロセスゲイ
ンの逆数Ｇｏとプロセスの時定数をプロセスダインで除
算した係数Ｇｌ とを監視し、Ｇ、の変化ｍＡが所定値
Ｄ１以下、またＧ、の変化率Ｂが所定値Ｄ２以下になる
ことが連続してに回以上あった場合に、プロセス同定が
終了したとみなし、このときの伝達関数Ｇ（３）金もっ
てＰＩＤパラメータ全算出してＰＩＤ制御部２に設定す
るので、プロセス同定が確実に終了した時点を−速くと
らえ、この時点での伝達関数Ｇ（８）からプロセス制御
対象１の動特性に最適なＰＩＤ Ａ’ラメータｆ！：算
出して設定できる。丁なわち、プロセス同定部６により
得られる伝達関数はプロセス制御対象１の動特性全正確
に表ゎす値となり、これによってＰＩＤ ノ？ラメータ
は！ロセス制御対象１ｔ−制御するうえにとって最適ハ
な値となる。よって、プロセス制御中、ａ時に最適なＰ
ＩＤパラメータが自動的に設定されて最適なプロセス制
御ができる。In this way, in the apparatus of the present invention, the process identification section 6
In particular, the reciprocal of the process gain Go and the coefficient Gl obtained by dividing the process time constant by the process dyne of the transfer function G(s) determined by are monitored, and the change mA in G is less than a predetermined value D1, and the change in G is When the rate B becomes less than the predetermined value D2 more than 2 consecutive times, it is assumed that the process identification has been completed, and the transfer function G (3) at this time is used to calculate all the PID parameters and calculate the PID control unit. 2, the time point at which process identification is reliably completed is quickly detected, and the PID A' parameter f! that is optimal for the dynamic characteristics of process control target 1 is determined from the transfer function G(8) at this point. :Can be calculated and set. In other words, the transfer function obtained by the process identification unit 6 becomes a value that accurately represents all the dynamic characteristics of the process control object 1, and thereby the PID number? Lameter is! It is the optimum value for controlling the process control target 1t. Therefore, during process control, the optimal P at time a
ID parameters are automatically set for optimal process control.
本発明によれば、プロセス同定中に求められるプロセス
制御対象の動特性を表わす伝達関数の変化を監視し、こ
の伝達関数が一定になったことを判断してプロセス同定
終了とみなし、このときの伝達関数をもって制御パラメ
ータを求めて設定するので、プロセス制御対象に対して
最適な制御ノ（ラメータを最適なタイミングでもって設
定し得、迅速に最適なプロセス制御ができるプロセス制
御装置全提供できる。According to the present invention, changes in the transfer function representing the dynamic characteristics of the process control target determined during process identification are monitored, and it is determined that the process identification has ended when the transfer function has become constant. Since the control parameters are determined and set using the transfer function, the optimum control parameter for the process control object can be set at the optimum timing, making it possible to provide a complete process control device that can quickly perform optimum process control.
第１図は本発明に係るプロセス制御装置の一実施例を示
す構成図、第２図は第１図に示す装置におけるプロセス
同定部での伝達関数の変化を示す図、第３図は第１図に
示す装置の同定終了判定フローチャートである。
１・・・プロセス制御対象、２・・・ＰＩＤ制御部、３
・・・目標信号発生部、４・・・同定信号発生部、６・
・・プロセス同定部、１０・・・同定終了判定部、１）
・・・ＰＩＤ ／４ラメータ算出部。
第１図
第２図
時間を
第３図FIG. 1 is a block diagram showing an embodiment of the process control device according to the present invention, FIG. 2 is a diagram showing changes in the transfer function in the process identification section of the device shown in FIG. 1, and FIG. It is a flowchart of identification end determination of the apparatus shown in the figure. 1... Process control target, 2... PID control unit, 3
...Target signal generation section, 4.Identification signal generation section, 6.
...Process identification section, 10...Identification end judgment section, 1)
...PID/4 rammeter calculation unit. Figure 1 Figure 2 Time Figure 3
Claims (2)
んで制御演算処理を行ない、前記プロセス制御対象に操
作信号を出力する主制御部と、前記プロセス制御対象に
同定用信号を前記操作信号に加算して与えたときの前記
プロセス制御対象から出力される前記制御信号と前記プ
ロセス制御対象に与えた前記同定用信号と前記操作信号
とからなる加算信号に基づいて前記プロセス制御対象の
伝達関数を演算し求めるプロセス同定部と、このプロセ
ス同定部により求められる伝達関数の変化を監視し、こ
の伝達関数変化が所定範囲内に入ったことを判定して同
定終了信号を送出する同定終了判定部と、この同定終了
判定部から送出された同定終了信号を受け、前記プロセ
ス同定部から伝達関数を取込んで前記プロセス制御対象
に対する制御パラメータを求め、この制御パラメータを
前記主制御部に設定するパラメータ演算部とを具備した
ことを特徴とするプロセス制御装置。(1) A main control unit that takes in a control signal obtained by a process control object, performs control calculation processing, and outputs an operation signal to the process control object, and an identification signal to the process control object to the operation signal. A transfer function of the process controlled object is determined based on an added signal consisting of the control signal output from the process controlled object when added together, the identification signal given to the process controlled object, and the operation signal. A process identification unit that performs calculations and obtains the results; an identification end determination unit that monitors the change in the transfer function determined by the process identification unit, determines that the change in the transfer function is within a predetermined range, and sends out an identification end signal. , receiving the identification end signal sent from the identification end determination section, taking in the transfer function from the process identification section to obtain control parameters for the process control object, and setting the control parameters in the main control section. A process control device comprising:
ンの逆数値とプロセスの時定数を前記プロセスゲインに
より除算した値とがそれぞれプロセス制御対象の動特性
を示す値を含む範囲内に入るのを判断する特許請求の範
囲第（１）項記載のプロセス制御装置。(2) The identification end determination unit determines whether the reciprocal value of the process gain and the value obtained by dividing the process time constant by the process gain of the transfer function are each within a range that includes a value indicating the dynamic characteristics of the process control target. A process control device according to claim (1) that determines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19216284A JPS6170607A (en) | 1984-09-13 | 1984-09-13 | Process controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19216284A JPS6170607A (en) | 1984-09-13 | 1984-09-13 | Process controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6170607A true JPS6170607A (en) | 1986-04-11 |
Family
ID=16286716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19216284A Pending JPS6170607A (en) | 1984-09-13 | 1984-09-13 | Process controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6170607A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0384437A2 (en) * | 1989-02-23 | 1990-08-29 | Kabushiki Kaisha Toshiba | Method and system for changing control parameters in accordance with state of process in process control |
-
1984
- 1984-09-13 JP JP19216284A patent/JPS6170607A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0384437A2 (en) * | 1989-02-23 | 1990-08-29 | Kabushiki Kaisha Toshiba | Method and system for changing control parameters in accordance with state of process in process control |
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