TW201535080A - Feedback control method, feedback control apparatus and program - Google Patents

Abstract

To shorten the time required before an object to be controlled converges to a target value to thereby enable the object to be controlled not to easily deviate from the target value, and further prevent the stability of a control system from being degraded. A feedback control method for acquiring a first operation result including a low-speed integral operation result on the basis of a deviation between a target signal and a detection signal of an object to be controlled, driving a power part according to the first operation result, controlling the object to be controlled by the power part, and regarding, as the detection signal, the control result of the object to be controlled, wherein when the absolute value of the deviation is within a preset first threshold, the high-speed integral operation of the deviation is performed and the integral value thereof is added to the first operation result to find a second operation result, or the high-speed integral operation is performed on the first operation result and the integral value thereof is regarded as a second operation result, and the power part is driven according to the second operation result.

Description

Feedback control method, feedback control device and program

The invention relates to the tension or other control of the tape The feedback control method, the feedback control device, and the program are controlled by the object to a predetermined state.

One of the tension control devices for the winding tape is illustrated in FIG. example. In order to prevent slack or wrinkles from occurring in the web 10 such as printing paper that is wound back from the reel state, the reel 10 is given a predetermined tension during transport. Fig. 6 is a diagram showing the functional block diagram of the feedback control device used in the tension control device.

The tape 10 is separated by two rollers 20 and an intermediate roller Between 30, from the state of the reel to the direction of the arrow A. The winding tape 10 is given tension by the winding power on the downstream side and the winding force on the upstream side. The force caused by the web 10 applied to the intermediate drum 30 is detected by the two tension detectors 40 configured to support the ends of the intermediate drum 30 by the force corresponding to the tension. Captured to controller 50B. In the controller 50B, the value of the target tension is set in advance, corresponding to the target sheet. The control signal and the control signal for converting the tension detecting signal (force signal) detected by the tension detector 40 into the tension detecting signal of the actual tension are generated by the controller 50B. By the control signal, the electromagnetic brake 60 as the power unit is driven, whereby the braking force of the reel of the reel 10 is controlled, and the tension applied to the reel 10 is controlled to Pre-target tension. As the power unit, a clutch or a motor is used in addition to the electromagnetic brake 60. In recent years, there have been many cases of motor control, but the use of electromagnetic brakes at a cost tends to be relatively inexpensive.

Fig. 7 is a diagram showing the internal configuration of the controller 50B. Being Zhang The real system of the tension detecting signal (force signal) detected by the force detector 40 is the force applied to the intermediate drum 30, and the signal is converted into the signal converter 53 and converted into a correction value given beforehand. The original tension signal. When the noise is large, the switch SW1 is switched to the dotted line side in advance to remove noise by the low-pass filter 51 and then input to the signal converter 53. The target tension signal is subtracted from the tension detecting signal outputted from the signal converter 53 in the subtractor 54 to become a deviation signal. The deviation signal is calculated by the PID calculator 55 to perform proportional, integral, and differential calculations.

The tension detector 40 uses the tension of the tape 10 as a spring The displacement is processed to detect the pressure applied by the intermediate drum as a basic principle. Therefore, due to the relationship between the mass of the intermediate drum 30 and the elastic coefficient of the tension detector 40, sometimes there are tens of Hz to hundreds of Hz. The resonance point. Therefore, it is preferable that the signal component of the resonance point is surely truncated, and therefore, as the pre-recorded low-pass filter 51, it is inserted with 10 millimeters. A low-pass filter with 1 delay of a time constant of seconds to hundreds of milliseconds. In recent years, as the tension detector 40 is a strain gauge, it has appeared. Such a tension detector has a very large elastic modulus, so that the resonance frequency of the tension detector 40 becomes high, so that the time constant of the low-pass filter 51 can be made small.

In the PID calculation unit 55, the proportional performance of the proportional calculation is performed. The calculator 551 serves as a role for proportionally amplifying the deviation and quickly correcting the deviation. Light is calculated by proportional. If the deviation is small, the control calculation result will be close to zero, so the constant deviation will remain and sufficient control calculation cannot be realized. Therefore, if the integral calculation is performed by the integral calculator 552 so far, the disadvantage can be improved. In the integral calculation, even if the deviation is very small, it can be integrated, so that the output of the constant deviation of the control object can be obtained. In general, the gain of the integral is called the integration time, and the shorter the integration time, the higher the gain. There are also many cases where sufficient control characteristics can be obtained by the calculation of the ratio and the integral. The control system which relies only on the calculation of the proportional and integral is called PI control. The differential calculus performed by the differential calculus 553 is effective for the variation of the sharp deviation. The calculation results of the calculators 551, 552, and 553 are added by the adder 554 to become control output signals. Further, the deviation signal is input to the PID calculator 55 via the low-pass filter 52 first by switching the switch SW2 to the dotted line side in advance when the noise is large. The calculation in the controller 50B is performed by adjusting the parameters of the PID.

In the feedback control that causes the control object to follow the target value, It is common to place at least one integral calculator in the controller 50B. In the design theory, although there is no integration result in the calculation result derived by the controller 50B, this case assumes that the control object contains an integral action, and the integration calculation is moved to the controller 50B at the time of implementation. Generally common. This is because it is theoretically known (internal model principle) that one or more integral calculators are placed in the controller 50B to eliminate the constant deviation.

By the way, in general, if the controller 50B is controlled The gain of the calculus has many advantages, such as the response of the control system becoming faster and reducing the constant deviation, but this will reduce the stability of the control system. Therefore, the gain cannot be raised above a certain value.

For example, in a rotary press, the quality of the roll is rolled out. Constant change. In the tension control of the rotary press, if the roll quality changes with time, the optimal control parameters will also change with time. In this case, it is necessary to adjust the control parameters that are stable under all the conditions considered, but in general, the stability is ensured by setting the gain of the controller 50B to be low. Therefore, it is difficult to construct a high-precision control system.

Several proposals have been proposed and implemented on this issue. The control output of the controller 50B has a tendency to be proportional to the quality of the reel. Therefore, when the reel quality is small (the brake control output signal is small), the output system is small, and the reel quality is large (the brake control output signal is relatively small). The output of the large) is an example of a larger index correction. This technique can be implemented by using only the analog circuit by utilizing the nonlinear characteristics of the diode. At present, since microprocessors or FPGAs can be obtained at low cost, there are many examples in which tension control adopts such a method. Therefore, in many cases, the machine can often be added without additional The cost can be implemented.

However, this method cannot completely offset the weight change of the reel. There is no guarantee that the gain of the control calculation of the controller 50B can be raised to the optimum value. Therefore, even if the index correction is used, the gain of the control calculation of the controller 50B cannot be sufficiently improved, and the disturbance suppression or the control precision may not be sufficiently improved.

As a higher-order means, as shown in Figure 8 controller 50C The calculation result of the PID calculator 55 is such that the calculation by the diameter correction unit 59 can be added by the switch SW4, and the control signal is multiplied by the correction coefficient of the index in the diameter correction unit 50. This is obtained by calculation or measurement to obtain the winding diameter of the rewinding reel and reflect it to the control parameter of the diameter correcting portion 59. The rewinding reel diameter can be easily determined by finding the surface position of the unwinding reel by a contact or non-contact position detector. Further, the rewinding reel diameter can be easily calculated by using an encoder that determines the linear velocity and an encoder (or proximity sensor) that measures the rotation of the reel.

However, it can be easily imagined that the diameter correction portion 59 is used. There are two disadvantages in the technique. One is the system price increase. The other one is that the self-winding of the reel diameter is proportional to the moment of inertia of the reel, but the moment of inertia of the reel can be known without knowing the reel diameter. For example, if the paper width or the weight density of the paper is changed, the quality is different even with the same roll diameter. Moreover, if the take-up tension of the reel is different, the mass and the moment of inertia may change even with the same reel diameter. That is, even if the parameter of the diameter correction unit 59 is simply applied to the calculation result of the roll diameter, the controller 50C that realizes the variable gain cannot be guaranteed to be the optimum control parameter, and must be stabilized. Qualitative with a certain level of margin.

Of course, it can be speculated that if the moment of inertia of the reel can It is presumed that if the system in which the control parameters of the diameter correcting portion 59 are variable with each state can be realized, the problem can be solved. However, if this information is input every time the printing press is rotated, it will need to construct a huge database system, which is not ideal for use. Moreover, the machine manufacturer side of the supply device also requires a large amount of procedures when manufacturing such a system.

Other imaginable means are the use of robust control theory. (for example, Patent Document 1). This is a mathematical model for obtaining the control object, specifying the range of variation of the controlled object, and finding the best control algorithm.

[Previous Technical Literature] [Patent Document]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2010-51104

However, in this method, in order to adjust the control parameters, a profound control theory is required. Therefore, it is not practical to use this method on a controller that requires adjustment of control parameters by a general workshop operator. Also, there is a problem in using robust control as a dedicated controller. This is because the design of robust control ‧ adjustment requires a deep knowledge of control theory, so expensive design software must be used. therefore, It is generally believed that the control object that can adopt the robust control theory is limited to those who need to spend procedures and expenses for the control itself.

When a general-purpose controller is commercialized, it must be considered It is premised on the ease of use of general workshop workers. They do not necessarily acquire advanced control theories. Even if there is an ability to drive high-level control theory into expensive design software and use, it is not necessarily financially acceptable.

If the target value is a ramp-like change, only 1 The system of integrators cannot be terminated at the target value, which is theoretically known (internal model principle). If a plurality of integrators are used, the problem can be solved, but the integrator induces a phase delay so that the gain of the controller cannot be improved.

In general, if you do not set the controller's integrator to 1 Instead, the value of the constant deviation is reduced by increasing the integral gain, or the integral gain is set higher to always cause overshoot, etc., but as the control object is different, as described above, sometimes The gain of the controller's control calculus cannot be fully improved. In this case, performance may not be met.

The object of the present invention is to provide a control pair that can be shortened The feedback control method, the feedback control device, and the program that make it difficult for the control object to leave the target value without deteriorating the stability of the control system, such as the time required to converge on the target value.

In order to achieve the above object, the invention of claim 1 The feedback control method is characterized in that the first calculation result including the low-speed integral calculation result is obtained based on the deviation between the target signal and the detection signal of the control object, and the power unit is driven by the first calculation result. And controlling the pre-recording control object to treat the control result of the pre-recording control object as a pre-recording detection signal, wherein the feedback control method performs the pre-difference when the absolute value of the current recording deviation falls within a preset first threshold value The high-speed integral calculation is performed by adding the integral value to the first calculation result as the second calculation result, or performing the high-speed integral calculation on the first calculation result of the previous calculation, and adding the integral value to the first calculation result of the previous calculation. As a result of the second calculation, the pre-recording power unit is driven by the second calculation result.

The invention of claim 2, characterized in that, as in claim 1 In the feedback control method described above, when the absolute value of the current record deviation exceeds the first threshold value, the integral value of the high-speed integral calculation is added or not added to the integral value of the low-speed integral calculation, and the high-speed integral calculation is performed. The integral value is reset to zero, and the high-speed integral calculation is stopped before the stop.

The invention of claim 3, characterized in that, as in claim 1 Or the feedback control method described in 2, wherein, when the current deviation is zero or is regarded as zero, the integral value of the high-speed integral calculation is added to the integral value of the low-speed integral calculation, and the integral of the high-speed integral calculation is recorded. Return the value to zero and continue with the high-speed integral calculation.

The invention of claim 4, characterized in that, as in claim 1 Or the feedback control method according to the second aspect, wherein the second threshold value smaller than the first threshold value is set, and the absolute value of the current record deviation is the second threshold value at the In the internal time, the integral value of the high-speed integral calculation is added or not added to the integral value of the low-speed integral calculation, and the integral value of the high-speed integral calculation is zeroed, and then the high-speed integral calculation is stopped.

The invention of claim 5, characterized in that The feedback control method according to any one of 1, 2, 3 or 4, wherein the maximum integral value of the high-speed integral calculation is set to be smaller than the maximum integral value of the low-speed integral calculation.

The feedback control device of the invention of claim 6 The first calculation unit includes a low-speed integral calculator that performs low-speed integration based on the deviation of the target signal from the detection signal of the control object; and the power unit is obtained by the first calculation unit. The first calculation result is driven to control the pre-control object; and the detector detects the control result of the pre-control object; the signal detected by the detector is regarded as a pre-detection signal, wherein The feedback control device is provided with a high-speed integral calculator, and when the absolute value of the current deviation is within the preset first threshold, the high-speed integral calculation of the pre-difference is performed, and the integral value is added to the first calculation of the first calculation. As a result, it is regarded as the second calculation result, or the high-speed integral calculation is performed on the first calculation result, and the integral value and the previous first calculation result are added as a new second calculation result; by the second calculation result Drive the front power section.

The invention of claim 7, characterized in that, as in claim item 6, In the feedback control device described above, when the absolute value of the current record deviation exceeds the first threshold value, the integral value of the high-speed integral calculator is added or not added to the integral value of the low-speed integral calculator, and the high speed is recorded. product The integral value of the sub-calculator is zeroed, and the high-speed integral calculator is stopped.

The invention of claim 8 characterized in that, as claimed in claim 6 Or the feedback control device described in 7, wherein, when the current deviation is zero or is regarded as zero, the integral value of the high-speed integral calculator is added to the integral value of the low-speed integral calculator, and the high-speed integral calculation is performed. The integral value of the device is reset to zero, and then the high-speed integral calculator continues to operate.

The invention of claim 9, characterized in that, as claimed in claim 6 Or the feedback control device according to the seventh aspect, wherein the second threshold value smaller than the first threshold value is set, and when the absolute value of the current record deviation is within the second threshold value, the integral value of the high-speed integral calculator is added to the previous record. The integral value of the low-speed integral calculator, and the integral value of the high-speed integral calculator is zeroed, and then the high-speed integral calculator stops.

The invention of claim 10, characterized in that The feedback control device according to any one of 6, 7, 8, or 9, wherein the maximum integral value of the high-speed integral calculator is set to be smaller than the maximum integral value of the low-speed integral calculator.

The program of the invention of claim 11 characterized in that: The program is characterized in that the computer is executed: the first calculation result including the low-speed integral calculation result is obtained according to the deviation between the target signal and the detection signal of the control object, and the power unit is driven by the first calculation result. The power control unit controls the pre-recording control object, and the control result of the pre-recording control object is used as the integral calculation in the feedback control method of the pre-recorded detection signal. The program system includes: in the first step, the absolute deviation of the pre-recording deviation is determined. Whether the value And falling in a preset first threshold; and in the second step, when the absolute value of the pre-difference is determined to fall within a predetermined first threshold by the first step, performing high-speed integral calculation of the pre-difference In addition, the integral value is added to the first calculation result as the second calculation result, or the previous calculation result is performed on the first calculation result, and the integral value and the previous calculation result are added as the pre-recorded second. The calculation result; the pre-recorded power department is driven by the second calculation result.

The invention of claim 12, characterized in that The program described in the above, wherein the third step is performed, and when the absolute value of the current deviation exceeds the first threshold, the integral value of the high-speed integral calculation is added or not added to the integral value of the low-speed integral calculation, and The integral value of the high-speed integral calculation of the previous record is zero, and the high-speed integral calculation is stopped before the stop.

The invention of claim 13 characterized by The program described in 11 or 12, wherein the fourth step is performed, and when the current deviation is zero or is regarded as zero, the integral value of the high-speed integral calculation is added to the integral value of the low-speed integral calculation, and the high speed is recorded. The integral value of the integral calculus is zeroed, and then the high-speed integral calculus is continued.

The invention of claim 14 characterized by The program according to 11 or 12, wherein the fifth step is provided with a second threshold smaller than the first threshold value, and when the absolute value of the current deviation is within the second threshold, the integral value of the high-speed integral calculation is recorded. Add to the integral value of the low-speed integral calculation, and return the integral value of the high-speed integral calculation to zero, and then stop the high-speed integral calculation.

The invention of claim 15 characterized by The program described in any one of 11, 12, 13 or 14, wherein the maximum integral value of the high-speed integral calculation is set to be smaller than the maximum integral value of the low-speed integral calculation.

In the request items 1, 6, and 11, since the high-speed integral calculation is performed only when the absolute value of the deviation is within the threshold value, the time required for the control object to converge to the target value can be shortened while maintaining the stability of the control system. It is difficult for the control object to leave the target value.

In the claims 2, 7, and 12, since the high-speed integral value is zeroed and the high-speed integral calculation is stopped when the absolute value of the deviation exceeds the threshold, the next high-speed integral starts from zero. At this time, if the high-speed integral value so far is added to the low-speed integral value, it is possible to prevent a drastic change in the amount of operation.

In the claims 3, 8, and 13, when the deviation is zero, the high-speed integral value is reset to zero, so the effect of the high-speed integration is reduced, and overshoot is hard to occur. At this time, if the high-speed integral value so far is added to the low-speed integral value, it is possible to prevent a drastic change in the amount of operation. Thereby, the same effect as the temporary speeding of the low speed integral can be obtained.

In the request items 4, 8, and 14, it is essentially the same as the request item 3. This sets the non-inductive band in the control system.

In the request items 5, 10, and 15, the maximum integral value of the high-speed integral is set to be smaller than the maximum value of the low-speed integral, so the high-speed integral As a result, the amount of operation is suppressed to a small extent, ensuring the stability of the control.

10‧‧‧ Tapes

20‧‧‧Roller

30‧‧‧Intermediate roller

40‧‧‧Tensor

50, 50A, 50B, 50C‧‧‧ controller

51,52‧‧‧ low pass filter

53‧‧‧Signal Converter

54‧‧‧Reducer

55‧‧‧PID Calculation Department

56‧‧‧High-speed integral calculator

57,58‧‧‧Adder

59‧‧‧Diameter Correction Department

60‧‧‧Electromagnetic brakes

551‧‧‧Proportional Calculator

552‧‧‧Point Calculator

553‧‧‧ differential calculator

554‧‧‧Adder

Fig. 1 is a functional block diagram showing a configuration of a controller of a feedback control device according to a first embodiment of the present invention.

Fig. 2 is a flow chart showing the high-speed integral calculation of the controller of the first embodiment.

Fig. 3 is a functional block diagram showing a configuration of a controller of a feedback control device according to a second embodiment of the present invention.

Fig. 4 is a flow chart showing the high-speed integral calculation of the controller of the third embodiment of the present invention.

Fig. 5 is a view showing the configuration of a tension control device for controlling the tension of the tape.

Fig. 6 is a functional block diagram of a feedback control device used in the tension control device of Fig. 5.

[Fig. 7] A functional block diagram of the configuration of the controller of the feedback control device of Fig. 6.

[Fig. 8] A functional block diagram of a controller of another example used in the tension control device of Fig. 5.

The control problem in the feedback control is to use the extension of the PID calculation to make the control of the general workshop operator understand. It is better to solve it. For example, when the tension of the tape is controlled, when the deviation converges to zero, and the output of the power unit is a control system that maintains a constant value, the output and the integral value of the controller are considered to be identical. In this case, the time required for convergence can be shortened by accelerating the reaction of the integrator. However, when the reaction time is increased and the integration time is reduced, the stability of the control system is deteriorated.

Thus, in the present invention, the tension control applied to the tape In the feedback control of the system, the integral calculator included in the previous PID calculation unit is regarded as a low-speed integral calculator with a slower reactivity (large integration time), and as a help, a new reactive response is newly introduced. High-speed integral calculator. For the high-speed integral calculator, the timing of the calculation is limited so that the stability of the control system does not deteriorate.

<First Embodiment>

Fig. 1 is a diagram showing a controller 50 for feedback control according to a first embodiment of the present invention. The controller 50 is assembled in place of the controllers 50B and 50C in the feedback control device described with reference to FIGS. 5 and 6.

The controller 50 of this embodiment is provided with: a low pass filter 51, 52, the signal converter 53 for converting the tension detecting signal indicating the force into the actual tension signal, the subtractor 54, the PID calculating unit 55, the high-speed integral calculator 56 with the short integration time, the adder 57, and the switch SW1 , SW2, SW3. The PID calculation unit 55 includes a proportional 551, a calculus 552, a differential 551, and an adder 554 that adds the calculation results of the 551 to 553. Here, as the PID calculation unit 55 The integral calculator 552 is a low-speed integral calculator that uses a long integration time.

The tension detecting signal measured by the tension detector 40 is The switch SW1 is input to the signal converter 53, but when the noise is large, the switch SW1 is switched to the dotted line side in advance, and the noise is suppressed by the low-pass filter 51 and then input to the signal converter 53. The tension detecting signal (force signal) input to the signal converter 53 is outputted from the force signal to the tension signal. In the subtractor 54, the deviation signal with polarity is generated by subtracting the tension detecting signal from the input target tension signal. This deviation signal is input to the PID calculation unit 55 via the switch SW2. When the noise is large, the deviation signal is suppressed by the low-pass filter 52 and then input to the PID calculator 55 by switching the switch SW2 to the dotted line side in advance. Then, when the switch SW3 is turned on, it is also input to the high-speed integral calculator 56. The calculation results of the PID calculator 55 and the high-speed integral calculator 56 are added by the adder 57, and are output as control output signals.

The switch SW3 is the absolute deviation signal obtained by the reducer 54 The value is turned on when the value is within the predetermined first threshold, and is turned off when the value exceeds the first threshold. At the time of this disconnection, the high-speed integral calculator 56 stops the integral calculation and zeros the current integral value (hereinafter referred to as "high-speed integral value"). Further, the high-speed integral calculator 56 resets the current high-speed integral value to zero when the deviation signal becomes zero (close to zero) or as small as visible zero. When the high-speed integral value is reset to zero, the high-speed integral value may be added to the integral value of the low-speed integral calculator 552 before returning to zero ( Hereinafter referred to as "low speed integral value", it may not be added.

2 is a diagram showing the control program of the high-speed integral calculator 56. flow chart. In the processing implementation of the controller 50 of the present embodiment, each sample of the deviation obtained by the subtractor 54 is processed using a digital calculation device of a computer such as a microprocessor or an FPGA. When the high-speed integration by the high-speed integral calculator 552 is performed, the switch SW3 is turned on.

First, determine whether the absolute value of the sampled deviation is the first Within the threshold (step S1). When the absolute value of the deviation is within the first threshold, it is determined whether the deviation is zero or can be regarded as zero (step S2). At this time, if the deviation is zero or can be regarded as zero, the high-speed integral value of the deviation obtained from the previous sampling is added to the low-speed integral value, and the high-speed integral value is zeroed, and then the deviation (zero) The high-speed integration is performed (or the deviation regarded as zero) (step S3), and the high-speed integrated value is added to the PID calculation result (step S4). Further, when the deviation is non-zero or cannot be regarded as zero, the deviation is subjected to high-speed integration (step S5), and the obtained high-speed integral value is added to the PID calculation result (step S4). On the other hand, when the absolute value of the deviation reaches the range of the first threshold value in step S1, the high-speed integral value of the deviation obtained from the previous sampling is added to the low-speed integral value, and the high-speed integral value is reset to zero. Then stop the high speed integration action. At this time, the high-speed integral value added to the PID calculation result in step S4 is zero. When the next sampled deviation is taken, the same processing is repeated as described above in accordance with the absolute value of the deviation. In addition, as previously noted, when the high-speed integral value is reset to zero, it is not necessary to add the high-speed integral value to the low-speed integral value.

By doing this control, only the absolute value of the deviation is When the deviation is within the first threshold value, high-speed integration is performed. Therefore, while the control system is out of control, the time required for the control target to converge to the target value can be shortened, and the control target can hardly leave the target value. When the deviation is zero or a value that can be regarded as zero, the high-speed integral value is reset to zero, so the effect of high-speed integration is reduced, and overshoot is hard to occur. Further, when the high-speed integral value is reset to zero, it is possible to prevent a drastic change in the amount of operation by adding the high-speed integral value to the low-speed integral value before it. This is the same as temporarily speeding up the low-speed integral calculator. In addition, by setting the maximum integral value of the high-speed integral calculator to be smaller than the maximum integral value caused by the low-speed integral calculator, the operation amount due to the high-speed integral calculator becomes small.

<Second embodiment>

Fig. 3 is a view showing a functional block diagram of the controller 50A of the feedback control device of the second embodiment. The controller 50 illustrated in FIG. 1 is configured such that the high-speed integral calculator 56 is provided on the output side of the PID calculator 55 via the switch SW3, and the calculation result of the high-speed integral calculator 56 is used as an adder. 58 is added to this point of the calculation result of the PID calculator 55.

Also in this embodiment, and the controller illustrated in FIG. 50 is identical, and is controlled by the control program illustrated in FIG. 2, and high-speed integration is performed only when the absolute value of the deviation is within the range of the first threshold, and is added to the PID calculation result. In this case, the control unit can be prevented from being out of control, and the time required for the control target to converge to the target value can be shortened, and the same effect as the feedback control of the first embodiment can be obtained.

<Third embodiment>

Fig. 4 is a flow chart showing a control routine of the high-speed integral calculator 56 of the feedback control device of the third embodiment. This embodiment is applicable to the controller 50 of FIG. 1 and the controller 50A of FIG. In the present embodiment, the first threshold value and the second threshold value smaller than the first threshold value are set, and the integral operation of the high-speed integral calculator 56 is performed only when the absolute value of the deviation falls between the first and second threshold values. When high speed integration is performed, the switch SW3 is turned on.

First, determine whether the absolute value of the sampled deviation is the first Within the threshold (step S11). When the absolute value of the deviation is within the first threshold, it is determined whether or not the absolute value of the deviation is within the second threshold (step S12). When the absolute value of the deviation is within the second threshold, the high-speed integrated value of the deviation obtained by the previous sampling is added to the low-speed integrated value, and then the high-speed integrated value is reset to zero, and then the high-speed integration is stopped (step S13). At this time, the high-speed integral value added to the PID calculation result in step S14 is zero. When the absolute value of the deviation is not within the second threshold, the deviation is subjected to high-speed integration (step S15), and the obtained high-speed integrated value is added to the PID calculation result (step S14). On the other hand, when the absolute value of the deviation reaches the range of the first threshold value in step S11, the high-speed integral value obtained by sampling the previous time is added to the low-speed integral value, and then the high-speed integral value is reset to zero, and then Stop high speed integration. At this time, the high-speed integral value added to the PID calculation result in step S14 is zero. When the next sampled deviation is taken, the same processing is repeated as described above in accordance with the absolute value of the deviation. In addition, as previously noted, when the high-speed integral value is reset to zero, it is not necessary to add the high-speed integral value to the low-speed integral value.

Thus, in the present embodiment, when the absolute value of the deviation falls into High-speed integration is performed between the first and second thresholds. However, when the second threshold is within the second threshold, high-speed integration is stopped, and the non-inductance band is set in the control program described in FIG. 2 (within the second threshold range).

<Other Embodiments>

When the reeling portion of the reel is continuously operated, the reel diameter changes and the moment of inertia changes. Along with this, the optimal gain of the control system will also change. In this regard, it is preferable to perform index correction or diameter correction described in the prior art column. If you consider the system price, the index correction is cheaper. In the case of diameter correction, it is necessary to pay attention to the relationship between the diameter and the control parameters. In the performance surface, the diameter correction is stronger, but the ease of operation of the parameter adjustment is easier to correct the index.

The parameters of the controller 50, 50A are adjusted during the test run. For it, it is ideal. First, the trial operation is performed using the feedback control device (the switch SW3 is turned off) that does not employ the high-speed integral calculator 56 of the present invention, and the parameters of the controllers 50, 50A are adjusted to enable stable control. It is preferable to use the present invention to perform trial operation and adjust various parameters of the high-speed integral calculator relationship. The parameters related to the high-speed integral calculator are ideal when the controller 50, 50A is shipped at the factory, and can be directly used under normal conditions. However, since the characteristics of each machine to be used are different, it is recommended to confirm the parameters by trial operation. By using the present invention and the prior control method, a control system that balances stability and control accuracy can be established.

Further, the feedback control device of the embodiment described above The PID calculation unit 55 includes a calculation of a proportional ‧ integral and a derivative, but the calculation unit may include at least a low-speed integral calculator, and the present invention can be applied regardless of the type of the calculation unit. Further, the integral calculation described above may include a pulse transfer function calculation, a linear difference equation calculation, and the like, and such other calculations approximate to integral. Further, as the feedback control, it is possible to use a robust control that takes into consideration the modeling error or an adaptive control that changes the parameter in response to a large change in the control object.

50‧‧‧ Controller

51, 52‧‧‧ low-pass filter

53‧‧‧Signal Converter

54‧‧‧Reducer

55‧‧‧PID Calculation Department

551‧‧‧Proportional Calculator

552‧‧‧Point Calculator

553‧‧‧ differential calculator

554‧‧‧Adder

56‧‧‧High-speed integral calculator

57‧‧‧Adder

SW1, SW2, SW3‧‧‧ switch

Claims (15)

A feedback control method is characterized in that a first calculation result including a low-speed integral calculation result is obtained based on a deviation between a target signal and a detection signal of a control object, and the power unit is driven by the first calculation result. The power unit controls the pre-recording control object, and the control result of the pre-recording control object is regarded as a pre-recording detection signal, wherein the feedback control method is performed when the absolute value of the current recording deviation falls within a preset first threshold value. The high-speed integral calculation of the deviation is added to the first calculation result as the second calculation result, or the high-performance integral calculation is performed on the first calculation result, and the integral value and the first calculation result are added. As a result of the second calculation, the pre-recording power unit is driven by the second calculation result. The feedback control method according to claim 1, wherein when the absolute value of the current record deviation exceeds the first threshold value, the integral value of the high-speed integral calculation is added or not added to the integral value of the low-speed integral calculation, and The integral value of the high-speed integral calculation of the previous record is zero, and the high-speed integral calculation is stopped before the stop. The feedback control method according to claim 1 or 2, wherein when the current deviation is zero or is regarded as zero, the integral value of the high-speed integral calculation is added to the integral value of the low-speed integral calculation, and the high speed is recorded The integral value of the integral calculus is zeroed, and then the high-speed integral calculus is continued. The feedback control method according to claim 1 or 2, wherein the second threshold value smaller than the first threshold value is set, and the current deviation is When the pair value is within the second threshold, the integral value of the high-speed integral calculation is added or not added to the integral value of the low-speed integral calculation, and the integral value of the high-speed integral calculation is zeroed, and then the high-speed integral calculation is stopped. . The feedback control method according to any one of claims 1, 2, 3 or 4, wherein the maximum integral value of the high-speed integral calculation is set to be smaller than the maximum integral value of the low-speed integral calculation. A feedback control device, comprising: a first calculation unit, comprising a low-speed integral calculator, which performs low-speed integration according to a deviation of a target signal from a detection signal of a control object; and the power unit is The first calculation result obtained by the first calculation unit is driven to control the pre-control object; and the detector detects the control result of the pre-control object; the signal detected by the detector is regarded as a pre-record a detection signal, wherein the feedback control device is provided with a high-speed integral calculator, and when the absolute value of the current deviation is within a preset first threshold, the high-speed integral calculation of the pre-difference is performed and integrated The value is added to the first calculation result as the second calculation result, or the high-speed integral calculation is performed on the first calculation result of the previous calculation, and the integral value and the first calculation result are added as the new second calculation result; The pre-recording power unit is driven by the second calculation result. The feedback control device according to claim 6, wherein when the absolute value of the current record deviation exceeds the first threshold value, the integral value of the high-speed integral calculator is added or not added to the low-speed integral calculation The integral value of the device is zeroed, and the integral value of the high-speed integral calculator is zeroed, and the high-speed integral calculator is stopped. The feedback control device according to claim 6 or 7, wherein when the current deviation is zero or is regarded as zero, the integral value of the high-speed integral calculator is added to the integral value of the low-speed integral calculator, and The integral value of the high-speed integral calculator is reset to zero, and then the high-speed integral calculator continues to operate. The feedback control device according to claim 6 or 7, wherein the second threshold value smaller than the first threshold value is set, and the absolute value of the current record deviation is within the second threshold value, and the integral of the high-speed integral calculator is recorded. The value is added to the integral value of the low-speed integral calculator, and the integral value of the high-speed integral calculator is zeroed, and then the high-speed integral calculator stops. The feedback control device according to any one of claims 6, 7, 8, or 9, wherein the maximum integrated value of the pre-recorded high-speed integral calculator is set to be smaller than the maximum integrated value of the low-speed integral calculator. A program for causing a computer to execute: obtaining a first calculation result including a low-speed integral calculation result based on a deviation of a target signal from a detection signal of a control object, and driving the power unit by the first calculation result The power control unit controls the pre-control object, and the control result of the pre-record control object is used as the integral calculation in the feedback control method of the pre-recorded detection signal, wherein the program system has: In the first step, it is determined whether the absolute value of the pre-difference falls within a preset first threshold; and the second step is determined by the first step that the absolute value of the pre-difference is in the preset When the threshold value is within 1 threshold, the high-speed integral calculation of the pre-difference is performed, and the integral value is added to the first calculation result as the second calculation result, or the pre-recorded high-speed integral calculation is performed on the first calculation result, and the integral value and the pre-record are calculated. The first calculation result is added as the result of the second calculation of the previous calculation; the pre-recorded power unit is driven by the second calculation result. The program according to claim 11, wherein the third step is performed, and when the absolute value of the current deviation exceeds the first threshold, the integral value of the high-speed integral calculation is added or not added to the integral value of the low-speed integral calculation. And the integral value of the high-speed integral calculation of the previous record is zeroed, and the high-speed integral calculation is stopped before the stop. The program described in claim 11 or 12, wherein the fourth step is performed, and when the current deviation is zero or is regarded as zero, the integral value of the high-speed integral calculation is added to the integral value of the low-speed integral calculation, and The zero value of the high-speed integral calculation of the previous record is zeroed, and then the high-speed integral calculation is continued. The program according to claim 11 or 12, wherein the fifth step is provided to set a second threshold smaller than the first threshold, and the absolute value of the current deviation is within the second threshold, and the high-speed integral calculation is performed. The integral value is added to the integral value of the low-speed integral calculus, and the integral value of the high-speed integral calculus is zeroed, and then the pre-record is stopped. High-speed integral calculation. The program according to any one of claims 11, 12, 13 or 14, wherein the maximum integral value of the high-speed integral calculation is set to be smaller than the maximum integral value of the low-speed integral calculation.