KR20190022366A - Controller and deterioration position detection method - Google Patents

Abstract

An objective of the present invention is that a guard easily checks a deteriorated operation position in an operating range of a control terminal (30). An actual feedback value calculation unit (18) calculates an actual feedback value (Fd) representing an operating position of a control terminal according to operation amount at a predetermined time based on a detection signal outputted from an encoder of the control terminal (30). An estimated feedback value calculation unit (19) calculates estimated feedback value (Fe) corresponding to the actual feedback value (Fd) based on an actual feedback value (Fd′) not including effect of deterioration calculated before the actual feedback value (Fd). A driving control unit (15) drives the control terminal (30) so that the operating position is displaced from a predetermined start position to a stop position at a constant speed. A display control unit (20) graphically displays the obtained Fd and Fe on a screen.

Description

[0001] CONTROLLER AND DETERIORATION POSITION DETECTION METHOD [0002]

The present invention relates to a deteriorated position detecting technique for detecting a deteriorated position in an operating range of an operating end (operating end).

The controller is a control device for controlling process conditions such as temperature, humidity, pressure, and flow rate to a predetermined set value by controlling a mechanical operation end (actuator) having a movable body such as a motor or a valve as an output end. Usually, the operating end is equipped with an encoder for detecting the operating position of the movable body, and the controlling system can adjust the manipulated variable for controlling the operating end based on the feedback value obtained by the encoder.

BACKGROUND ART [0002] Conventionally, as a control device (controller) for controlling a field device, there has been proposed a control device having a trouble detecting device for an operating end such as a motor or a valve (see, for example, Patent Document 1). This prior art teaches that the operation of the operation end is controlled in accordance with a predetermined allowable range on the basis of the follow-up deviation DM (= MV-MP) of the operation amount MV and the operation position MP and the change rate? It is determined that the device has deviated from the allowable range, and the device determines that an abnormality has occurred in the operation end.

Patent Document 1: JP-A-2017-033140

Generally, an encoder attached to an operation end tends to be deteriorated by abrasion. The abrasion state often depends on the environmental condition represented by the ambient temperature or the control condition of the operating end by the controller rather than the aged deterioration. For example, when the operation end is always opened or closed in a narrow operation range (e.g., 40% to 50% open), the encoder is deteriorated only in the operation range. Therefore, although the operating end is controlled to the specified opening degree, the feedback value may show an unusual value due to deterioration of the encoder.

In a field where a normal controller is installed, it is important to know at which operating position of the operation range of the operation end the abnormality has occurred in order to correctly cope with abnormality in the operation end when the surveillance person in the field is abnormal.

When the above-described conventional technique is applied, it is possible to detect an abnormality occurring in the manipulation end of the manipulator. However, even if the manipulated variable (MV), the operating position (MP), the operating position change rate (DELTA MP) and the tracking deviation (DM) are graphically displayed on the display screen in the controller in accordance with the abnormality detection , It is difficult for the field surveillant to immediately recognize the operation position of the operation end where the abnormality has occurred from these graph displays.

In addition, in order to confirm deterioration of the operating end and prompt the user to exchange the data, the maintenance person in charge needs to connect external equipment such as a logger and acquire data indicating the deterioration. However, in such a data acquisition operation, it is necessary to attach and detach a wire to connect an external device, and there is a risk that an erroneous wire is generated when the wire is returned to the original. For this reason, it is difficult to perform the data acquisition operation at a frequency suitable for maintenance or at a timing to check. Further, when the operating end is continuously used without being exchanged, there is a high possibility that brake maintenance (repair operation after complete breakage) is performed, and loss due to stoppage of the apparatus or generation of defective items due to urgent repair is conceivable.

An object of the present invention is to provide a deteriorated position detecting technique which enables a surveillant to easily confirm a deteriorated operating position in the operating range of an operating end in the field.

In order to achieve the above object, a control system according to the present invention is a control system for automatically controlling an operation position of an operation end by driving an operation end based on an operation amount calculated from a preset set value and a control amount detected from a control object, An actual feedback value calculating section for calculating an actual feedback value indicating an operation position of the operating end according to the manipulated variable at a constant time based on the detection signal output from the encoder of the operating end; An estimated feedback value calculating section for calculating an estimated feedback value corresponding to the actual feedback value based on an actual feedback value that does not include an influence, So as to be displaced from the position to the stop position at a constant speed, And a display control section for graphically displaying the actual feedback value and the estimated feedback value obtained between the drive from the start position to the stop position and displaying the result on a screen.

Further, in an example of the configuration of the controller according to the present invention, the display control section displays a graph showing the change of the actual feedback value and the estimated feedback value on the screen.

Further, in an exemplary configuration of the controller according to the present invention, the display control section displays a graph showing a correspondence relationship between the manipulated variable used for driving to the operating position, the actual feedback value, and the estimated feedback value It is.

According to an embodiment of the present invention, the drive control unit may drive the operation end by generating and outputting a drive signal according to the calculated operation amount when the automatic control is performed, And a drive signal for changing the operation position from the start position to the stop position at a constant speed is generated and output to drive the operation end.

According to another aspect of the present invention, there is provided a control system according to the present invention, wherein, in the case of the automatic control, the calculated manipulated variable is output, and in accordance with the instruction manipulation, And an operation amount switching section for switching the operation amount to an operation amount which is changed at a constant speed up to a position operation amount and outputting the operation amount, wherein the drive control section generates and outputs a drive signal in accordance with the operation amount output from the operation amount switching section will be.

Further, in an exemplary configuration of the controller according to the present invention, when the deviation between the actual feedback value and the estimated feedback value is within the permissible range, the actual feedback value is selected as an adjustment feedback value used for adjustment of the operation amount, And a feedback value selection unit for selecting the estimated feedback value as the adjustment feedback value when the output is outside the allowable range.

In the deteriorated position detecting method according to the present invention, the actual feedback value calculating section calculates an actual feedback value indicating an operating position of the operating end according to the manipulated variable at a predetermined time interval on the basis of the detection signal outputted from the encoder of the operating end An estimated feedback value calculating step of calculating an estimated feedback value corresponding to the actual feedback value based on an actual feedback value that does not include the influence of the deterioration calculated before the actual feedback value; A drive control step of drive-controlling the operation end so that the operation position is displaced from a predetermined start position to a stop position at a constant speed in accordance with an instruction operation for instructing detection of a deterioration position; The actual feedback value obtained between the driving from the position to the stop position Group includes a display processing step to display the screen, each graph value of the estimated feedback.

According to the present invention, the actual feedback value indicating the actual detection result and the estimated feedback value without deterioration are graphed and displayed on the screen at the operating end. Therefore, it becomes possible for the surveillant to easily confirm the operation position deteriorated in the operation range of the operation end in the field. Therefore, there is no need to connect external equipment such as a logger to acquire data indicating the deterioration, and the work load can be greatly reduced. Further, there is no need to detach the wiring for connecting the external device, and there is no risk that miswiring occurs when the wiring is returned to the original. Therefore, it is possible to acquire data at a frequency appropriate for maintenance or at a timing to be confirmed, and it is possible to confirm the deterioration of the operation end very smoothly and prompt the user to exchange. Therefore, brake maintenance can be suppressed, and it is possible to avoid a loss due to the stop of the apparatus or the generation of defective items due to urgent repair.

1 is a block diagram showing a configuration of a controller according to the first embodiment.
2 shows an example of calculating an estimated feedback value.
3 is a flowchart showing the deteriorated position detecting process.
4 is an example of a screen display of a graph (time variation: no deterioration) showing the deterioration position detection result.
5 is an example of a screen display of a graph (time change: with deterioration) showing the deterioration position detection result.
Fig. 6 is an example of a screen display of a graph showing a deterioration position detection result (with the amount of manipulation: deteriorated).
7 is a block diagram showing the configuration of the controller according to the second embodiment.
8 is a flowchart showing a feedback value selection operation.
9 is a block diagram showing the configuration of the controller according to the third embodiment.

Next, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]

First, the controller 10 according to the first embodiment of the present invention will be described with reference to Fig. 1 is a block diagram showing a configuration of a controller according to the first embodiment.

The controller 10 is provided with a mechanical operation end (actuator) 30 having a movable body such as a motor or a valve, based on a predetermined set value SP and an operation amount MV calculated from the control amount PV detected from the controlled object And controlling the process conditions such as temperature, humidity, pressure, and flow rate to a predetermined set value SP.

The operation terminal 30 is provided with an encoder ENC for detecting the operation position of the movable body M and has a function of outputting the detection signal P indicating the detected operation position to the controller 10.

[Controller]

1, the controller 10 includes a set value acquiring unit 11, a control amount acquiring unit 12, an operation amount calculating unit 13, an operation input unit 14, a drive control unit 15, The feedback control unit 20 controls the operation of the drive unit 16 and the operation position acquiring unit 17 as well as the actual feedback value calculating unit 18, the estimated feedback value calculating unit 19, the display control unit 20, the screen display unit 21, And an I / F unit 23. Of these functions, the manipulated variable computing section 13, the drive control section 15, the actual feedback value calculating section 18, the estimated feedback value calculating section 19 and the display control section 20 are provided with a central processing unit (CPU) .

The set value obtaining section 11 has a function of obtaining a set value SP from a set value signal received from an upper apparatus or an operating section (both not shown) and outputting it to the manipulated variable calculating section 13. [

The control amount acquisition unit 12 has a function of acquiring the control amount PV from the control amount detection signal indicating the process value detected from the controlled object and outputting it to the manipulated variable calculation unit 13. [

The manipulated variable computing section 13 has a function of calculating the manipulated variable MV by performing a control operation such as PID (Proportional Integral Differential) based on the set value SP and the controlled variable PV.

The operation input unit 14 is composed of an operation button or an operation switch provided on the panel of the controller 10 and has a function of detecting an operation input of a monitoring person on the spot such as an operation of instructing detection of a deteriorated position.

The drive control section 15 generates and outputs the drive signal DS in accordance with the manipulated variable MV calculated by the manipulated variable computing section 13 to output the movable element M of the manipulation end 30 The operation position of the operation end 30 is changed from a predetermined start position PS to a stop position PE in accordance with the instruction operation for instructing detection of the deterioration position detected by the operation input section 14 (MV) on the basis of the adjustment feedback value Fa, which is the actual feedback value Fd calculated by the actual feedback value calculating section 18, (Drive signal DS).

The drive section 16 outputs a signal corresponding to the drive signal DS from the drive control section 15 to the movable body M of the operation end 30 to thereby drive the operation end 30 to a predetermined operation position Lt; / RTI >

The operation position obtaining section 17 has a function of obtaining the detection signal P from the encoder ENC of the operation terminal 30 and outputting the operation position MP of the operation terminal 30. [

The actual feedback value calculating section 18 has a function of calculating an actual feedback value Fd indicating the operation position MP as a percentage based on the operation position MP from the operation position obtaining section 17 .

The estimated feedback value calculating section 19 calculates an actual feedback value Fd 'which does not include the influence of the deterioration calculated before the actual feedback value Fd, the unit variation amount? F described later, And has a function of calculating the estimated feedback value Fe corresponding to the actual feedback value Fd based on the changing direction of the driving signal DS.

2 shows an example of calculating an estimated feedback value. In this case, during the required detection time Ta from the detection start time T1 to the detection stop time T2, the operation range from the fully closed state (start position PS) to the fully open state (stop position PE) 30 are displaced at a constant speed, the abscissa axis represents time, and the ordinate axis represents the feedback value. The start position PS and the stop position PE are not limited to the fully closed state and the fully open state but may be a state corresponding to the intermediate open degree between the fully closed state and the fully open state, It may be set as the stop position PE.

When the operating position of the operating end 30 is displaced in a predetermined direction (opening direction or closing direction) at a constant speed, when there is no deterioration in the operating end 30, the actual feedback value Fd linearly increases or decreases. For example, when the actual feedback value Fd that varies during the sampling time Ts is the unit variation? F, when there is no deterioration at the operating position corresponding to the period Ts from time t-1 to time t Fd (t) = Fd (t-1) +? F when the drive signal DS increases and the operation end 30 is displaced at a constant speed in the open direction, Fd (t) = Fd (t-1) -ΔF when the operating end 30 is displaced at a constant speed in the closing direction. Further, if the drive signal DS does not change, Fd (t) = Fd (t-1).

Therefore, when the deterioration is included in Fd (t + 1) at the time t + 1, the estimated feedback value at the time t + 1 is increased by the increase of the drive signal DS so that the operation end 30 is kept at the constant speed In the case of displacement, it can be estimated that Fe (t + 1) = Fd (t) + ΔF. Conversely, when the drive signal DS decreases and the operation end 30 is displaced at a constant speed in the closing direction, It can be estimated that Fe (t + 1) = Fd (t) - DELTA F and Fe (t + 1) = Fd (t) if the drive signal DS does not change.

In addition,? F is obtained from? F = Ts / Ta 占 100% from the sampling time Ts and the detection time Ta. Whether or not Fd (t) is an actual feedback value Fd 'that does not include the influence of deterioration, for example, the deviation D = Fd-Fe between Fd and Fe falls within the range of the preset allowable range? D It can be judged whether or not it is. Therefore, if Fd 'closest in time to the estimated feedback value Fe to be calculated is used, Fe can be estimated with the highest precision.

The display control section 20 has a function of storing the actual feedback value Fd and the estimated feedback value Fe obtained during the displacement from the start position PS to the stop position PE in the storage section 22, Fd and Fe from the storage unit 22 and displays them on the screen on the screen display unit 21. [

The screen display section 21 is constituted by a screen display device such as an LCD and has a function of displaying various data relating to the control of the operation terminal 30, an operation menu and setting screen, and a graph output from the display control section 20 have.

The storage section 22 is made up of a semiconductor memory and has a function of storing various data such as an actual feedback value Fd and an estimated feedback value Fe from the display control section 20. [

The communication I / F section 23 reads out the actual feedback value Fd and the estimated feedback value Fe stored in the storage section 22 and stores it in a storage medium such as an external device or a USB memory ) To the user.

[Operation of First Embodiment]

Next, the operation of the controller 10 according to the present embodiment will be described with reference to Fig. 3 is a flowchart showing the deteriorated position detecting process.

The controller 10 executes the deteriorated position detecting process of Fig. 3 in accordance with the operation of the monitoring source, which is detected by the operation input unit 14 and instructs to start detecting the deteriorated position. At this time, it is assumed that the drive control of the operation end 30 based on the manipulated variable MV is stopped before executing the deterioration position detection processing.

First, the drive control section 15 drives the operation end 30 to the designated start position PS, for example, the fully closed position (step 100).

Then, the drive control section 15 starts drive control for gradually displacing the drive position of the operation end 30 to the designated stop position PE, for example, the full open position at a constant speed V (step 101).

Thereafter, the operation position acquiring unit 17 waits until the arrival of the detection timing for each predetermined time (step 102: NO), and according to the arrival of the detection timing (step 102: YES) ENC) and detects the operation position MP of the operation terminal 30 (step 103).

Subsequently, the actual feedback value calculating section 18 calculates an actual feedback value Fd indicating the operation position MP as a percentage based on the operation position MP from the operation position obtaining section 17 104).

The estimated feedback value calculating section 19 calculates the actual feedback value Fd 'and the unit variation amount? F that do not include the influence of the deterioration calculated before the actual feedback value Fd, The estimated feedback value Fe corresponding to the actual feedback value Fd is calculated based on the changing direction of the driving signal DS (step 105).

Thereafter, the display control section 20 acquires the actual feedback value Fd from the actual feedback value calculating section 18, acquires the estimated feedback value Fe from the estimated feedback value calculating section 19, (Step 106).

Then, the drive control section 15 confirms whether the operation end 30 has been driven to the stop position PE (step 107). If the drive control section 15 has not driven to the stop position PE (step 107: NO) Lt; / RTI >

On the other hand, in the case of driving to the stop position PE (step 107: YES), the display control section 20 sets the actual operation feedback 30, Fd and the estimated feedback value Fe are acquired from the storage unit 22 and a graph of these Fd and Fe is generated and displayed on the screen display unit 21 (step 108), and a series of deteriorated position detection The processing is terminated.

Each time the procedure of steps 107 and 108 is reversed and the estimated feedback value Fe corresponding to the new actual feedback value Fd is obtained in step 106, the display control unit 20 sets the new actual feedback value Fd from the storage unit 22 and generates a graph of these Fd and Fe so that the screen is displayed on the screen display unit 21. When the operation unit 30 is moved to the stop position The above process may be repeated until it is driven to the PE.

4 is an example of a screen display of a graph (time variation: no deterioration) showing the deterioration position detection result. 5 is an example of a screen display of a graph (time change: with deterioration) showing the deterioration position detection result. Here, after the operation end 30 is once driven from the fully closed state (the start position PS) to the fully opened state (the stop position PE) between the time T1 and the time T2, (Start position PS) to the fully closed state (stop position PE) between the time T3 and the time T3. Also, as a graph, graphs obtained by plotting the change over time of the actual feedback value Fd and the estimated feedback value Fe, in which the abscissa is time and the vertical axis is the feedback value, are drawn and superimposed on the same coordinate are displayed.

In the case of Fig. 4, since no deterioration is detected in the entire operating range of the operating end 30, a graph of the actual feedback value Fd and the estimated feedback value Fe is superimposed and displayed. In the case of FIG. 5, it can be seen that the actual feedback value Fd is significantly different from the estimated feedback value Fe intermittently in the range of 40% to 60% of the operating range, and deterioration occurs in this range have. In the case where the graph of the actual feedback value Fd and the estimated feedback value Fe is difficult to visually overlap, it is easy to visually recognize both of them by slightly shifting the position or displaying the overlapping portion with another display color.

Fig. 6 is an example of a screen display of a graph showing a deterioration position detection result (with the amount of manipulation: deteriorated). In this graph, the correspondence relationship between the manipulated variable MVS used for driving to the operating position, the actual feedback value Fd and the estimated feedback value Fe is shown as a graph in which the abscissa indicates the MV value indicating the manipulated variable and the ordinate indicates the feedback value And a graph drawn in superposition on the same coordinate is displayed.

6, the actual feedback value Fd is significantly different from the estimated feedback value Fe intermittently in the range of 40% to 60% of the operating range, and deterioration occurs in this range . In this case, since the abscissa represents the MV value, it can be easily confirmed at which position the MV value is deteriorated.

4-5, when a feedback value at the same operating position is repeatedly detected, a plurality of feedback values can be obtained with respect to the same MV value. Therefore, the statistical values obtained by statistical processing such as averaging can be graphed .

[Effects of the First Embodiment]

As described above, in the present embodiment, the actual feedback value calculating section 18 calculates the actual value of the manipulated variable MV based on the detection signal P output from the encoder ENC of the manipulation end 30 The actual feedback value Fd indicating the operation position of the step 30 is calculated and the estimated feedback value calculating section 19 calculates the actual feedback value Fd that does not include the influence of the deterioration calculated before the actual feedback value Fd The drive control unit 15 calculates the estimated feedback value Fe corresponding to the actual feedback value Fd based on the actual driving position Fd ' The display control section 20 drives the operating end 30 to displace at a constant speed and displays the obtained actual feedback value Fd and the estimated feedback value Fe on the screen in a graph form.

Thereby, the actual feedback value Fd indicating the actual detection result and the estimated feedback value Fe without deterioration are graphed and displayed on the screen of the operation unit 30. Therefore, it becomes possible for the monitoring person to easily confirm the deteriorated operation position in the operation range of the operation terminal 30 in the field. Therefore, there is no need to connect external equipment such as a logger to acquire data indicating the deterioration, and the work load can be greatly reduced. Further, there is no need to detach the wiring for connecting the external device, and there is no risk that miswiring occurs when the wiring is returned to the original.

Therefore, it is possible to acquire data at a frequency appropriate for maintenance or at a timing at which it is desired to check, and it is possible to confirm the deterioration of the operation unit 30 very smoothly, thereby prompting the user to exchange the data. Therefore, brake maintenance can be suppressed, and it is possible to avoid a loss due to the stop of the apparatus or the generation of defective items due to urgent repair.

In the present embodiment, the drive control section 15 generates and outputs the drive signal DS in accordance with the manipulated variable MV calculated by the manipulated variable computing section 13 when the automatic control is performed, thereby outputting the manipulated end 30 And generates a drive signal DS for changing the operation position of the operation end 30 from the start position PS to the stop position PE at a constant speed in accordance with the instruction operation for instructing the detection of the deteriorated position The operation terminal 30 may be driven.

Thereby, at the time of detecting the deterioration position, the operation position of the operation end 30 is changed from the start position PS to the stop position PE at a constant speed without changing the manipulated variable MV used for automatic control .

[Second Embodiment]

Next, the controller 10 according to the second embodiment of the present invention will be described with reference to Fig. 7 is a block diagram showing the configuration of the controller according to the second embodiment.

In the present embodiment, when there is deterioration in the operating position of the operating end 30, the estimated feedback value Fe is used instead of the actual feedback value Fd to adjust the manipulated variable MV (driving signal DS) The case will be described.

As shown in Fig. 7, in the present embodiment, the controller 10 is provided with a feedback value selector 24.

The feedback value selection section 24 sets the actual feedback value Fd to the manipulated variable Fd when the deviation D = Fd-Fe between the actual feedback value Fd and the estimated feedback value Fe is within the preset allowable range? As the adjustment feedback value Fa to be used for adjustment of the feedback control signal MV (drive signal DS) and outputting the selected feedback value to the drive control section 15; and when the deviation D is out of the allowable range? (Fe) as the adjustment feedback value Fa and outputs it to the drive control section 15. [

The configuration and operation of the present embodiment other than those described above are the same as those of the first embodiment, and a detailed description thereof will be omitted.

[Operation of Second Embodiment]

Next, the operation of the controller 10 according to the present embodiment will be described with reference to FIG. 8 is a flowchart showing a feedback value selection operation.

The feedback value selector 24 executes the feedback value selection operation of Fig. 8 every time the new actual feedback value Fd and the estimated feedback value Fe are calculated.

First, the feedback value selector 24 acquires a new actual feedback value Fd and an estimated feedback value Fe (step 200).

Then, the feedback value selector 24 calculates the deviation D = Fd-Fe of both of them (step 201) and compares it with the preset allowable range? A (step 202).

When the deviation D is included in the allowable range? A (step 202: YES), the actual feedback value Fd is selected as the adjustment feedback value Fa and outputted to the drive control section 15 (step 203) , And ends the series of feedback value selection operations.

On the other hand, if the deviation D is not included in the allowable range? A (step 202: NO), the estimated feedback value Fe is selected as the adjustment feedback value Fa and output to the drive control section 15 ).

[Effects of Second Embodiment]

As described above, in the present embodiment, when the deviation D between the actual feedback value Fd and the estimated feedback value Fe is in the range of the preset allowable range? A, the feedback value selector 24 sets the actual feedback And outputs the selected value Fd to the drive control unit 15. When the deviation D is out of the allowable range? A, the estimated feedback value Fe is set as the adjusted feedback value Fa And outputs it to the drive control unit 15. [

Thus, when the actual feedback value Fd shows an abnormal value due to the deterioration of the operating end 30, the estimated feedback value Fe estimated from the normal actual feedback value Fd 'is supplied to the drive control unit 15 Is used for adjustment of the manipulated variable MV (the drive signal DS). Therefore, it is possible to realize stable adjustment of the manipulated variable (MV) even when deterioration exists in an arbitrary operating position of the manipulation terminal 30. [

[Third embodiment]

Next, the controller 10 according to the third embodiment of the present invention will be described with reference to Fig. 9 is a block diagram showing the configuration of the controller according to the third embodiment.

In the present embodiment, when the deterioration position is detected, when the operation position of the operation end 30 is displaced from the start position PS to the stop position PE by changing the manipulated variable MV used for automatic control .

The present embodiment further includes an operation amount switching section 25 as shown in Fig.

The manipulated variable switching section 25 has a function of outputting the manipulated variable MV calculated by the manipulated variable computing section 13 when the automatic control is executed and a manipulated variable manipulating section To the manipulated variable MVS changing from the starting position manipulated variable corresponding to the starting position PS to the stopping manipulated variable corresponding to the stop position PE at a constant speed and outputting the manipulated variable MVS.

The drive control unit 15 has a function of driving the operation end 30 by generating and outputting a drive signal DS in accordance with the manipulated variable MV / MVS output from the manipulated variable switching unit 25. [

Configuration and operation other than those described above according to the present embodiment are the same as those of the first or second embodiment, and a detailed description thereof will be omitted.

[Effects of the Third Embodiment]

As described above, in the present embodiment, the manipulated variable switching section 25 outputs the manipulated variable MV calculated by the manipulated variable calculating section 13 when the automatic control is performed, and also outputs the manipulated variable MV calculated by the manipulated variable calculating section 13, (MVS) that changes from a start position manipulated variable corresponding to the start position (PS) to a stop position manipulated variable corresponding to the stop position (PE) at a constant speed in accordance with the instruction manipulation for instructing detection, The control unit 15 generates and outputs the drive signal DS in accordance with the manipulated variable MV / MVS output from the manipulated variable switching unit 25 to drive the manipulation unit 30.

Even with this configuration, the same effects as those of the first or second embodiment can be obtained.

[Expansion of Embodiment]

Although the present invention has been described with reference to the above embodiments, the present invention is not limited to the above embodiments. The structure and details of the present invention can make various modifications that can be understood by those skilled in the art within the scope of the present invention. It is to be noted that the embodiments can be arbitrarily combined with each other within a range not inconsistent with each other.

The present invention relates to a control apparatus for an internal combustion engine having a control valve for controlling an internal combustion engine and a control apparatus for controlling the internal combustion engine, And a feedback value selector for selecting a feedback value from the input value and outputting the calculated feedback value to the feedback control unit. MP: Actual position, Fd, Fd ': Actual feedback value, Fe: Estimated value, M: Moving body, ENC: Encoder, SP: Setting value, PV: Control amount, MV, MVS: Feedback value, Fa: adjusted feedback value,? F: unit variation, Ts: sampling time, Ta:

Claims (7)

A control system for automatically controlling an operation position of an operation end by driving an operation end (operation end) based on a preset set value and an operation amount calculated from a control amount detected from a control object,
An actual feedback value calculation section for calculating an actual feedback value indicating an operation position of the operation end according to the manipulated variable at a predetermined time on the basis of the detection signal output from the encoder of the operation end;
An estimated feedback value calculation section for calculating an estimated feedback value corresponding to the actual feedback value based on an actual feedback value not including the effect of deterioration calculated before the actual feedback value;
A drive control section that drives and controls the operation end so that the operation position is displaced from a predetermined start position to a stop position at a constant speed in accordance with an instruction operation for instructing detection of a deterioration position,
And a display control section for graphically displaying the actual feedback value and the estimated feedback value obtained between the driving from the start position to the stop position on the screen and displaying the result on a screen. The controller according to claim 1, wherein the display control unit displays a graph indicating a time change of the actual feedback value and the estimated feedback value on a screen. 2. The controller according to claim 1, wherein the display control section displays on a screen a graph indicating a correspondence relationship between the manipulated variable used for driving to the operating position and the actual feedback value and the estimated feedback value. The drive control apparatus according to any one of claims 1 to 3, wherein the drive control section drives the operation end by generating and outputting a drive signal according to the calculated operation amount when the automatic control is performed, And generates and outputs a drive signal for changing the operation position from the start position to the stop position at a constant speed to drive the operation end. 4. The control method according to any one of claims 1 to 3, wherein, when the automatic control is performed, the calculated manipulated variable is output, and in accordance with the instruction manipulation, a stop corresponding to the stop position from the start position manipulated variable corresponding to the start position Further comprising an operation amount switching section for switching to an operation amount that changes at a constant speed up to the position operation amount,
Wherein the drive control section drives the operation end by generating and outputting a drive signal corresponding to the operation amount output from the operation amount switching section. 4. The control apparatus according to any one of claims 1 to 3, wherein when the deviation between the actual feedback value and the estimated feedback value is within a preset allowable range, the actual feedback value is used as an adjustment feedback value Further comprising a feedback value selection unit that selects the estimated feedback value as the adjustment feedback value when the deviation is out of the allowable range. A deteriorated position detecting method used in an automatic control system for automatically controlling an operating position of an operating end by driving an operating end based on a preset set value and an operating amount calculated from a control amount detected from a controlled object,
A feedback value calculating step of calculating an actual feedback value indicating an operation position of the operating end according to the manipulated variable at regular intervals based on the detection signal output from the encoder of the operating end;
An estimated feedback value calculating step of calculating an estimated feedback value corresponding to the actual feedback value based on an actual feedback value not including the effect of deterioration calculated before the actual feedback value;
A drive control step of driving and controlling the operation end so that the operation position is displaced from a predetermined start position to a stop position at a constant speed in accordance with an instruction operation for instructing detection of a deteriorated position,
And a display processing step of causing the display control unit to graphically display the actual feedback value and the estimated feedback value obtained between the driving from the starting position to the stopping position on a screen.

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