KR910000610B1 - Process controller having an adjustment system - Google Patents

Abstract

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Description

Adjustable process control

1 is a block diagram showing the configuration of a conventional process control apparatus,

2 is a view for explaining an embodiment of a conventional process control apparatus,

3 is a block diagram showing the configuration of another conventional process control device,

4 is a block diagram showing the configuration of another conventional process control device,

5 is a diagram showing the values of the optimum parameters for disturbance and set values,

6 is a view showing the response characteristics to the disturbance,

7 is a diagram showing a response characteristic to a set value change.

8 is a block diagram showing the configuration of the first embodiment of the process control apparatus according to the present invention.

9 to 11 are views for explaining the operation of the first embodiment according to the present invention,

12 is a block diagram showing the configuration of the second embodiment of the process control apparatus according to the present invention.

FIG. 13 is a diagram showing a transfer function of a gain / delay calculation unit suitable for each control mode (mode) according to the second to fourth embodiments of the present invention, and an overall control mode according thereto.

14a and b are views showing responses generated for different values of α,

15 is a block diagram showing the configuration of the fourth embodiment of the process control apparatus according to the present invention.

FIG. 16 is a diagram showing a response generated when α values are different from each other in the fourth embodiment of the present invention.

17 is a block diagram showing the configuration of the fifth embodiment of the process control apparatus according to the present invention.

18A and 18B are views showing responses generated when the α values differ from each other in the fifth embodiment of the present invention.

19A and 19B are diagrams for explaining the operation of the fifth embodiment of the present invention.

20 to 23 are diagrams showing the configuration of the sixth embodiment of the process control apparatus according to the present invention.

24 is a view for explaining the sixth embodiment of the present invention,

25 is a view showing the unit step response to the sixth embodiment of the process control apparatus according to the present invention,

26 is a block diagram of a seventh embodiment of a process control apparatus according to the present invention,

27 is a block diagram showing the main parts of a modification according to the seventh embodiment of the present invention,

28 is a functional block diagram showing the configuration of the seventh embodiment of the process control apparatus according to the present invention,

29 and 30 show response characteristics of the seventh embodiment of the present invention.

31 is a block diagram showing the configuration of the eighth embodiment of the process control apparatus according to the present invention.

32 is a block diagram showing the configuration of the ninth embodiment of the process control apparatus according to the present invention.

33 is a block diagram showing the construction of a tenth embodiment of a process control apparatus according to the present invention.

34 is a block diagram showing the configuration of the eleventh embodiment of the process control apparatus according to the present invention.

35 is a block diagram showing the construction of the twelfth embodiment of the process control apparatus according to the present invention.

36 is a block diagram showing the configuration of the thirteenth embodiment of the process control apparatus according to the present invention.

37 is a block diagram showing the construction of the fourteenth embodiment of the process control apparatus according to the present invention.

38 is a block diagram showing a configuration of a fifteenth embodiment of a process control apparatus according to the present invention;

39 is a block diagram showing the configuration of the sixteenth embodiment of the process control apparatus according to the present invention.

40 is a block diagram showing the configuration of main parts of a modification of the sixteenth embodiment of the process control apparatus according to the present invention;

41 and 42 are block diagrams showing the configuration of the seventeenth embodiment of the processor control apparatus according to the present invention.

43 is a view for explaining the configuration according to the seventeenth embodiment of the present invention,

44 is a block diagram showing the configuration of the eighteenth embodiment of the process control apparatus according to the present invention.

45 is a block diagram showing the configuration of the nineteenth embodiment of a process control apparatus according to the present invention,

46 and 47 are block diagrams showing the configuration of the twentieth embodiment of the process control apparatus according to the present invention.

48 is a view showing the change of PID structure according to the change of parameters.

49 and 50 are diagrams showing a response characteristic to setting value tracking according to the twentieth embodiment of the present invention;

51 and 52 are block diagrams showing the configuration of the twenty-first embodiment of the process control apparatus according to the present invention.

53 is a block diagram showing the construction of a twenty-second embodiment of a process control apparatus according to the present invention.

54 is a view for explaining the response characteristic of the twenty-second embodiment of the present invention.

55 is a view for explaining the operation of the twenty-second embodiment of the present invention.

56 is a block diagram showing the configuration of the twenty-third embodiment of a process control apparatus according to the present invention.

57 is a block diagram showing the configuration of the twenty-fourth embodiment of the process control apparatus according to the present invention.

58 is a block diagram showing the construction of the 25th embodiment of the process control apparatus according to the present invention.

59a, b and 60 are views for explaining the operation of the twenty-fifth embodiment of the present invention.

* Explanation of symbols for main parts of the drawings

1,35: Deviation calculation part 3,39,105,109: Control calculation part

5: control target 7: operation means

9: subtraction means 11: differential action means

13,31: proportional calculation unit 15: third subtraction unit

17,93: integral calculation unit 19,75: first coefficient unit

21: first subtraction unit 23,75: second coefficient unit

25: second subtraction unit 27,61: differential operation unit

29: addition unit 31: proportional operation unit

33,47,91,107: Compensation calculation unit 41: Computation unit

43,113: measured value feedback compensation unit 55: primary delay filter

59: delay / gain operation unit 69: delay operation means

81: third coefficient unit 83: fourth coefficient unit

85: second switch 87: first switch

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a process control device, and more particularly, to a process control device adapted to have an adjustment method in a control device having two degrees of freedom so as to excellently control a set value tracking characteristic and a disturbance suppression characteristic.

In order to increase the process operation, (1) resource saving and energy saving, (2) manpower reduction and power saving, (3) homogenization and high quality, (4) stability and (5) flexibility are needed. The need for process control is gradually increasing, and as a part thereof, various forms of means are being developed.

In general, in the operation of plants, especially in continuous processes, control of changes in upstream production and changes such as disturbances, setpoint changes due to optimization and cascading control If is not done correctly, the influence is continuously spread in the next step, so the control principle of the control system is improved as much as possible.

In recent years, the plant has been operated in terms of flexibility and energy conservation, but even in this case, large disturbances such as load change have occurred, and the set values due to optimum change, dependent control and set value control are frequent. In many cases, the degree of change was largely undesirable.

In this state, when operating the plant as described above, problems such as (1) the desired system response to the setpoint change and (2) the achievement of sufficient feedback for handle disturbance have occurred. Both of the above problems could not be sufficiently solved. In particular, the adjustment of the integral time causing the mismatch between the characteristics for tracking the change in the setpoint acting as the control object and the suppressing characteristics affecting the disturbance is a big problem. Has been.

Therefore, in order to solve the above-mentioned problems, the present invention can easily and accurately suppress disturbances and changes in set values, and has a process control device having an improved adjustment method to sufficiently adjust the operating parameters and the integration time. The purpose is to provide.

Referring to the present invention in more detail based on the accompanying drawings as follows.

FIG. 1 is a block diagram showing the structure of a conventional general process control apparatus, wherein reference numeral 1 is a deviation calculator, part 3 is a control calculator, and 5 is a control target, and the deviation calculator 1 is a block diagram. The deviation E (= SV-PV) between the control amount PV fed back from the control target 5 and the set value SV inputted is calculated, and the control operation unit 3 Calculate the control operation output PV so that the control amount PV matches the set value SV by performing the calculation of the proportional, integral, and derivative functions of the transfer function C (5) expressed by the following equation (1). Output to the target.

On the other hand, the control target 3 performs the control operation using the control operation output MV as the manipulated amount, and when the disturbance occurs in the control to which the disturbance is applied, the control object 3 represents the variation of the control amount PV.

In the above formula, K _P , T ₁ and T _D are the control constants of the transfer function C (S), respectively, proportional gain, integral time and derivative time, and S is a complex variable.

In order to determine the response characteristic of the control device, it is easy to know by calculating the transfer function of Equation (1), that is, it is easily obtained by determining the adjustment state of the control constants K _P , T ₁ and T _D. do.

In a typical process control device, the control constants K _P , T ₁ and T _D are adjusted to a state that can initially suppress the effects of the disturbance when the disturbance is applied to the process, that is, to the optimal disturbance suppression state. .

However, when the control constant is set to the disturbance suppression optimum characteristic state and the set value SV is changed, the control proceeds excessively, so that the control amount PV is not changed in accordance with the set value SV. This results in an over-shoot.

In addition, if the control constant is set to a state in which the control value PV is optimally tracked due to the change of the set value, that is, the optimum characteristic state for tracking the set value, the suppression property against disturbance becomes insufficient, resulting in a long response time. It becomes mad.

Accordingly, the values of the control constants for the optimum characteristic state for disturbance suppression and the optimal characteristic state for tracking the set value are greatly different, according to the CHR (Chern, Hrones, Reswick) method as shown in FIG. This can be found by testing the adjustment formula for the control constant.

Therefore, since the control constants K _P , T _1, and T _D for each operation unit are set in the transfer function of the control operation unit 3, the conventional control apparatus has a characteristic of the control object 5 (for example, response force to disturbance). Or considering the type of control (e.g., changing the set value), one of the two control constants must be selected and the other discarded or coupled with a fairly good response for both of its condition states.

3 shows a block diagram of another conventional process control device, that is, a PID control device that is differential to the control amount PV. In other words, in the PI operation, the deviation E between the set value SV and the measured value PV is applied to the PI operation means 7, and the output from the PI operation means and the differential operation means 11 The output of the measured value PV by the differential operation is subtracted by the subtraction means 9 and then multiplied by the proportional gain K _P to be input to the scaffold gain means 13.

As a result, the final signal is applied to the control target 5 as the operation signal MV, and the control is performed such that the measured value PV and the set value SV coincide with each other.

However, it is pointed out that such a control device, like the control device described above, cannot adjust the disturbance or the change of the measured value well.

Accordingly, in order to solve the above problems, the following concept of degrees of freedom has been introduced. For example, FIG. 4 is a block diagram of a separate process control apparatus in which a concept of two degrees of freedom is presented. the deviation E ₁ (= SV-PV) between the subtraction unit 15 in set value (SV) and the controlled variable (PV) is determined when the difference (E ₁₎ is introduced in the integral calculation unit 17 becomes the integral calculation .

On the other hand, when the set value SV is multiplied by the coefficient α in the counter 19 and inputted to the adder 21, the deviation E ₂ (= α SV -PV) between the control quantities PV is obtained. (Proportional operation) Furthermore, when the set value SV is multiplied by the coefficient γ in the counter 23 and outputted to the subtracted section 25, the deviation E ₃ from the control amount PV in the subtracted section 25 (= γSV-PV) is obtained and when the result is input to the differential calculation unit 27, differential calculation is performed.

At this time, the integral output, the deviation E ₂ and the derivative output are added and synthesized by the adder 29, and then the proportional gain K _P is multiplied by the proportional gain unit 31 to manipulate the operation signal MV. As a result it is applied to the control target (5).

In such a conventional control apparatus, the proportional meter K _P , the integral time T _I and the disturbance D, which are control constants, suppresses this effect early in the state applied to the control target 5, that is, in the optimum disturbance suppression state. The change in the set value SV is tracked by the adjustment of the coefficient α for adjusting the proportional gain and the coefficient γ for adjusting the derivative time with respect to the change in the set value SV.

Therefore, the conventional control apparatus as described above has no compensation given to the integral time T ₁ performing the control role in the integral operation, but if the proportional gain K _P and the derivative time T _D are compensated by the coefficients α and γ The following problem occurs.

For example, the integration time of the control system is an optimum value for disturbance suppression, which is determined by the size of dead time L of the control target, and may be determined by the size of the time constant T _{O as} an optimal value for setting value tracking.

Here, a large difference occurs between the dead-time time (L) and the time constant (T _O ), when the disturbance suppression characteristic is the optimal state due to such a large difference between the set value tracking characteristics is worse.

Therefore, the conventional control device as described above is incomplete as a PID control device having a degree of freedom of two, and it has been found to be impractical as a whole for a plan using a plurality of PID controls.

Therefore, the following model G _P (S), that is, G _P (S) = e ^-5 _I / (S (1 + S)) is applied to the indefinite process as described above.

5 compares the values of K _P , T ₁ and T _D , which are optimal mediators for disturbance of PID parameters, with the values of K _P ^* , T ₁ ^* and T _D ^* As shown, where K _P , is proportional gain, T ₁ is the integral time, and T _D is the derivative time.

In addition, in the case of using the optimal mediator, the response to the step disturbance is shown in FIG. 6, and the response to the step change of the set value SV is shown in FIG.

In FIG. 6, when K _P , T _1, and T _{D, which} are optimal mediators for the disturbance, are set for the step disturbance, a good response is obtained as shown by the curve A, and the optimum mediation for the set value is performed. If the factors K _P ^* , T ₁ ^* and T _D ^* are set, a normal deviation occurs as indicated by the curve (C).

On the contrary, when TI ^* and TD ^{*, which} are optimal mediators for the set value, are obtained with respect to the step change of the set value SV as shown in FIG. 7, a good response is obtained as shown by the curve C. do.

Therefore, when the optimum parameters K _P , T _1, and T _D for disturbance are set, overdamping occurs as shown in the curve A of FIG. 7, and vibration occurs.

Here, the various types of process control apparatus that can be applied to the present invention are as follows.

[Feed-forward method]

8 is a functional block diagram showing the configuration of the first embodiment of the process control apparatus according to the present invention, where reference numeral 33 is a compensation operation unit, and the set value SV is the compensation operation unit 33 and the deviation operation unit 35. When introduced into, the deviation calculation unit 35 determines the deviation E between the control amount PV and the set value SV introduced from the control object 37 and outputs the deviation E to the control unit 39.

On the other hand, the control calculation unit 39 calculates the adjustment output MV by performing each of the proportion, the integral and the derivative based on the transfer function of the following equation (1) for the deviation E.

Here, the control constants K _P , T ₁ and T _D of the transfer function can be adjusted to the disturbance suppression optimum phase by the CHR method shown in FIG. 2, and on the other hand, the control amount which changes according to the disturbance D (PV) is suppressed by the adjustment output (V), so the adjustment time is minimized or there is no overshoot.

When the set value is changed in the control constant determined by the above-described adjustment, the gain is controlled to be large, and the control amount PV is larger than the set value to generate the overshoot.

At this time, the compensation calculation unit 33 calculates the compensation amount a (S) by performing a compensation operation on the set value SV based on the transfer function H (S) of Equation (2). The control constants K _P , T ₁ and T _D , which are adjusted to the disturbance suppression optimum characteristic state for the deviation (E) caused by the change, are set to K _P ^* , T ₁ ^* and T _D, Will be equivalent to ^* .

Here, the compensation amount a (S) outputted from the calculating section 4 is subtracted by the adjustment output U introduced from the control calculating section 39, and then introduced into the control object 37 in the manipulated variable M state.

The transfer function of Eq. The transfer function for C ^* (S) will be changed.

Where α, β and γ are adjustment parameters.

That is, α adjusts the proportional gain K _P , β equivalently changes the integral time T ₁ , and γ changes the integral time T _D.

In controlling the process control apparatus as described above, the control apparatus transfers the above expression (2) regardless of the change in the control amount PV or the change in the set value with respect to the deviation E by the deviation calculation unit 35. By the function, it is calculated in the disturbance suppression optimal characteristic state.

As a result of this calculation, the part based on the deviation according to the change of the set value is corrected by the above formula (2) according to the compensation amount a (S) calculated based only on the set value. The transfer function in (3) changes as calculated in the set value tracking optimal characteristic state. In this way, when the control constants K _P , T ₁ and T _D changed to the disturbance suppression optimum characteristic state do not change but the set value is changed, the set values are modified by modifying the parameters α, β and γ that can be independently adjusted. It is possible to set the control constants K _P ^* , T ₁ ^*, and T _D ^* of the optimal characteristic state for tracking.

The following describes the principles of the embodiments of the present invention.

The control response of the process as shown in Figure 8

In the equation (5), when the set value SV is changed without changing the response to the disturbance D, only the {C (S) -H (S)} is changed to change the set value. You can manipulate the response to (SV).

If the term {C (S) -H (S)} is the transfer function C ^* (S) of the optimum characteristic state for tracking the set value, the transfer function is adjusted to the optimum characteristic state for disturbance suppression. In order to optimize the response tracking characteristics according to the set value that changes based on the change of the set value (SV) without changing the control constant value of the transfer function C (S), the control constants K _P and T _The values for ₁ and T _D should be changed independently of each other.

In addition, in order to adjust the control response to the set value, the final value theorem must be satisfied. The disturbance D is constant and if the constant value a of the set value SV changes stepwise, the deviation E _SV = a becomes 0 at steady state.

In addition, the transfer function C ^* (S) that satisfies the conditions described above is shown in Equation (3).

For example, under the conditions as described above, the adjustment parameters α, β and γ are not affected by the control amount PV, and for the set value SV, the values of the respective control constants K _P , T ₁ and T _D , respectively. This change causes a change.

In the embodiment of the present invention, in order to realize the transfer function C ^* (S), the compensation amount a (S) is supplied from the compensation operation unit 33 to the output of the control operation unit 39, and the transfer function H at this time. (S) is represented by said Formula (2).

Here, the transfer function H (S) is summarized as follows, where the compensation amount a (S) is proportional, integral and differential based on the set values of the adjustment parameters α, β and γ with respect to the set value SV. It is determined by each compensation operation of the operation.

Here, the set values for the adjustment parameters α, β and γ of the function can be obtained by substituting the transfer function C ^* (S) of Equation (3) by Equation (4), where: To track the setpoint, the control constants K _P ^* , T ₁ ^* and T _D ^* for the optimal characteristic condition are used. The values of K _P ^* , T ₁ ^* and T _D ^* are obtained by the CHR method shown in FIG. 13 and the like.

First, the α value

The parameter β can be briefly described as follows by the final value theorem.

That is, β

Is obtained from where β _O is

Is obtained, and γ is

Obtained as

Next, the second condition can be explained in a state where the final value theorem is satisfied, that is, in order to make the normal deviation E _SV = a equal to zero, the following equation must be established.

이므로 상기 식(11)의 분모분자가 동일한 값이 아닐 경우에는 상기 식(11)은 성립되지 않게 된다.In order to satisfy the above formula (11), the integral term is the most problematic, but for S → 0

Therefore, when the denominator of the formula (11) is not the same value, the formula (11) is not satisfied.

For this reason, the integral time T _I is configured to change equivalently by using a first lag very close to the integral action, as shown in Equation (9) above, in order not to change even if the parameter α or γ is multiplied. In this configuration, the same integral term was provided to the denominator so as to satisfy the final value theorem, and the integration time of the molecules was adjusted to the first delay.

In the following, it will be explained whether the integral time, which is conventionally used for compensation, can be obtained by changing the equivalent time due to the use of the first delay.

이며, 설정값의 변화에 대한 적분항은(

)로 표시된다.Based on the above formulas (1) and (3), the integral term for disturbance is

The integral term for the change of the set value is (

Is indicated by).

Here, comparing the two integral terms is as follows. In other words, if the adjustment mediator β is changed, only the integral time is equivalent to the change of the set value as shown in FIG. 9 when the term for disturbance is fixed.

에 대한 것이고, 곡선(b)은 1차지연

에 대한 곡선으로써 곡선(a)로부터 치환된 것이며, 곡선(c)은 1차지연

에 대한 곡선으로 곡선(a)로부터 치환된 것이다.On the other hand, in Fig. 9, the curve a is an integral term.

Curve b is the first delay

Curve for (a) is substituted from curve (a), curve (c) is the first delay

The curve for is substituted from curve (a).

와 근사값을 갖게되며, β_O에 대한 최적 값은 실제 시뮬레이션(simulation)에 의하여 2% β의 형태로 얻어지게 된다.Here, the curves (b) and (c) are expressed in equation (8) as the integral time for the curve (a) is changed equivalently by the first delay.

It has an approximation and, and the optimum value for β _O is obtained in the form of 2% β by actual simulation.

Also, when the output of the first delay transfer function is determined by the value of β, the integration time increases in the order of curves (a) (b) (c) when the value of β increases.

In addition, in actual control, the interval required for changing the integral time is represented as the time for the process response (integral time T _I of the integral operation), and the integration at this degree becomes nearly linear.

In another form, the substitution component according to the first delay of each response can be seen as a curve (ii).

As described above, the integral time T _I increases when β increases in the positive direction and decreases the integration time when β increases in the negative direction.

Next, a description will be given of the operation of the embodiment of the present invention and a method for adjusting the control constant and the adjustment mediator respectively.

In other words, as a control method, first, the process characteristics (time constant T of the process, dead time L, and gain K) of the process are first determined, and based on these values, there is a method of adjusting by CHR method or another method. There is a way to adjust the control constant so that the step response at the set value can be equal to the desired response under incompletely obtained process characteristics.

In the first method, the two control constants K _P , T ₁ and T _D and K _P ^* , T ₁ ^* and T _D ^* , which are the optimum tracking state for disturbance suppression and the optimum characteristic state for tracking the set value Is calculated in order to calculate the control mediators α, β and γ by substituting the control constants in equations (7), (9) and (10).

On the other hand, in the second method used in various applications, the control constants K _P , T _I, and T _D for the control operation unit 39 are first controlled by the control value PV as the set value SV is gradually changed. It is adjusted to have the same response as the optimum characteristic state for disturbance suppression, wherein the adjustment mediator is modified to gain in response to the desired optimal characteristic state in order to track the set value.

For example, if the simulation is a transfer function of the control object 37

If r = 0 (in proportional and integral compensation operation), the response changes according to the values of the individual differences α and β as shown in FIGS. 10 and 11.

Furthermore, the embodiment of the present invention is configured such that the response is adjusted by the mediators, so that various forms of control are possible according to the change of the mediator α value.

α

1의 상태로 변화시킴에 따라 응답의 상승특성과 오우버슈우트의 특성을 선택할 수 있게 된다.That is, if α = 0 in FIG. 10, I-PD control is achieved, and if α = 1, it is gained to be controlled in the conventional disturbance suppression characteristic state, where the parameter α is in the control state. Control the proportional gain K _P , and set this value to 0.

α

By changing to the state of 1, you can select the rising characteristic of the response and the characteristic of the overshoot.

Further, β is for changing the integration time T _I , and as shown in FIG. 11, the overshoot can be improved without affecting the rise of the response curve.

In practice, the optimum characteristic state appears when α = 0.4 and β = 0.15.

Furthermore, gamma is for changing the derivative time T _D , and thus the response curve rising characteristic is changed.

In this way, when the control constants K _P , T _I and T _D and the adjustment parameters α, β and γ are set as described above, the control amount PV according to the disturbance D is applied to the control object 37. ) Is supplied to the control operation unit 39 as a deviation from the set value SV, where the adjustment output U is calculated based on the control constant of the disturbance suppression optimum characteristic state, and is output to the operation unit 41. Will be.

On the other hand, since the set value SV does not change in the calculation unit 41, the compensation amount a (S) output from the compensation calculation unit 33 does not change, and the manipulated value MV is output to the control object 37. The change in disturbance D is initially suppressed.

In addition, when the set value SV is changed, the control calculation unit 39 also performs calculation in the disturbance suppression state for the deviation E for the change portion, whereas the compensation calculation unit is applied to the change portion of the set value SV. The compensation amount a (S) calculated based on the adjustment mediator in 33) is subtracted by the calculation unit 41, output to the control object 37, and compensated so as to respond most appropriately to the set value SV.

Thus, according to the present invention, first, since the control constant adjusted to the disturbance suppression state can be substantially corrected to the set value tracking state, both characteristics of disturbance suppression and set value tracking can be simultaneously realized, and secondly, the disturbance suppression state and Both constants for the setpoint tracking state can be adjusted independently of each other, and both of them can be freely selected optimally. Third, control constants to optimize the response of the control amount PV to the setpoint SV. Since the control parameter is selected after the control parameter, it is not only practically possible, but also has the advantage of being able to adjust the reliability and ease of adjustment in a short time. Fourth, the enhancement of the compensation operator 33 with respect to the control operator 39 is realized. Because it is possible, it can be easily applied to the existing control device. Fifth, the integration time T which was considered impossible until the past Equivalent to _I , but compensable, has greatly improved control over the integral process.

For this reason, the integral time of the set value tracking optimal characteristic state must be infinite for the finite integral time of the disturbance suppression optimal characteristic state in the integral process, and in order to obtain optimum controllability in the two states, It is because it is necessary to set it as the structure which can change integral time.

In addition, as shown in FIG. 2, the CHR method also allows the integral time to be set to different parameters for the undesired dead time (L) of the control object for disturbance suppression and the time constant (T) of the control object for the set value. Because it is determined by the need to compensate for such a need to greatly improve the controllability.

In addition, in the above-described embodiment, the control operation unit 39 executes each operation of the proportional integration and derivatives, and the compensation calculation unit 33 also performs each operation of the corresponding proportional, integration and derivatives, respectively. The control operation unit 39 of the present invention may be configured to execute at least a control operation that forms the core of improved controllability. For example, the present invention is characterized in that the integration time of the set value tracking characteristic and the disturbance suppression characteristic can be adjusted. .

In addition, the compensation calculation unit 33 may be configured by combining integrals alone or by selectively combining integrals with proportions or derivatives in accordance with a desired set value tracking response centered on an equivalent integral compensation operation based on a delay element.

For example, if only the overshoot control is sufficient, it can be compensated for integral alone, and it is better if proportional or derivative, or combination of proportional and derivative depending on the improvement of the rising response characteristic.

Furthermore, in the above-described embodiment, it has been described that the incomplete derivative, which is frequently used frequently, is used as the derivative control of the control operation unit 39. However, the present invention can be achieved by using the complete derivative. will be.

In other words, the derivative means that it contains both complete and incomplete derivatives.

[Set value compensation]

This type of compensator is intended to be applied to a process control device that is calculated at the previous stage of the deviation calculator in order not to be affected by the disturbance suppression characteristics generated in the system.

12 to 22 show the configuration of the sixth embodiment to the sixth embodiment of the process control apparatus according to the present invention, and the same configuration as the first embodiment of the present invention will be described with the same reference numerals. It will be omitted.

On the other hand, in the embodiment of the present invention, the compensation calculation unit 47 is installed at the previous stage of the deviation calculation unit 35 with respect to the set value, which means that the first embodiment as described above is controlled to the disturbance suppression optimal state. In order for the constants K _P , T _I and T _D to be substantially compensated for the set value tracking optimum in the set value tracking optimum state, the compensation amount a (S) from the compensation operation unit 33 is changed in the set value in the control operation unit 39. It is to be calculated in the disturbance suppression state that includes the partial deviation by.

Such calculation result is compensated for to be added to the regulation output.

On the contrary, in the present embodiment, the compensation calculation unit 47 corrects the control constant of the disturbance suppression state of the control operation unit to the control constant of the setting value tracking state in advance in response to the change of the set value SV, that is, to the compensation amount. Compensation operation for changing by means is performed, and the result is configured in the form of supply to the deviation calculation unit 39.

For example, the control response of the present embodiment shown in FIG. 12 is expressed as follows.

In order to operate the response to the set value SV without changing the response to the disturbance D from the equation (28), the transfer functions H (S) and C (S) may be changed.

FIG. 13 shows a transfer function for the second to fourth embodiments of the present invention used as a delay / gain operation means such as the compensation operation unit 47, and shows overall adjusting modes according to each embodiment. ) Is indicated.

For example, a representation of a generic regulatory mode helps explain the technique, with the four symbols included in the representation being primarily P, I, D, and hyphens.

In this case, the expression without hi-phone represents a system having a degree of freedom of 1, for example, PI mode can only be adjusted by terms of set point tracking characteristics occurring in the system and the ratio of the disturbance suppression and the integral constant. It shows a system that can.

In other words, it is represented as one high-phone control mode having different control modes for the two characteristics, where the symbol that leads the high-phone symbol can be represented only by the disturbance suppression characteristics. When the two characteristics appear as a control mode, for example, the IP appears as a control mode so that the integration time for both characteristics is adjusted when the disturbance suppression characteristic is subjected to only proportional motion.

If the symbol being read and the symbol being traced are the same symbol, the representation is a system with two degrees of freedom, and if three sets of symbols are connected to each other by two hi-phones, for example, The leaded mode appears for the setpoint tracking characteristic, the final mode appears for disturbance suppression, and the intermediate mode appears between the two.

For example, P-I-P is a control mode in which the freedom of ratio adjustment is 2 for both characteristics and the freedom of integration operation is performed by one.

(1,1) Setting No 1.1 Standard PI Control

This is a conventional standard PI control that leads to H (S) = 1 when α = 1.

(1,2) Setting No 1,2 P-I control

이다.when α = 0

to be.

This is a PI control with a filter on the set point. In this case, the PI mediator for PI control is set at the disturbance suppression optimal PI mediator and the time constant for the gain / delay calculation means 31 is set at the integral time T _I.

With this setting, the PI control becomes optimal for disturbance change or set value change, so a PI control system with 2 degrees of freedom is obtained.

Here, the change in measured value (PV)

Therefore, PI operation is performed.

The change in the set value SV is

This is the so-called I-P control method.

(1,3) Setting No 1,3 P-I-P control

If 0 <α <1

As will be shown next, the overall control is P-I-P.

Here, I (integral) means that the set value and the measured value operate in common, and P (proportional) means that the value for the set value change and the value for the measured value change can be set independently.

For changes in measured value (PV)

And PI operation.

For change of SV

Becomes

Comparing Eq. (30) with Eq. (29), the above-described expression was added with the proportional term K _P × α for the change in SV, and the tracking characteristic for the change in the set value was changed without changing the disturbance characteristic. It can be seen that the improvement according to the change.

On the other hand, Fig. 14A is a diagram showing the output of the gain / delay calculation means 31 when the? Value is different, for example, when the set value SV changes stepwise when? = 0,? = 1 and 0 <? 1. FIG. 14B is a diagram showing a change in the measured value PV in accordance with the above-described values.

(2,1) Setting No 2,1 Standard PID control

Since the transfer function H (S) = 1 when α = 1 and δ = 1, this is a conventional standard PID control.

(2,2) Setting No 2,2 I-PD control

When α = 0 and δ = 0, the transfer function H (S) is

This is the same as the PID control with a filter on the set value. In this case, the PID mediator for PID control is set as the optimal mediator for disturbance suppression, and the parameters for the gain / delay calculation unit 31 are also set at the same time as the PID mediator.

As a result, it becomes the optimum state against disturbance fluctuation or set value change, and it can be seen that it becomes PID control system with 2 degrees of freedom.

For changes in measured value (PV)

And PID operation.

Also, for the change of SV, the transfer function

This is known as the so-called I-PD control system.

(2,3) Setting No 2,3 P-PI-PD control

When 0 <α <1 and δ = 0, the transfer function H (S) is

In general, PI-PD control is performed. I (integral) is operated in common according to the set value and measured value, and P (proportional) is the value for set value change and measured value change. Are set independently, and D (derived) is meant to operate only on the measured value.

Regarding measured value change

And PID operation.

Regarding the set value change

Comparing the above equation with Eq. (31), since the proportional term K _P × α is added to the set value change, the tracking characteristic for the set value change is changed according to the value of α without changing the disturbance suppression characteristic. Improvement is possible.

That is, it can be seen that this is a P-I-PD control method.

(2,4) Setting No 2,4 D-I-PD control

When α = 0 and 0 <δ <1, the transfer function H (S) is

As will be demonstrated later, it becomes a D-I-PD control system as a whole. On the other hand,

This is the PID operation.

Regarding the set value change

It becomes the ID operation for setting value change.

Therefore, summarizing the above, it becomes a D-I-PD control system as a whole.

(2,5) Setting No 2,5 PD-I-PD control

When 0 <α <1 and 0 <δ <1

As will be demonstrated next, it becomes a PD-I-PD control system as a whole. On the other hand,

This leads to PID operation.

Regarding the set value change

And PID operation.

Therefore, summarizing the above, this becomes the PD-I-PD control method.

(3,1) Setting No 3,1 PV Differential Linear PID Control

15 shows the configuration of the fourth embodiment of the process control apparatus according to the present invention. In this embodiment, two elements 47A and 47B are continuously connected to the gain / delay calculation means 47. In this case, The transfer function for the gain / delay calculation means is shown in FIG.

H ₁ = δ T _D

H ₂ = γ · δ · T _D = γ · H ₁ (γ = 0.1 to 0.3)

Γ = 0.1 for an analog control system, but γ = 0.3 for a digital operation.

(when α = 1, δ = 0)

When α = 1 and δ = 0, the transfer function H (S) = 1 for the gain / delay element becomes the conventional PV differential linear PID control.

(3,2) Setting No 3,2 I-PD control

(when α = δ = 0 is set)

When α = δ = 0, the transfer function H (S) of the gain / delay element is

Here, it can be seen that the set value filter is PV differential linear PID control, and as will be demonstrated later, it becomes I-PD control as a whole.

For changes in measured value (PV)

And PID control.

For change of SV

Becomes I operation.

Therefore, when this is combined, so-called I-PD control is achieved.

(3,3) Setting No 3,3 P-I-PD control

(When 0 <α <1 and δ = 0 are set)

When 0 <α <1 and δ = 0, the transfer function for the gain / delay factor is

As will be shown next, the above-described display results in P-IPD control.

For changes in measured value (PV)

And PID operation.

On the other hand, the change of the set value (SV)

And PI operation.

Therefore, when this is combined, it becomes P-I-PD control.

(3,4) Setting No 3,4 D-I-PD control

(when α = 0 and 0 <δ <2)

When α = 0 and 0 <δ <2, the transfer function of gain / delay

As will be shown next, it becomes D-I-PD control.

For changes in measured value (PV)

It becomes the PD operation.

On the other hand, the change of the set value (SV)

And ID operation.

Thus, when summed up this expression, the expression becomes D-I-PD control.

(3,5) Setting No 3,5 PD-I-PD control

(When set to 0 <α <1 and 0 <δ <2)

For 0 <α <1 and 0 <δ <2, the transfer function for gain / delay

And PD-I-PD control.

Here, the measured value (PV) change

And PID operation.

On the other hand, the change of the set value (SV)

And indirect PID operation.

Therefore, when this is combined, it becomes PD-I-PD control.

(3,6) Setting No 3,6 Standard PID

(when α = 1 and δ = 1 are set)

For α = 1 and δ = 1, the transfer function for gain / delay

As will be demonstrated next, it becomes standard PID control.

Here, the measured value (PV) change

And PID operation.

On the other hand, the change of the set value (SV)

And interference type PID operation.

Therefore, when this is combined, it becomes standard PID control.

(4) PID-PI control

As described in the first embodiment of the present invention, the system transfer function of FIG. 12 may be determined to establish a standard control system for the system transfer function.

On the other hand, in the fifth embodiment of the present invention, the transfer function of the control operation unit 39 is described by performing both the proportional and integral operations as shown in the following equation (39). As long as it has at least this integral operation, you may perform a combination combining both proportional or integral.

항은 이득/지연요소에 의한 비례게인 보상성분이며, (

)(

)는 1차 지연에 의한 등가적인 적분시간의 보상성분이고, (

)(

)는 적분시간에 대한 보상성분이며, 이들을 기능적으로 블록다이어그램으로서 나타내면 첨부도면 제2도와 같다.In the formula (40),

Term is the proportional gain compensation component by gain / delay factor,

) (

) Is the compensating component of the equivalent integral time due to the first order delay,

) (

) Is a compensation component for the integral time, which is functionally represented as a block diagram as shown in FIG. 2.

Here, the proportional gain compensation component is as shown in Fig. 18A, and the step change of the set value SV is changed by changing the adjustment mediator α value, and the gain of the α value by the gain factor and the primary delay by the delay factor. It can be obtained by compensating a combination of transfer functions, whereby the response of the control amount PV is expressed as shown in FIG. 18B.

1일 경우에는 설정값(SV)의 변화가 그대로 또는 2배의 α값에서 제어연산부(39)에 출력되기 때문에 제어량(PV)이 크게 오우버슈우트되게 된다.According to the response shown in FIG. 18B of the accompanying drawings, when α = 0, that is, when the change of the set value SV is only the first delay function, no overshoot occurs but the rising characteristic is delayed.

In the case of 1, since the change in the set value SV is output as it is or at twice the α value, the control amount PV is greatly overshooted.

For this reason, the value is adjusted to control the response of the control value PV to an optimum state. When the same value as in the above formula (7) is obtained, the α value is obtained. In addition, the gain / delay calculation of the proportional gain compensation can be applied in various configurations, for example, in the form of a second transfer function.

Furthermore, in the present embodiment, the integral time and the compensation component satisfy the theorem of the final value as described above by using FIG. 2, so that the integral time is changed equivalently by the delay factor, and the adjustment parameter β The same can be obtained as in the first embodiment.

In addition, the compensation component for the derivative time also changes the incomplete derivative of the set value (SV) with the adjustment parameter γ as shown in FIG. 19A, so that the response of the control amount can improve the ascending characteristic with little effect on the overshoot. Will be.

Next, a sixth embodiment of the process control apparatus according to the present invention will be described.

In the present embodiment, since the control method for the control constant and the adjustment medium is performed in the same manner as the above-described embodiment, the description thereof will be omitted here.

First, the disturbance (D) there is to do this is applied to the control object 37, control calculating section 39 is proportional, respectively on the basis of the control constant K _P · T ₁ and T _D are set to the characteristic state, integral and derivative action, This is for quickly suppressing the change in the control value PV.

On the other hand, the adjusted output is supplied to the control object 37 as an operation amount (MV), where the change is the control constant K _P T ₁ and T of the control operation unit 39 when the set value SV is changed. _The amount of change SV 'which is actually corrected by the set value tracking optimal state K _P ^* T ₁ ^* and T _D ^* is corrected by each compensation operation of proportional, integral and derivative.

The change amount SV 'is supplied to the deviation E and the control calculation unit 39 by comparing with the control amount PV in the deviation calculation unit 35.

At this time, the control operation unit 39 calculates the disturbance E in the optimum state of disturbance suppression, and since the amount of change in the set value is already compensated, the control amount 37 MV) is output, so that the control object 37 generates an appropriate response to the disturbance D and the set value SV.

In addition, in the second embodiment, as in the above-described embodiment, the control operation unit 39 and the compensation operation unit 47 all explain that the calculations of proportional, integral, and derivative occur, but in the present embodiment, at least the control operation unit 39 ) Performs the integral operation, and the compensation calculation unit 47 has a structure capable of performing the compensation operation corresponding to the above. For example, the structure shown in FIG. 20 (in this case, only integral compensation can be realized) And the rest can be selectively combined according to the desired process response.

In addition, when the block diagram has a simpler structure while having the same function as that shown in FIG. 12, the block diagram may be configured as shown in FIG.

In addition, when only the differential compensation operation is to be calculated by the compensation calculation unit 47,? · Β of Equation (40) may be set to 0, and when it is attached, it can be configured as shown in FIG. 16, where the differential operation is Both complete and incomplete derivatives as described above are included.

On the other hand, Figure 23 of the present invention shows a separate operation form of the sixth embodiment of the present invention, the control device of the present embodiment is provided with a primary delay filter 55 in the input path of the integral control element, but the fourth embodiment described above. It is composed of different features from the standard PID control device of FIG. First, the set value (SV) is input in parallel to the first coefficient unit 19, the second coefficient unit 23, and the primary delay filter 55. In this case, in the first coefficient unit 19, the set value SV is multiplied by the coefficient α, and the output α SV is input to the first subtractor 21, and the measured value ( The deviation E ₁ is calculated.

On the other hand, the second coefficient unit 23 multiplies the input set value SV by the coefficient δ, and the output δ SV is input to the second subtraction unit 25 so as to deviate from the measured value PV E _2. ) And the output deviation E ₂ causes the differential time TD and the differential operation to be performed in the continuous differential calculation unit 27.

In addition, the primary delay filter 55 outputs a time delay corresponding to the change to the set value SV, and outputs the output delay. The output is input to the third subtractor 15 so as to deviate from the measured value PV. E ₃ ) is calculated. The deviation E ₃ is such that the integral time T ₁ and the integral calculation are performed in the integral calculation unit 17.

At this time, the derivative value of the deviation E ₂ obtained from the deviation E ₁ and the differential calculation unit 27 and the integral value of the deviation E ₃ obtained from the integral calculation unit 17 are added and synthesized in the adder 29, and then the proportional part ( 31 is multiplied by the proportional gain K _P and applied to the control object 37 as an operation signal MV.

Accordingly, the measured value PV and the set value SV are equally controlled.

As described above, the configuration sets the time constants T _O of the PID mediators K _P T ₁ and T _D and the coefficients α δ and the primary delay filter 55 as follows. Can be optimized simultaneously.

(I) PID mediators K _P · T ₁ and T _D are set as optimal mediators for disturbance, respectively.

Control device as shown in the above configuration is optimal disturbance for with respect to the measured value (PV) in the setting as described above, so that the same operation as the standard PID controller to the process value (PV) mediator K _P · T ₁ and Since the operation is obtained in accordance with T _D , the response of disturbance becomes good.

(II) The coefficients α and δ are the optimum proportional gain (K _P ) for the disturbance, the optimum differential time (T _D ) for the disturbance, and the optimum for the set value Based on the proportional gain (K _P ^* )

Will be set as

In such a control device, according to the action of the coefficient α · δ, the actual proportional gain is α × K _P with respect to the set value SV, and the actual derivative time is δ × K _P × T _D as described above. When set, K _P and T _D are already set at K _P ^* and T _D ^* , so the actual proportional gain and actual derivative time for SV are generally K _P ^* and K _P ^* × T _D ^* .

That is, for the set value SV, the same proportional and derivative operations are obtained by setting the set value optimum mediators K _P ^* T _I ^* and T _D ^* in the standard PID controller.

(III) The actual integration time for the setpoint (SV) by adjusting the time constant T _O is obtained when the standard PID controller is set to the optimum mediators K _P ^* T _I ^* and T _D ^* for the setpoint. The integral time T _I ^* / K _P ^{* may} be controlled in the same manner, and the adjustment of the time constant T _O may be performed as in the embodiment as described above, for example.

On the other hand, in step (1), since the integration time Ti of the integration calculation unit 17 is set to the disturbance optimal integration time T _I ^* , the transfer function Gi (S) of the integration operation with respect to the set value SV is

Becomes

The response characteristic of the output ID ₃ to the unit step input of the transfer function Gi (S) is shown in FIG. 24, that is, FIG. 24 is similar to the response of the primary delay filter 29. T _O = T _I / 2 Or the response of the system at T _I.

In this case, the control apparatus is generally used in an area where the time value is small with respect to the input change, for example, an area below the time T _I as shown in the drawing. When the time constant T _O is increased, the rising slope of the curve becomes small. Equivalently increased at the integral time T _I / 2 with respect to the set value SV.

Therefore, it is necessary to gradually increase the time constant (T _O ) from 0, so that the actual integral time for the set value SV is proportional gain, and the optimum proportional gain (K _P ^* ) for the set value is obtained. _I ) is set to the time constant (T _O ) in the same way as setting the optimum integral time (T _I ^* ) for the set value.

Also, as in the above steps (II) and (III), when the coefficients α · δ and the time constant (T _O ) are set, control is performed according to the optimum mediators K _P ^* T _I ^* and T _D ^* for the set value. Operation is obtained so that a good setpoint tracking response is obtained.

Next, the operation procedure and setting method of the operator will be described in detail using the processless process form described above in the above steps (I), (II) and (III).

(I) The calculator changes the optimization coefficients α and δ for the set values in order to set the optimum mediators for disturbances in the PID mediators K _{PT I} and T _D. Change step by step.

In this case, the change of the measurement value (PV) is the same as the disturbance change in the process, and the optimum mediator for disturbance is adjusted in order to optimize the variation, for example, as shown in FIG. It can be seen that K _P = 0.188, T _I = 14.6 (minutes) and T _D = 1.98 (minutes).

(II) When the parameter for disturbance is set according to the above step (I), the calculator sets the coefficients α and δ to optimize the change in the set value, for example, as shown in FIG. optimum derivative time for the optimum derivative time T _D and a set value for the optimum proportional gain K _P ^*, the disturbance to the optimum proportional gain K _P and the set value T _D ^* is

Becomes

Substituting the above values into equations (2) and (3), respectively, the coefficients of equations (2) and (3)

(III) Here, the time constant T _O is set as follows.

That is, since the integral time T _I is set at the optimum integral time T _I = 14.6 (minute) for disturbance, the set time SV should be set to the optimal integral time T _I ^* = ∞ for the set value.

For example, if T _O = T _I = 14.6 (minutes), it is very practical.

The response of the control device according to each of the steps (I), (II) and (III) is that the standard PID control device is the optimum disturbance K as shown by the curve (A) in FIG. _The same type of response as in the case of _P , T _I and T _D is obtained, and the standard PID control device is set as shown in the curve (C) in FIG. The same type of response is obtained as is set by the value optimum mediators K _P ^* T _I ^* and T _D ^* .

On the other hand, the processor is optimized for "disturbance suppression" or "setpoint tracking".

As a result the process is, for example, "primary delay + boss time" response to a unit step in the case which is composed of elements of the control castle time constant for the bars, such as the disturbance changes indicated in claim 25 appended drawings (T _O Even if () is increased, the residual deviation (offset) does not occur and becomes very good, and the controllability to change of the set value is shown to be high even if the overshoot is small.

In addition, the above-mentioned control apparatus does not need to carry out a complicated process of determining the control parameters in the control apparatus as a whole in consideration of the disturbance and the responsiveness of the change of the set value at the same time. In order to optimize the response of the control unit to the control unit, this is extremely easy to adjust for a simple setting process individually and independently for each control loop as shown in steps (I) to (III). Eventually, the operation of the operator console will be satisfactorily achieved.

It is well known here that optimization of an amorphous process as described above is very difficult, but if it is a "first delay + dead time" process (e ^-L S / (1 + T _I · S)) or "second delay + The above-mentioned optimization is made much easier because the "pure time" process (e ^-L S / (1 + T _I · S)) is never infinite since the optimal integration time T _I ^* for the set value is obtained.

Therefore, if the coefficients α and δ are set to "1" or "0", various conventional control schemes can be selected and used. For example, if the time constant is T ₀ = 0, the following will be obtained.

That is, when (I) α = δ = 1

It can be implemented without providing the first coefficient unit 19 and the second coefficient unit 23, and becomes the same as the standard PID control device.

(II) When α = 1 and δ = 0

Differential action can be operated only by the measured value (PV) and becomes the same as PV differential type PID control device.

(III) When α = 0 and δ = 0

Proportional and derivative operations can be operated with only the measured value (PV) and become the same as the I-PD controller.

As described above, the process control apparatus according to the present invention solves the disadvantages of the prior art, and has a high degree of controllability and wide applicability even when various kinds of species control methods are freely selected and used. Appropriate use in the plant can optimize each control of the plant to disturbances and setpoint changes and will make a significant contribution to the industrial sector by enabling more effective responses that have been recently requested as described above. .

As described above, in the embodiment of the present invention, the derivative operation is described as a complete derivative (T _I · S), but in the actual case, the complete derivative {(T _D / (1 + γ · T _D · S)), γ = 0.2 To 0.3} is usually applied.

26 shows a block diagram of the seventh embodiment of the process control apparatus according to the present invention, in which the control apparatus includes a second coefficient portion 23 and a second subtraction portion 25 and The differential calculation unit 27 is formed to be removed, and is applied to PI control, which may be sufficient for some processes.

Also in this embodiment, within the PI control range, the same as in the case of the first embodiment of the present invention, the "set value tracking" and the "disturbance suppression" can be simultaneously optimized.

Modifications to each of these embodiments will be described as follows.

(I) The primary delay filter 55 is deformed as follows.

Accordingly, as shown in FIG. 27, a part of the integral operation is calculated, the deviation E ₄ between the set value SV and the measured value PV is calculated and the deviation E ₄ and the set value SV are calculated from the above equation. a first deviation value and sent through a filter 57, corresponding to the second term of the (E ₃₎ operation, and the deviation (E ₃₎ was applied to the integral operation unit 17, such that the equivalent configuration.

(II) between the first subtracter 21 and the adder 29 so that the adjustment of the actual proportional gain can be performed independently of the derivative and the integral operation. Although a new step number has been added to the position, the proportional part 31 may be moved to this position.

(III) A new counter is added to the path through which the measured value PV is input from the first subtractor 21, the second subtractor 25, and the third subtractor 15 to facilitate further optimum adjustment. .

28 is a functional block diagram of the seventh embodiment of the apparatus according to the present invention, and the calculation formula of the gain / delay calculation unit 59 at the same position as that of FIG.

As is clearly shown in the figure, the change in the measured value PV

On the other hand, the change of the set value (SV)

The operation adjustment of is made.

Here, the proportional gain K _P and the integral time T _I are set as optimal mediators for disturbance suppression.

In the above equation (45), for the change in the set value SV, the integral term for the disturbance is fixed at a constant value, and the delay / gain calculation unit 59 of the coefficient α and the set value SV with respect to the set value is As the coefficient β changes, only the integral time is changed equivalently.

If the integral term of the formula (45) is changed,

Becomes

On the other hand, in the above equation (46), the first right term is an integral term of the integral time T _I , and the second term is an integral control term according to the gain / delay calculation unit 59. Therefore, the integral time Te (equivalent integral time) with respect to the change of the set value is changed by adjusting the coefficient β of the integral adjustment term of Equation (46).

In the formula (46), when β = 0, there is no adjustment to the integral time, so that the equivalent integral time Te = integral time T _I , and when β> 0, the equivalent integral time Te> integral time T _I In the case of β <0, it can be easily seen that the equivalent integration time Te integration time <T _I becomes.

Accordingly, when the disturbance suppression optimal integration time T _I is determined, the equivalent integration time Te can be easily changed by changing the coefficient β in the same manner as in the first embodiment of the present invention.

를 사용하여 시뮬레이션을 실시하게 될 때 제29도 및 제30도에 나타낸 바와 같이 계수(α)와 계수(β)의 값에 따라서 그 응답이 변화하게 된다.At this time, the coefficients α and β are modified so that the response is made to the set value tracking optimum characteristic state.

When the simulation is carried out using R, the response changes according to the values of the coefficients α and β as shown in FIGS. 29 and 30.

α

1의 범위 내에서 응답곡선의 상승특성 및 곡선의 오우버슈우트 상태를 선택하도록 되어있다.Here, the change of the coefficient α adjusts the proportional gain K _P among the control constants, as shown in FIG. 29.

α

Within the range of 1, the rising characteristic of the response curve and the overshoot state of the curve are selected.

Furthermore, the coefficient β is for changing the integral time T _I , that is, by changing the value of the coefficient β, so that the response curve is not overshooted without affecting the rise of the response curve as shown in FIG. It can be improved.

In the actual simulation, the optimum characteristic state is obtained when α = 0.4 and β = 0.15.

31 shows an eighth embodiment of the apparatus according to the present invention, and FIG. 32 shows a ninth embodiment of the apparatus according to the present invention, in which the same components as the embodiment shown in FIG. For the same reference numerals, the description thereof will be omitted.

An embodiment of the present invention shown in FIG. 31 is a PV differential linear PID control device. In the differential operation 61, a differential operation is performed on the measured value PV, and the output signal is obtained by the deviation ( It is added by the addition unit 29 together with E ₁ , E ₂ ), and the other components are the same as the embodiment shown in FIG. 28 above.

In addition, the embodiment shown in FIG. 32 is a PID controller of a fully differential operation type, in which the set value SV is multiplied by the coefficient γ in the counter 63, and the output signal (outputted by the counter 63) is obtained. The deviation E ₃ (γSV-PV) is obtained by subtracting the measured value PV from γSV by the subtraction unit 65.

When the deviation E ₃ is applied to the differential calculation unit 61, the differential calculation occurs in the differential calculation unit 61, and the output signal outputted together with the deviation E ₁ and the deviation E ₂ in the adder 29. It is added synthetically.

In addition, as shown in FIG. 31 and FIG. 32, the integral adjustment is performed in accordance with the gain / delay calculation unit 59. That is, when the coefficient β is changed, the integral time is easily changed.

On the other hand, Figure 33 shows a tenth embodiment of the process control apparatus according to the present invention with the same reference numerals for the same components as the embodiment shown in Figure 28, the description thereof will be omitted.

In the present embodiment, the set value SV is input to the first coefficient unit 23 and the delay operation means 69, while the subtraction unit 15 subtracts the measured value PV, and the integral calculation unit 17 ) Is to be entered.

The output signal delayed by the delay operation unit 69 and the output signal integrated by the integral operation unit 17 are subtracted by the subtraction unit 71 and the result is output to the adder 29.

In more detail, the delay calculation unit 69 has a primary delay element represented by β / (1 + T _I · S) and the output signal outputted from the subtraction unit 71 to the adder 29 is

로 표시되어진다.In other words,

Is displayed.

Therefore, since the subtracting section 15, 71, the integral calculating section 17, and the delay calculating section 69 constitute gain / delay calculation means, the operation signal MV

와 같이 표시된다.

Is displayed as:

As described above, the process control apparatus of the present embodiment shows that the same control as that shown in FIG. 28 can be performed. For example, the integral term of the disturbance is fixed with respect to the change of the set value SV. By changing the coefficients α and β, only the integral time for the set value change can be changed equivalently. On the other hand, in FIG. 28, the gain / delay calculation unit is required to change the integration time. However, in the present embodiment, such a complicated calculation unit is not required, and only the first delay element is included.

[Measured value compensation type]

The control means for the element S for calculating the measured value fed back to this form is provided and the configuration of the process control system with two degrees of freedom is improved, and accordingly the control device according to the present invention is provided. 11 is provided in FIG. 34 as an embodiment. In other words, the control device differs from FIG. 23 shown in the sixth embodiment of the present invention by varying the first value to the input path of the measured value PV instead of the counters 19 and 23 that calculate the set value SV. A counter 75 and a second counter 72 are provided, respectively, and a gain element 79 having a transfer function (1 + 2 T _O · S) / (1 + T _O S) is provided. have.

For example, the measured value PV is input in parallel to the first coefficient portion 75, the second coefficient portion 72, and the gain element 97, and the measured value PV is received at the first coefficient portion 75. ) And the coefficient α are multiplied, and the output αVV is inputted to the first subtraction unit 21 to obtain the deviation E ₁ by calculation with the set value SV.

On the other hand, in the second coefficient unit 72, the measured value PV and the coefficient δ are calculated, and when the calculated δ PV is inputted to the second subtractor 25 to be calculated with the set value SV, The deviation E ₂ is generated, and the deviation E ₂ generated as described above is differentially calculated along with the derivative time T _D in the differential calculation unit 27.

In addition, when the output LPV from the gain element 79 obtained by the measured value PV is input to the third subtractor 15, the output LPV is calculated with the set value SV to generate a deviation E ₃ . The deviation E ₃ is integrally calculated with the integral time T _I in the integral calculation unit 17.

At this time, the deviation integrated value, the addition unit 29 to be added to the synthesis of (E ₁₎ and the (E ₃₎ output from the differential value and the integral operation unit 27 of the deviation (E ₃₎ output from the differential operation part 27 Will be entered. When the result is input to the proportional calculation unit 31, the result is multiplied by the proportional gain K _P and then applied to the control state 37 with the operation signal MV.

In this way, the measured value PV is controlled to be equal to the set value SV.

The configuration of such a control device is set to "set value tracking" and "disturbance suppression" by setting the PID mediators K _{PT I} and T _D , the coefficients α and δ, and the time constant T ₀ of the gain element 79 as follows. It is possible to optimize the process for the process. (I) First, PID parameters K _P · T _I and T _D are set to the optimum mediators K _P ^* T _I ^* and T _D ^* for the set values of the standard PID controller. Is set. As shown in the configuration, the control device operates the same as the standard PID control device tracks the optimum mediators K _P T _I ^* and T _D ^* with respect to the set value SV according to the above setting. Since this is obtained, it can be seen that the response of the control device to the set value SV becomes very good.

(II) The coefficients α and β are the optimum proportional gain K _P for the disturbance, the optimum differential time T _D for the disturbance, and the optimum proportional gain for the set value Based on K _P ^* and the optimum derivative time T _D ^* for the setpoint

Will be set as

In such a control device, the actual proportional gain and the actual derivative time for the measured value PV are generally α × K _P and δ × K _P × T _D , depending on the action of coefficients α and β, When set as described above, the actual proportional gain and the actual derivative time are generally K _P and K _P × T _D with respect to the measured value PV as K _P and T _D are set to K _P ^* and K _P. Becomes

That is, proportional and derivative operations similar to the case where the standard PID controller is set to the disturbance optimum mediators K _P , T _I and T _D are obtained for the measured values.

(III) Next, adjust the time constant T ₀ to obtain the actual integration time for the measured value PV by setting the disturbance optimum mediators K _P ^* , T _I ^* and T _D ^* to the parameters of the standard PID controller. Equivalent to the actual integration time T _I ^* / K _P.

The regulation of the excitation time constant T ₀ can be described in connection with the sixth embodiment of the present invention.

You can rearrange it as follows:

According to the expression according to the present embodiment, the time constant T ₀ is increased with integration time when decreased bar, the time constant T ₀ is increased to be found that are different from each other first and 6 embodiments of the present invention is to increase the integration time have.

For example, by substituting the following equation into the above equation, it can be a configuration having the same control method as the seventh embodiment of the present invention.

In this case the integral

In this way, the adjustment of the integration time is facilitated as shown in FIG.

35 is a block diagram showing the configuration of the twelfth embodiment of the process apparatus according to the present invention, in which the input paths of the respective set values SV of the first subtraction section 21 and the second subtraction section 25 are shown. The third coefficient section 81 and the fourth coefficient section 83 are provided. In the third coefficient section 81, the signal? SV obtained by multiplying the set value SV by the coefficient? Is supplied for proportional calculation. The fourth coefficient 83 is different from the above embodiment in that the signal SV obtained by multiplying the set value SV by the coefficient is supplied for differential operation.

Furthermore, the optimization can be made more simply due to the addition of the third and fourth coefficient parts 81 and 93. When the coefficients α.δ.γ and are set to "1" or "0", various conventional controls You can choose to use it. For example, when the time constant T ₀ is 0, the following is obtained.

(I) When α = δ = γ == 0, the first to fourth coefficients are removed, which is the same as the standard PID controller.

(II) If α = δ = γ = 1 and = 0, the derivative operation is operated only by the measured value PV, so it becomes a control device.

(III) Since α = δ = 1 and the proportional and derivative operation are operated only with the measured value PV, it becomes an I-PD control apparatus.

As described above, the control device according to the present embodiment solves the disadvantages of the prior art, that is, it is possible to freely select various conventional control methods, and has a high controllability and wide applicability.

Therefore, if such a control device is applied in the plant, various control of the plant can be optimized for disturbance and set values, and as mentioned above, it is possible to achieve the recently required response state, thus making a great contribution to the industrial sector. Will be.

36 is a block diagram showing the configuration of the thirteenth embodiment of the process control device according to the present invention. The control device of the present embodiment can be obtained from the twenty-fifth embodiment, and the third coefficient section 81 and the fourth coefficient. The first switch 87 and the second switch 85 are provided in place of the unit 83. In this control apparatus, the value of the coefficient? Of the 25th embodiment is " 0 " or " 1 ". If it is.

Therefore, in the same manner as the first embodiment, it is possible to make optimal adjustments to disturbances and set value changes, and at the same time as the second embodiment, it is possible to select and use a conventional control method.

Here, in the first to second embodiments of the present invention, the derivative operation is described as a complete derivative (T _D · S), but in practice, the derivative operation is referred to as an incomplete derivative (T _D / (1 + η · T _D · S) , η = 0.2 to 0.3).

37 is a block diagram showing the configuration of the fourteenth embodiment of the process control apparatus according to the present invention, in which the second counting unit 77 and the second subtracting unit 25, which are connected to the differential operation, are provided. It can be obtained from the controlled first embodiment.

38 is a block diagram showing the configuration of the fifteenth and sixteenth embodiments of the process control apparatus according to the present invention, which removes the elements related to the operation from the twenty-fourth embodiment and the second embodiment. To be obtained.

Here, the fifteenth to sixteenth embodiments of the present invention are used when only PI control is sufficient according to the process, and has the characteristics that the eleventh to thirteenth embodiments have within the scope of PI control.

In addition, a modification of the eleventh to sixteenth embodiments is described below.

(I) The transfer function GL (S) for the gain factor 79 is

와 같이 변형되어진다.

It is transformed as follows.

That is, in this variant, as shown in FIG. 40, the deviation E ₄ between the set value SV and the measured value PV is obtained, and the deviation E ₄ and the measured value PV are calculated from the above equation. The deviation E ₃ from the signal applied to the filter 81 having the transfer function as the second term is obtained, and this deviation E ₃ is added to the integral calculation unit 17. The same result is obtained.

(II) A new counter is placed between the first subtractor 79 and the adder 21 in order to adjust the actual proportional gain so that the integral and derivative operations can be performed independently. Move it to a location.

Here, the 11th to 16th implementations are made to adjust the set value tracking characteristics after the optimum control for the disturbance suppression is presented, whereas the 17th to 24th implementations will be described below. After adjusting the system to infinity, the optimum tracking characteristics of setpoint tracking are presented to the system.

41 and 42 are block diagrams showing the configuration of the seventeenth embodiment of the process control apparatus according to the present invention. Only the integral operation part, which is the most important part of the present invention, is shown for convenience in the following description. It is assumed that other portions, that is, the proportional operation portion and the derivative operation portion, are the same as in the conventional embodiments.

In the configuration of FIG. 41, the feedback control amount PV is inputted to the subtraction part 21 via the compensation calculation unit 91, and the subtraction part 21 controls the set value SV and the compensation calculation amount. The deviation E between the PVs is obtained, and the result is applied to the integrating calculation unit 93.

On the other hand, in the integral calculation unit 93, the integral calculation is performed by applying the deviation E, and the output signal is proportionally operated in the proportional calculation unit 31, and the result is applied to the control object 37 by the manipulated variable MV. It is supposed to be.

In this way, control is performed such that the control amount PV coincides with the set value SV, where the respective functions F (S) and I (S) of the compensation calculation unit 91 and the integration calculation unit 93 are as follows. It is set in the same way.

First, the response of Figure 41

And F (S) and I (S) in the formula (47)

Is set as follows.

In Formula (48), F (S) -I (S) is determined to optimize disturbance suppression, and I (S) in Formula (47) is set to change the setpoint tracking characteristic. In addition, as shown in FIG. 41, F (S) = 1 for a steady state in which the set value SV is not changed.

Where the transfer function F (S)

The final value theorem must be satisfied.

Using the equations (48), (49) and (50), the transfer function F (S)

It can be seen that the equation (51) satisfies the final value theorem.

As described above, when the transfer functions F (S) and I (S) are set, specific configurations thereof can be displayed as shown in FIG. 42, that is, the transfer function F (S) of the compensation operation unit 91 gains. Delay operation is indicated, and the transfer function I (S) of the integral calculation unit 93 indicates the synthesis of the integral and the first delay.

This means to fix the integral time for the disturbance change and to change the integral time for the change of the set value equivalently.

에 대하여 외란억제특성을 최적상태로 하여 설정값(SV)을 변화시켰을 때의 응답을 나타낸 도면으로써 제어상수 K_D, T 및 T_D를 외란억제 최적상태(K_P=2.59, T_I=3.41초, T_d=0.56초)로 설정하여서 외란억제특성을 최적상태로 고정시키므로써, 계수β의 설정에 따라 설정값변화에 대한 적분시간이 등가적으로 변화하게 되는바, 이에 따라 설정값 추적특성이 크게 개선되어지게 됨을 알 수 있다.Referring to the control characteristic of the present embodiment based on FIG. 43, FIG. 43 is a transfer function of the control object 37.

This is a diagram showing the response when the set value (SV) is changed with the disturbance suppression characteristic at the optimum state. The control constants K _D , T and T _D are the optimum disturbance suppression states (K _P = 2.59, T _I = 3.41 sec. , T _d = 0.56 sec) to fix the disturbance suppression characteristic to an optimal state, so that the integral time for the set value change is changed equivalently according to the setting of the coefficient β. It can be seen that greatly improved.

For example, when β = 0 (for example cases where the integral time T _I is not compensated for), as indicated by the sign (a), the response represents a large overshoot and as the integral time for the set value changes equivalently The disturbance suppression characteristic does not change at all, and the set value tracking characteristic is greatly improved as indicated by the sign (b).

44 is a block diagram showing the eighteenth embodiment and configuration of the process control apparatus according to the present invention. The same components as those of the first embodiment are denoted by the same reference numerals, and description thereof will be omitted herein.

The configuration of the figure is shown for the second PID control apparatus of the I-PD control type, and the deviation between the control amount PV and the set value SV which the gain / delay operation is performed in the compensation calculation unit 21 is the integral calculation unit ( Integral calculation is to be done in 20).

On the other hand, the control amount PV is proportional operation and derivative operation in the proportional + derivative operation unit 93, the subtraction unit 29 to subtract the proportional operation output and the derivative operation output to the integral output and the result is a proportional operation unit ( 31 is multiplied by the proportional gain K _P and input to the control object 37 as the manipulated variable MV.

As shown in this figure, this embodiment optimally controls disturbance suppression by performing PID control on the change of disturbance (D), and also fixes the disturbance suppression characteristic and adjusts the coefficient beta to the set value change. It is possible to optimally control the tracking characteristics.

45 is a block diagram showing the configuration of the nineteenth embodiment of the process apparatus according to the present invention. In this embodiment, the coefficient obtained by multiplying the control amount PV fed by the differential operation and the integration operation is approximately 1 / α. And 1 / γ, and the integral operation portion is the same as in the first embodiment.

Also in such a structure, the same effect as the above-mentioned first embodiment can be obtained.

46 and 47 are block diagrams showing a twentieth embodiment of the apparatus according to the present invention, which is similar to the seventeenth embodiment shown in FIGS. 41 and 42, and filters on measured values. It is a PID control device with a so-called degree of freedom of 2.

Therefore, in connection with the seventeenth embodiment described above will be described. That is, the control constants K _P , T _I and T _D are set to the optimum values for the disturbance, and the set gain proportional gain K _P is optimized according to the coefficient α and the derivative time T _D is optimized according to the coefficient γ. .

Furthermore, the transfer function I (S) for the integral calculation unit 93 is determined by equation (49), and the transfer function F (S) for the compensation calculation unit 91 is determined by equation (51).

On the other hand, the coefficients α and γ are determined as follows, where the disturbance suppression optimum control constants are K _P , T _I and T _D , and the setpoint tracking optimal control constants are K _P ^* , T _I ^* and If we call T _D ^* and the setpoint tracking optimal control algorithm is C ^* (S),

Will be

Becomes

Here, the optimum values are obtained when the coefficients α, β and γ exist within the ranges of 0 <α <1,0 <β <1 and 0 <γ <1.

On the other hand, FIG. 48 is a diagram showing the change in the PID structure according to the change of the coefficients α, β and γ. If the coefficients α, β and γ change as NO6, a PID control device having 2 degrees of freedom can be obtained.

FIG. 49 is a diagram showing the response characteristics to the setpoint tracking according to the present embodiment, and the control constant K when the transfer function G (S) of the control target is G (S) = e ^-25 / (1 + 5S) _{By setting P} , T _I, and T _D as optimum values for disturbance suppression, the magnitude of the overshoot is unchanged at α = 0.2 with respect to I-PD, thereby improving the characteristics of the rise of the response curve.

On the other hand, Fig. 50 shows the setpoint change tracking response characteristic and the control device with perfect freedom of 2 when α = 0.4 in the control device with incomplete electron induction (PI-PD control of setting NO.4) in the same control object. -PID control) shows the comparison of the set value change in the case of α = 0.4 and β = 0.15. As the equivalent integration time is changed by the coefficient β, the overshoot can be suppressed almost without changing the rising characteristic. It is supposed to be.

51 and 52 are block diagrams showing the configuration of the twenty-first embodiment of the processor control apparatus according to the present invention, showing a PID control apparatus having two degrees of freedom in a set value feed type.

The present embodiment differs from the twentieth embodiment in that the set value SV integrated in the integral calculation unit 93 and the feedback control amount PV via the compensation calculation unit are subtracted from each other, where the compensation calculation unit The transfer function F (S) for is computed as

Equation (52) is for setting the control device in the disturbance suppression optimum characteristic state, and Equation (53) is for setting the set value tracking optimum characteristic state.

Final value theorem for such conditions to be established

Should be satisfied.

In the above formulas (52) and (53)

Is obtained.

It can be easily seen that Equation (53) satisfies the condition of Equation (54), and Figs. 59a and 59b are diagrams showing the configuration of the present embodiment in detail.

Also shown in FIG. 48 is a modification of the PID structure obtained by converting the coefficients α, β and γ for this embodiment.

The above-described configuration makes it possible to obtain a response characteristic almost similar to the 49th and 50th drawings.

53 to 57 show a twenty-second embodiment of the process control apparatus according to the present invention, and have the same interference type as the seventeenth to twenty-first embodiments.

The description of the same parts as in FIG. 10 will be omitted.

In the present embodiment, reference numeral 91 is a compensation operation unit for compensating the control amount PV provided from the control object 37 to provide the compensation control amount PV to the deviation calculation unit 21.

Here, the deviation compensator 21 determines the deviation between the compensation control amount PV and the set value SV and outputs the deviation to the control operator 105. The control operator 105 is the disturbance suppression optimum characteristic state. A transfer function C ^* (S) (interfering type) is provided for compensating and correcting the control constants K _P , T ₁ and T _D set according to the law or the like by the adjustment mediators α and δ.

The transfer function C ^* (S) is a proportional action and suppress the disturbance for the derivative action control constant in the optimum characteristics condition K _P, and T _D is set value tracking optimal characteristic control constant in state K _P ^* and T _D ^* The correction is set, and the deviation outputs the control output 37 by the angular association of proportionality, integration, and derivative to obtain the control output MV.

Here, the adjustment mediator α modifies the proportional gain, and δ changes the derivative time.

The value for this parameter is calculated and obtained according to the value of the control formula such as CHR method. For example, in the case of PID control mode, there is no overshoot, and since the setting time is minimum, the parameter α And β are 0.63 and 1.25, respectively.

In any case, the control constant K _P ^* T _D ^{*, which} is adjusted to the set value tracking optimum characteristic state, delays the setting time by making the gain small with respect to the change of the control amount PV due to the disturbance.

For this reason, the compensation calculation unit 91 performs the compensation operation based on the transfer function H (S) of the following equation (54), in which the compensation control amount PV is obtained with respect to the control amount PV, which is a control constant. To ensure that K _P ^* and T _D ^* are corrected to the control constants K _P and T _D of the disturbance suppression optimum characteristic state, that is, to remove the influence depending on the correction component of the adjustment mediator.

In such a method, the control operation unit 105 always performs calculation of the set value change tracking optimal state, and the compensation calculation unit 91 first controls the control constant of the control amount PV that changes according to the disturbance. In order to adjust K _P ^* , K ₁ ^* and T _D ^* to the optimum disturbance suppression optimum, the compensation is associated.

In this case, the compensation calculator 91 outputs the above result to the control calculator 105. Therefore, it is possible to provide a control device having two degrees of freedom in which the optimization state for setpoint tracking and disturbance suppression are independently controlled.

Next, the principle of the present embodiment will be described.

That is, as shown in FIG. 53, the control response of the process

It can be expressed as: When the disturbance (D) is applied according to Equation (55), C ^* (S) H (S) must be modified to manipulate the response to the disturbance C ^* (S) The control device in which H (S) is set to the transfer function C (S) of the disturbance suppression optimum characteristic is provided to the compensation calculation unit 91.

In this case, namely, when C ^* (S) H (S) is set in C (S), the response of the set value SV is manipulated, and as shown in the following equation (56), the response to disturbance Under this condition, the optimum suppression characteristic is always set so that only the response to the set value can be changed in accordance with? And?.

In addition, the final value theorem must be satisfied in order for the process to be set in a steady state. The settled deviation E _SV = a is 0 when the disturbance D is kept constant and the set value SV is changed stepwise. As is apparent from FIG. 41, the transfer function of the compensating unit 91 satisfies the following equation, and therefore, the above equation (54) satisfies such a condition.

As described above, the compensation calculation unit 91 allows the control constant adjusted to the set value tracking characteristic to be actually set as a characteristic for disturbance suppression with respect to the change in the control amount PV, so as not to affect the control response in the steady state. It is provided.

On the other hand, Figure 54 is a simulation of the response of the control amount PV when the transfer function of the control target 37 is G _P (S) = e ^-2L / (1 + 5S) according to the adjustment mediators α and δ. The results are shown.

In addition, the present embodiment is configured to be obtained by adjusting the response according to the adjustment mediator, various control forms such as No. 2 of FIG. The overall coordination mode can be represented in various forms of interference control. For example, when α = δ = 0, only PID control with 1 degree of freedom is normally performed. When α = δ = 0, only I control for setting value change and PID control for control amount change are performed. When <1 and 0 <δ <1, the control constants K _P ^* and T _D ^* are adjusted with the I control of the normal control constant T ₁ as with the PD control that adjusts the control value for the set value change. As with the PD control to be adjusted, the normal I control is performed.

Here, the adjustment mediator α is for adjusting the proportional gain in the control constant, and is capable of modifying the overshoot condition and the rising characteristic of the response.

On the other hand, the mediator δ is for adjusting the differential time and is intended to raise the response characteristic without affecting the overshoot state too much.

If disturbance is applied to the system under the condition that the control constants K _P , T ₁ and T _D and the adjustment mediators α and δ are set, the control amount PV changed according to the disturbance is applied to the compensation calculation unit 91. do.

In practice, the compensation control amount PV 'that modifies the control constants K _P ^* and T _D ^* is changed to the disturbance suppression optimum characteristic state. The result is transferred to the deviation calculation unit 21 that determines the deviation from the set value SV. The deviation generated is output to the control operation unit again.

In addition, when the set value SV is changed, the control operation unit 105 calculates the control amount MV for the deviation tracking optimum characteristic state according to the changed amount.

As described above, in the twenty-second embodiment of the present invention, the control operation unit 105 may perform both the proportional integration and the derivative operation, and the compensation calculation unit 91 is configured to perform the proportional and derivative operations.

As such, according to the present invention, the control operation unit 105 is configured to perform at least one operation, and the compensation operation unit 91 according to the set value tracking response has the proportional, integral, and derivative operations independently or selectively, respectively. For example, in the configuration as shown in FIG. 56, if the control operation unit 105 is composed of the proportional and integral operation, and the compensation operation unit 91 is composed of the operation for calculating the proportional gain. It becomes as No. 1 of FIG.

[Measurement feedback operation type]

Fig. 57 is a block diagram showing the twenty-third embodiment of the present invention, and this embodiment is of a PID-PID control type that is simply assembled.

Here, the control operation unit 109 of the present embodiment is to perform all the proportional, derivative and integral calculations based on the control constants K _P ^* , T ₁ ^* and T _D ^* of the set value tracking optimum characteristic state, PV), arithmetic unit 107 in which the control constants K _P , T _1, and T _D in the disturbance suppression optimum characteristic state are compensated is made to perform the same calculation with respect to the adjustment output.

That is, in the first and twenty-fifth embodiments, the control apparatus is compensated by the compensation operation unit 107 with the control constants K _P ^* , T ₁ ^* and T _D ^* suppressed in the disturbance suppressed state with respect to the control amount PV. Bar, while a result is that the filter is attached to the control amount so that the output to the control operation unit 109, the present embodiment is the control amount PV of the control output calculated in the set value tracking state once in the control operation unit 109 Part of the change is in the form of a control amount feedback that is corrected to disturbance suppressed state by the compensation output a (S) compensated based on the control amount PV.

Stylized claim bear the same reference numerals to the same configurations help 1 according to the figure, as shown in claim 57 also controls the operation unit 109 is control that is set to the disturbance suppression optimal characteristics, as the constant K _P, T _1, and Y _D Is adjusted by the control mediators α, β and according to the control constants K _P ^* , T ₁ ^* and T _D ^* of the set value tracking optimum state, and the output is calculated based on the calculation unit so that 11).

The calculation unit 111 controls the compensation output a (S) from the compensation operation unit 107 in which all of the proportional, integral and differential operations are performed on the control amount PV based on the following equation (58). As a result of the addition, the added result is output to the control object 37 as an operation amount MV.

According to such a configuration, the control object 37 is supplied with an operation amount MV for optimizing the change in the set value and the change in the control amount PV.

Here, the control response of this embodiment

By substituting C ^* (S) and H (S) of the formulas (57) and (58) in the above formula (59), the two denominator terms of set value (SV) and disturbance (D) are disturbance suppression. According to the control constants K _P ^* , T ₁ ^* and T _D ^* of the optimum characteristic state, it becomes a general formula of proportional, integral, and derivative control, and the molecular term of the set value changes according to the control mediators α, β, and γ. . This is because only the characteristics of the set value SV can be freely optimized as desired under the condition that the characteristics of the disturbance are fixed to the optimum values. Also have a response

In this case, the response compensates for the integral term according to the primary delay factor, and satisfies the condition for setting the process in the steady state, that is, the final value theorem as described above. In addition, the values of the adjustment mediators, α, β and γ are control constants K of the disturbance suppression characteristics according to the CHR method._P, T_OneAnd T_D The control constant K of the value of and the set point tracking characteristic._P ^*, T_One ^*And T_D ^*It can be determined by the value of.

에 따라

로 되어지며, γ는

에 따라

로 되어지게 된다. 또한 β는

로 설정되므로써

에 따라

가 되며, 시뮬레이션에 따라서는

, 즉

의 부근에서 최적값이 얻어지게 된다.That is, α

Depending on the

Where γ is

Depending on the

Will be. Β is also

Is set to

Depending on the

Depending on the simulation

, In other words

The optimum value is obtained in the vicinity of.

In this way, when the value of the adjustment mediator is obtained, the disturbance suppression optimum characteristics are set by setting the control constants K _P , T _1, and T _D so that the control amount (PV) response when the set value is changed stepwise becomes the desired tracking characteristic state. In this state, the system is adjusted.

In this method, when the control amount PV changes according to the disturbance under the condition that the control constant is set to the optimum characteristic state for disturbance suppression and set value tracking, the control operation unit 109 sets the deviation according to the change. The control output is determined based on the control constant of the value tracking state.

Therefore, irrespective of the set value SV, when the compensation output a (S) calculated by the control unit 111 by the control amount PV is added to the adjustment output, the result is equivalently output in the disturbance suppression state. Will be.

58 shows a 25th embodiment of the present invention, in which the measured value feedback back compensation unit is provided as the second compensation operation unit.

Here, the measured feedback feedback compensator 113 applies a control amount PV to perform a compensation operation based on the transfer function F (S) of Equation (63), in particular, according to the change of the control amount PV. The calculation unit 115 calculates a compensation amount f so that the control constants K _P ^* , T ₁ ^* and T _D ^* adjusted to the set value tracking optimal characteristic state are equally corrected to the disturbance suppression optimal characteristic state. It is supposed to supply to.

On the other hand, as described above, the operation unit 115 outputs the compensation adjustment output u 'obtained by subtracting the adjustment output u and the compensation amount f output from the control operation unit 39 to the next operation unit 41. It is supposed to.

Accordingly, since the compensation amount f can modify not only the disturbance suppression characteristic but also the setpoint tracking characteristic, the compensation control output u 'can improve the disturbance suppression characteristic and reduce the setpoint tracking characteristic. .

On the other hand, the set value feed forward compensator 33 is for restoring that the set value tracking characteristic is reduced, and the set value feed forward compensator 33 is a transfer function of the measured value feedback compensation compensator 44. On the basis of the transfer function H (S) corresponding to (S), the set value SV is compensated and calculated. When the compensation amount h obtained here is outputted to the calculator 41, the calculator 41 The compensation amount h is added to the compensation adjustment output u 'and output to the control object 37.

Next, the principle that can be expected to optimize the set value tracking characteristics and disturbance suppression characteristics by selecting the size of the two compensation means of the present invention will be described.

First, the control constant of the control operation unit 39 is adjusted to the set value optimal tracking characteristic state. In this case, when the two compensation units 33 and 113 have no compensation, the control amount PV is set as shown in the following equation (62). The optimal value is tracked for the change of the value SV.

According to Equation (62), since the suppression characteristic against disturbance D is weak in the response, the measured feedback feedback compensator 43 is provided as described above, and as shown in the following Equation (63), the control constant Is modified to be equivalent to the disturbance suppression characteristic to improve the disturbance characteristic.

In addition, according to Equation (63), the transfer function F (S) used for the disturbance suppression compensation not only affects the response to the disturbance D but also affects the set value SV.

For this reason, the setpoint feedforward compensation unit 115 is provided to fix the response to the disturbance D and to only manipulate the tracking characteristic of the setpoint SV. As a result of the compensation, the control response of the process It is expressed by the following equation (64).

에 의하여 조절되며, 외란(D)의 억제특성은 {C^*(S)+F(S)}에 의하여 조절되어지게 된다.Here, according to equation (64), the set value (SV) tracking characteristic is

It is controlled by, the suppression characteristics of the disturbance (D) is to be controlled by {C ^* (S) + F (S)}.

Next, the transfer function F (S) for the measured value feedback compensation unit 113 is determined based on the response of Equation (64). For example, the suppression characteristic of the disturbance D is optimized. If the transfer function C ^* (S) is defined by the following equations (65) and (66), the transfer function F (S) of the measured feedback feedback compensator 113 is calculated as shown in the following equations (67) and (68). Will be.

Where K _P ^* , T ₁ ^* and T _D ^* are the control constants of the set point tracking optimal characteristic state, K _P , T ₁ and T _D are the control constants of the disturbance suppression optimal characteristic state, and α, β and γ It is a mediator.

Here, whether the transfer function is appropriate or not, the process control response must satisfy the final value theorem. That is, the deviation is normal when the set value SV is constantly changed to a stepped state under a constant disturbance D. 0 in the state.

On the other hand, in order to satisfy the above conditions, the following equation (69) must be established as well as the equation (70) must be satisfied.

If C ^* (S) of the transfer function F (S) is substituted into Equation (11), the integral term of C ^* (S) 1 / T ₁ ^* Since 1 / (1 + T ₁ · S), the denominator becomes infinity at S → 0 and satisfies the above expression (70), so that the transfer function H (S) of the set value feedforward compensator 133 Is derived. The transfer function recovers the set value (SV) tracking characteristic as shown in Equation (63), which is changed according to the action of the measured value feedback compensation unit 113, which is recovered under the condition as shown in Equation (62). It is to.

Herein, if the set value response of Eq. (64) is corrected as shown in Eq. (62), it becomes as follows.

K

1)를 관여시키게 되면 K의 값에 따라 설정값 추적특성만이 조작되어지게 된다.However, since the response of the set value becomes an overshoot as shown in equation (64) in the relationship of equation (71), the equation (71) is expressed by the coefficient K (0) as in equation (72).

K

When 1) is involved, only the set value tracking characteristic is operated according to the value of K.

Here, in order to obtain optimum characteristics for disturbance suppression and set value tracking, the control constants K _P , T _1, and T _D are compensated independently of each other so as to be equally corrected.

Next, an example of a calculation method of the adjustment mediators α, β and γ for setting the values of the transfer function F (S) of the measured value feedback compensation portion and the transfer function H (S) of the set value feedforward compensation portion will be described.

In other words, it can be seen that the proportional operation is shown by comparing the angular operations of the equations (6) and (7).

을 β/T₁·S에 설정시키므로써 그 적분은In Eq. (6)

By setting β / T ₁ · S

And the derivative is

Become like

At this time, since K _P , T ₁ , T _D , K _P ^* , T ₁ ^* , and T _D ^* , CHR method, etc., values of α, β, and η can be easily obtained.

As described above, when the control constants K _P ^* , T ₁ ^* and T _D ^* are adjusted to the set value tracking optimum characteristic state, the present embodiment transmits the measured value feedback compensation unit 113 to the disturbance fluctuation. According to the compensation action based on the function F (S), the control constant is modified to be equivalent to the disturbance suppression optimum characteristic state. This compensation action deteriorates the setpoint tracking characteristic and compensates and recovers the deterioration. Compensation calculation is performed based on the transfer function of the set value feedforward compensator 33 for the component corresponding to the change in the set value SV, so that the optimum characteristic state for disturbance suppression and set value tracking is always achieved. To optimize the response independently and freely by varying the coefficients α, β and γ for disturbance suppression. Be so.

As a response example of the present embodiment, that is, examples 59a and b show an example in which the transfer function F (S) of the measured value feedback compensation unit 113 is only proportional compensation K _P ^* × (α-1). In the above example, since the α value becomes larger from 1 (no compensation), the disturbance suppression characteristic is improved, and the set value tracking characteristic is fixed to a constant value (K = constant).

In addition, as shown in FIG. 60, the value of β changes the integral time of the characteristic for disturbance suppression equivalently, and by using such mediation, the maximum value of the variation can be reduced. The mediator γ is intended to change the differential time, so that disturbance can be suppressed quickly.

As described above, the present invention is made so that it can be suitably implemented as complete or incomplete powder even when described in any embodiment, and it is easy to see that the two types of differentiation can be interchanged with each other in any embodiment. Can be.

In addition, since the present invention is widely used in direct digital control, both the position type and the speed type can be freely applied.

Claims (55)

In a process control apparatus having an adjustment method having two degrees of freedom, the control operation unit (39, 105, 109) which tracks the change of the set value acting on the control unit and the control object and optimizes one of the control unit characteristics that suppresses the influence of disturbances and Process control apparatus having an adjustment method, characterized in that consisting of a compensation calculation unit (33, 47, 91, 107) having at least one parameter for adjusting the characteristics of. 2. The process control apparatus according to claim 1, wherein the compensation calculating section (33, 47, 91, 107) has at least one parameter for adjusting the integration time. 3. The process control apparatus according to claim 2, wherein the compensation operator (33, 47, 91, 107) is provided with at least one gain operator, a delay operator and a gain / delay operator having an adjustment medium. The process control apparatus according to claim 3, wherein the delay calculation unit is a primary delay calculation unit. The process control apparatus according to claim 1, wherein the compensation calculation unit (33, 47, 91, 107) has at least a mediation factor for adjusting the proportional factor. 6. The process control apparatus according to claim 5, wherein the compensation operator (33, 47, 91, 107) is provided with at least one gain operator, a delay operator and a gain / delay operator for adjusting the adjuster. The method of claim 6, wherein the gain / delay calculation unit

(However, T _D is 0 when there is no derivative operation.) The process control apparatus characterized by the above-mentioned. 2. The process control apparatus according to claim 1, wherein the control computing section (39, 105, 109) performs proportional and integral calculations. The process control apparatus according to claim 1, wherein the control calculation unit (39, 105, 109) performs differential operation. The method of claim 1, wherein the compensation calculation unit (33, 47, 91, 107) is characterized in that it has at least one parameter that does not affect the characteristic of suppressing the action of disturbance in the system of the process control device composed of the control system and the control target Process control unit. 11. The process control apparatus according to claim 10, wherein the compensation calculation section (33) is a feedforward component that calculates a set value and subtracts the result by an operation value output from the control calculation section (39). The process control apparatus according to claim 11, wherein the control operation unit (39) calculates a difference between the set value and the measured value and outputs the result as an operation value. The method of claim 10 or 12, wherein the compensation calculation unit 33

The calculation is performed by the following equation, and the control operation unit 39

(However, K _P is a proportional system, T ₁ is integral time, T _D is differential time, and is optimally selected to suppress disturbance acting on the system. Of these, T ₁ appears infinity without integral operation. , T _D becomes 0 when there is no differential operation.). 11. The method according to claim 10, wherein the compensation calculation unit 47 calculates a set value, subtracts the result into a measured value, and then includes at least one filter component which is calculated by the control calculation unit 39 to obtain an adjustment output which is an operation value. Process control apparatus characterized in that the. The process control apparatus according to claim 14, wherein the control operation unit (39) performs an operation in an optimal state for suppressing the action of disturbance to the system of the control apparatus composed of the controller and the control object. 15. The method of claim 14, wherein the compensation operation unit 47 performs the operation according to the operation of the control operation unit 39 to be combined with the control operation unit that is optimally responded to the tracking of the set value change to configure the overall transfer function. Process control device characterized in that. 17. The control operation unit 39 according to claim 16,

The calculation is performed by the equation, and the compensation calculation unit 47

(However, K _P , T _1, and T _D are integral and derivative times, which are proportional meters, and are optimally selected to suppress disturbances acting on the system constituting the control system having the control system and the control object, and T ₁ Has an infinite value when there is no integral operation, and T _D becomes 0 when there is no differential operation.). 15. The control part 39 according to claim 14, wherein the control calculation part 39 subtracts the derivative value of the control value which is a term of the derivative time T _D from the first part calculating the output from the compensation calculation part 47 and the output of the first part. Process control apparatus, characterized in that consisting of parts. 19. The method of claim 18 wherein the first portion is

The calculation is performed according to the formula, and the second part is the proportional system K _P , where K _P and T ₁ are the control constants optimally selected to suppress the disturbance acting on the system of the process control device composed of the controller and the control object. Process control apparatus, characterized in that consisting of a proportional calculation unit (53) having. The method of claim 18, wherein the compensation calculation unit 47

Wow

(However, T _D is selected to be optimal in order to suppress disturbance.) The process control apparatus characterized in that the calculation is performed by at least one of the formulas. Of claim 14 wherein the compensation operation unit 47 is the proportional coefficient α, and a first and a second proportion operation unit comprising a γ, the second operation unit and the integration time for calculating the set value, the differential to differential time T _D T ₁ It consists of a gain / delay calculation unit that subtracts the measured value as a result of the gain / delay operation unit that integrates with the sum, and adds the derivative and the integrated result and the result of the first operation unit, and the coefficient K _P (where K _P , T _D and T ₁ is appropriately selected to suppress the disturbance of the system of the process control device composed of the controller and the control object, while T _D and β may be multiplied to 0) to adjust the measured value. Process control device characterized in that the output is obtained. 22. The process control apparatus according to claim 21, wherein the gain / delay calculation unit is made of a first order delay calculation unit. 23. The apparatus of claim 22, wherein the gain / delay operation is

Process control apparatus characterized in that to perform the calculation in the equation. 6. The compensation operator 47 calculates the set value with the first proportional operator which multiplies the set value by the parameter α, and subtracts the measured value as a result, and integrates the integrated value of the measured value as a result. The first delay calculation unit subtracts the term T ₁ , wherein the two subtraction results are summed and the mediating factors K _P (where, K _P , and T ₁ are controllers and control targets) Is selected to a suitable value in order to suppress the action of disturbance. The process control apparatus according to claim 1, wherein the compensation calculation unit (47) has at least one adjustment medium which does not affect the set value change tracking characteristic. 26. The process control apparatus according to claim 25, wherein the compensation calculation unit (47) is configured to calculate at least one measured value and subtract the result to a set value. 27. The process control apparatus according to claim 26, wherein the compensation calculation section (47) comprises a gain / delay calculation section (79). The method of claim 27, wherein the compensation calculation unit 47

And the result of which is integrated in terms of the integral time T ₁ ^* . 27. The process control apparatus according to claim 26, wherein the compensation calculation unit (47) includes a first proportional unit that multiplies the adjustment coefficient (alpha) by the measured value and subtracts the multiplied result by a set value. 27. The apparatus of claim 26, wherein the compensation operation unit 47 includes a second proportional unit that multiplies the control coefficient γ by the measured value, and subtracts the result by the set value, wherein the subtraction result is differentiated in terms of the derivative time T _D ^* . Process control apparatus characterized in that the. 31. The method of claim 28, 29 or 30, wherein the multiplication, integration, and derivative results of the compensation operation unit 47 are summed together, multiplied by the adjustment constant K _D ^* for tracking the change in the set value, and the adjustment value. The process control device characterized in that the output as a control signal having a. 32. The process control apparatus according to claim 31, wherein the result of multiplying in the first proportional part is obtained by subtracting a set value multiplied by the adjustment coefficient α instead of being directly established by the set value. 33. The process control apparatus according to claim 32, wherein the first proportional unit is provided with a switch switching unit (85) so that application of the set value can be blocked. 32. The process control apparatus according to claim 31, wherein the multiplied result of the second proportional portion is obtained by subtracting the set value multiplied by the adjustment coefficient δ instead of being directly established by the set value. The process control apparatus according to claim 34, wherein the second proportional portion is provided with a switch switching portion (87) so that application of a set value can be blocked. 2. The at least one control according to claim 1, wherein the compensation calculating unit (91) calculates the measured value with at least one adjustment medium (beta) and subtracts with at least one feedback calculating unit (93, 107) which subtracts the result by a set value. Process control apparatus characterized in that it is provided with the calculating unit (93, 105, 109). 37. The control calculation unit (93, 105) according to claim 36, wherein the compensation calculation unit (91) is configured in accordance with the operation of the compensation calculation unit, which is composed of an operation that does not affect the characteristic of suppressing the action of disturbance in the system of the process control device including the controller and the control object. Process control apparatus characterized in that the operation is made to combine the operation to occur. The method of claim 37, wherein the compensation calculation unit 91

The calculation is performed by the equation, and the control operation unit 93

(Wherein T ₁ is an integral time adjusted appropriately to suppress the disturbance of the disturbance in the system of the process control device composed of the controller and the control object). The process control apparatus according to claim 38, wherein the operation result of the control operation unit (93) is multiplied by the control constant K _P. The apparatus according to claim 38, further comprising a feedback calculation unit (93) for calculating a set value and subtracting the calculation result of the compensation operation unit. 41. The method of claim 40, wherein the feedback operation unit 93 is a formula of 1 + T _D (where T _D is an appropriately adjusted derivative time to suppress the action of disturbance in the process control system consisting of the controller and the control object). Process control apparatus characterized in that for performing the operation. The apparatus of claim 40 also includes a first proportional portion 101 which multiplies the measured value by the adjustment coefficient α- ¹ , the result is subtracted by the set value, and the subtraction result is multiplied by the control constant α. Process control apparatus, characterized in that. 43. The process control apparatus according to claim 42, wherein the multiplied result of the first proportional portion (101) is obtained by subtracting the measured value multiplied by the adjustment coefficient instead of applying the set value directly. 41. The apparatus of claim 40, wherein the measured value is multiplied by the adjustment factor γ ^-1 , the result is subtracted by the set value, and the result of the subtraction is the second proportional part 99 that differentiates the term in the derivative time T _D. Process control apparatus comprising a). 45. The process control apparatus according to claim 44, wherein the multiplied result of the second proportional portion (99) is obtained by subtracting the measured value multiplied by the adjustment coefficient instead of applying the set value directly. The process control apparatus according to claim 43, wherein the calculation result of the compensation operation unit (91) is summed and multiplied by the control constant K _P and output as an operation signal having an operation value. The method of claim 37, wherein the compensation calculation unit 91

The calculation is performed by the equation, and the control operation unit 105

Where T ₁ and T _D are the integral and derivative time appropriate to suppress the disturbances in the system of the process control device composed of the controller and the control object, and in the absence of the integral operation, T ₁ becomes infinite. If there is no differential operation, T _D becomes 0 according to the system.) A process control apparatus characterized in that an operation is performed. The method of claim 37, wherein the compensation calculation unit 91

The calculation is performed by the equation, and the control operation unit 105 is K _P

(Wherein T ₁ is a differential control suitable for suppressing the action of disturbance in the system of the process control device composed of the controller and the control object). 37. The control operation unit 109 according to claim 36,

The calculation is performed by the equation, and the feedback operation unit 107

(Where K _P , T ₁ and T _D are integral time and derivative time, which are optimally selected proportional systems for suppressing the effects of disturbance on the system of the process control device composed of the controller and the control object, where T ₁ has no integral In this case, it is infinite and T _D becomes 0 when there is no derivative.) The process control apparatus characterized in that the calculation is performed. The process control apparatus according to claim 1, wherein the compensation operation unit 33 includes a feedback compensation operation unit 113 that calculates a measured value and subtracts the multiplied value output from the control operation unit 39. . 51. The process control apparatus according to claim 50, wherein the control operation unit (39) performs an operation according to the formula C ^* (S). 51. The method of claim 50, wherein the transfer function of the feedback arithmetic unit 113 is suitable for C ^* (S) + F (S) expression, to inhibit the action of the disturbance to the system of a process control device configured to the controller and the control object F ( S) process control apparatus characterized in that. The apparatus of claim 52 includes a set value compensation operator 33 for calculating a set value and subtracting the result by the manipulated value output from the control operator 39, wherein equation H (S) according to the compensation operator is

Process control apparatus characterized in that the calculation is performed while satisfying the conditions of. 53. The method of claim 52 wherein C ^* (S) and F (S) are

Process control apparatus characterized in that consisting of. In a control method of a process control device having a degree of freedom of two, an operation value optimally selected for one of a characteristic of calculating a set value and tracking a change in the set value and suppressing the influence of disturbance acting on the control object is selected. Manufacturing a control operation system for outputting a control signal having a control signal to be controlled and adjusting at least one parameter of the process control device to optimally change other characteristics. Control method of control device.

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