TWI689800B - Regulator and detection method of degraded position - Google Patents

Abstract

The invention provides a regulator and a method for detecting a deteriorated position. The monitor can easily confirm the degraded operation position in the operation range of the operation end at the scene. A segment display unit including a plurality of display segments that can individually control lighting is provided. The display control unit detects the measured feedback value and the estimated feedback value obtained during the driving period from the start position to the stop position. The abnormal section whose feedback value is abnormal is distinguished from the display section corresponding to the section other than the abnormal section, and the display section corresponding to the abnormal section in the display section is identified and displayed.

Description

Regulator and detection method of degraded position

The present invention relates to a degraded position detection technique for detecting a degraded position from the operation range of the operation end.

The regulator is a control device that controls the operating end (actuator) of a machine having a movable body such as a motor or a valve as an output end to control process conditions such as temperature, humidity, pressure, and flow rate to a predetermined set value. Generally, the operation end is provided with an encoder that detects the movement position of the movable body, and the regulator can adjust the operation amount for controlling the operation end according to the feedback value obtained by the encoder.

Conventionally, as a control device (regulator) for controlling on-site equipment, a control device including a defect detection device for an operating end such as a motor or a valve has been proposed (for example, refer to Patent Document 1 and the like). This prior art is a technique that determines whether the operation of the operation end has deviated from the predetermined allowable range based on the following deviation DM (=MV-MP) of the operation amount MV and the operation position MP, and the change rate ΔMP of the operation position MP When it is judged that it has left the allowable range, the judging device has an abnormality in the operation end.

Existing technical literature

Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 2017-033140

Problems to be solved by the invention

Generally, the encoder installed at the operation end is easily deteriorated due to wear. Compared with the environmental characteristics represented by the ambient temperature or the deterioration over the years, its abrasion depends more on the control conditions of the regulator on the operating end. For example, when the operating end is often opened and closed within a narrow operating range (for example, an opening of 40% to 50%), the encoder only deteriorates within this operating range. Therefore, although the operation end is controlled to the specified opening degree, there are cases where the feedback value shows an abnormal value due to the deterioration of the encoder.

In general, when an abnormality occurs in the operation side at the site where the controller is installed, in order to correctly respond to the abnormality, it is important that the site monitor knows at which operating position in the operating range of the operating side the abnormality has occurred.

In addition, in order to confirm the deterioration of the operation side and urge the user to replace it, the maintenance personnel must connect an external device such as a recorder and obtain data indicating its deterioration.

However, this kind of data acquisition operation must remove the wiring in order to connect to an external device, and there is a risk of incorrect wiring when it is restored. Therefore, it is difficult to perform the data acquisition operation at a frequency suitable for inspection or at a timing to be confirmed.

In addition, in the case of continuing to use the operating terminal without replacement, there is a high possibility of break maintenance (repair work after complete destruction), and it is conceivable that the device is stopped due to emergency repair The loss caused by the production of good products.

The present invention is to solve such a problem, and an object of the present invention is to provide a deteriorated position detection technology in which a supervisor can easily confirm a degraded operation position in an operation range of an operation end on site.

Technical means to solve problems

In order to achieve this purpose, the regulator of the present invention is based on the operation amount calculated based on the preset setting value and the control amount detected from the control object, and the operation end is driven to thereby determine the operation position of the operation end A controller for automatic control includes a measured feedback value calculation unit that calculates, based on the detection signal output from the encoder of the operation end, a fixed time indicating the operation position of the operation end corresponding to the operation amount The measured feedback value; the estimated feedback value calculation unit calculates the estimated feedback value corresponding to the measured feedback value based on the measured feedback value calculated before the measured feedback value excluding the influence of degradation; the drive control unit corresponds to the instruction Instructing operation of detection of the degraded position to drive the operation end in such a manner that the operation position is displaced from a predetermined start position to a stop position at a fixed speed; a segment display section, including individual control A plurality of lighting display segments; and a display control unit that detects the measured feedback value and the estimated feedback value obtained during the driving period from the start position to the stop position, the An abnormal section whose actual feedback value is abnormal is different from the display section corresponding to the section other than the abnormal section, to identify and display the display section corresponding to the abnormal section in the section display section .

In addition, a configuration example of the regulator of the present invention is a configuration example in which, when the display control section determines the abnormal interval, the deviation between the actual measured feedback value and the estimated feedback value is set in advance. The multiple abnormal ranges set in stages outside the allowable range are compared. When the deviation is included in any of the abnormal ranges, individual display forms are identified and displayed in the abnormal range within the abnormal range. The display segment corresponding to the abnormal section.

In addition, one configuration example of the regulator of the present invention is a configuration example in which the segment display section includes a plurality of display segments arranged side by side in a linear shape, and these display segments respectively correspond to their own configurations The position corresponds to any one of a plurality of partial motion intervals set by dividing the entire motion interval of the operation end.

In addition, one configuration example of the regulator of the present invention is a configuration example in which the segment display section includes displaying arbitrary digits, characters, or symbols by turning on and off lights at any positions of a plurality of display segments The plurality of segment displays of the symbol display the symbol indicating the abnormal section output from the display control unit in the display format through each segment display.

In addition, one configuration example of the regulator of the present invention is the following configuration example: further provided with a feedback value selection unit, the deviation of the feedback value selection unit between the measured feedback value and the estimated feedback value is set in advance When the range is within the allowable range, the measured feedback value is selected as the adjustment feedback value for the adjustment of the operation amount, and when the deviation is outside the range of the allowable range, the estimated feedback is selected. The value serves as the adjustment feedback value.

In addition, the degradation position detection method of the present invention is based on an operation amount calculated based on a preset setting value and a control amount detected from a control object, driving the operation end, thereby automatically performing an operation position of the operation end The degraded position detection method used in the controlled regulator includes: a feedback value calculation step, and the measured feedback value calculation section calculates every fixed time based on the detection signal output from the encoder on the operation side to indicate that it corresponds to the The measured feedback value of the operation position of the operation end of the manipulated variable; the estimated feedback value calculation step, the estimated feedback value calculation unit calculates the actual measurement value based on the measured feedback value calculated before the actual measured feedback value and not including the influence of degradation The estimated feedback value corresponding to the feedback value; the drive control step, the drive control section corresponds to an instruction operation indicating the detection of the degraded position, so that the operating position is displaced at a fixed speed from the pre-specified start position to the stop position, for The operation end performs drive control; and a display control step, the display control section detects the measured feedback value and the estimated feedback value obtained during the driving period from the start position to the stop position, The measured feedback value is an abnormal section with an abnormality. In a display format different from the display section corresponding to the section other than the abnormal section, a section including a plurality of display sections that can individually control lighting is identified and displayed The display segment corresponding to the abnormal section in the display section.

Effect of invention

According to the present invention, the abnormal section of the operation end is identified and displayed by the corresponding display section of the section display section. Generally, the size of the casing of the controller installed in the field is relatively small, and it is not possible to install a high-resolution screen such as a personal computer (Personal Computer, PC) in the controller. According to the present embodiment, only by setting the segment display section including a plurality of display segments in the controller, the position of the abnormal section is recognized and the screen is displayed, so that the monitor can easily confirm on site.

Therefore, it is not necessary to connect an external device such as a recorder to obtain data indicating its deterioration, and the work load can be greatly reduced. In addition, there is no need to remove the wiring in order to connect to external equipment, and there is no risk of incorrect wiring when it is restored. Therefore, data can be obtained at a frequency suitable for maintenance or at a timing to be confirmed, the deterioration of the operation terminal 30 can be confirmed extremely smoothly, and the user can be urged to replace it. Therefore, it is possible to suppress the post-mortem inspection, and it is possible to avoid the stop of the device caused by the emergency repair or the loss caused by the occurrence of defective products.

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

First embodiment

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

The regulator 10 is a control device that controls the operation end of a machine having a movable body such as a motor or a valve based on the operation amount MV calculated based on the preset setting value SP and the control amount PV detected from the control object. The operating position of the actuator 30 is automatically controlled to control the process conditions such as temperature, humidity, pressure, and flow rate to a predetermined set value SP.

The operation terminal 30 includes an encoder ENC that detects the operating position of the movable body M, and has a function of outputting a detection signal P indicating the detected operating position to the controller 10.

Regulator

As shown in FIG. 1, the controller 10 includes a set value acquisition unit 11, a control amount acquisition unit 12, an operation amount calculation unit 13, an operation input unit 14, a drive control unit 15, a drive unit 16, an operation position acquisition unit 17, and measured feedback The value calculation unit 18, the estimated feedback value calculation unit 19, the display control unit 20, the segment display unit 21, the storage unit 22, and the communication interface (Interface (I/F) unit 23) serve as main functional units. Among these functional units, the operation amount calculation unit 13, the drive control unit 15, the measured feedback value calculation unit 18, the estimated feedback value calculation unit 19, and the display control unit 20 are performed by a central processing unit (CPU) and a program Coordinated to achieve.

The setting value acquisition unit 11 has a function of acquiring a setting value SP from a setting value signal received from a higher-level device or an operation unit (neither of which is shown) and outputting it to the operation amount calculation unit 13.

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

The operation amount calculation unit 13 has a function of performing control calculations such as proportional integral differentiation (Proportional Integral Differential, PID) based on the set value SP and the control amount PV, thereby calculating the operation amount MV.

As shown in FIG. 3 to be described later, the operation input unit 14 includes operation buttons or operation switches provided on the front panel 10P of the controller 10, and is capable of detecting the operation input of an on-site monitor such as an operation indicating the detection of a deteriorated position. Function.

In the case of automatic control, the drive control unit 15 has a function of generating and outputting a drive signal DS corresponding to the operation amount MV calculated by the operation amount calculation unit 13 to thereby drive and control the movable body M of the operation terminal 30 Corresponding to the instruction operation indicating the detection of the degraded position detected by the operation input unit 14, generating and outputting to move the operation position of the operation terminal 30 at a fixed speed from the pre-specified start position PS to the stop position PE The function of the drive signal DS up to now; and the function of adjusting the manipulated variable MV (drive signal DS) based on the adjusted feedback value Fa including the measured feedback value Fd calculated by the measured feedback value calculation unit 18.

The drive unit 16 has a function of outputting a signal corresponding to the drive signal DS from the drive control unit 15 to the movable body M of the operation terminal 30, thereby driving the operation terminal 30 to a predetermined operating position.

The operation position acquisition unit 17 has a function of acquiring the detection signal P from the encoder ENC of the operation terminal 30 and outputting the operation position MP of the operation terminal 30.

The measured feedback value calculation unit 18 has a function of calculating the measured feedback value Fd that represents the operation position MP as a percentage based on the operation position MP from the operation position acquisition unit 17.

The estimated feedback value calculation unit 19 has a change direction calculated based on the measured feedback value Fd′ that does not include the influence of degradation calculated before the measured feedback value Fd, a unit change amount ΔF described later, and the drive signal DS from the drive control unit 15 to calculate The function of estimating the feedback value Fe corresponding to the measured feedback value Fd.

Fig. 2 is an example of calculating the estimated feedback value. Here, it is shown that during the period of time Ta required for detection from the detection start time T1 to the detection stop time T2, the operating position of the operation terminal 30 is displaced from the fully closed state (start position PS) to the fully open state at a fixed speed ( For the feedback value up to the stop position PE), the horizontal axis represents time and the vertical axis represents the feedback value. In addition, the start position PS or the stop position PE is not limited to the fully closed state or the fully open state, and the state corresponding to the opening degree between the fully closed state and the fully open state may be set as the start position PS or the stop position PE.

If the operating position of the operation terminal 30 is displaced at a fixed speed in a fixed direction (open direction or closed direction), the measured feedback value Fd linearly increases or decreases when there is no deterioration in the operation terminal 30. For example, when the measured feedback value Fd that changes during the sampling time Ts is the unit change amount ΔF, and there is no deterioration in the operating position corresponding to the period Ts from time t-1 to t, the drive When the signal DS increases and the operating terminal 30 is displaced in the opening direction at a fixed speed, it becomes Fd(t)=Fd(t-1)+ΔF. Conversely, when the driving signal DS decreases and the operating terminal 30 is closed at a fixed speed In the case of displacement in the direction, it becomes Fd(t)=Fd(t-1)-ΔF. Furthermore, if the drive signal DS does not change, then Fd(t)=Fd(t-1).

Therefore, when deterioration is included in Fd (t+1) at time t+1, in the case where the drive signal DS increases and the operating terminal 30 is displaced in the opening direction at a fixed speed, the estimated feedback value at time t+1 can be obtained by Fe(t+1)= Fd(t) + ΔF to infer. Conversely, when the driving signal DS decreases and the operating terminal 30 is displaced in the closed direction at a fixed speed, the estimated feedback value at time t+1 can be obtained by Fe(t+1) = Fd(t)- It can be inferred by ΔF. In addition, if the driving signal DS does not change, the estimated feedback value at time t+1 can be inferred as Fe(t+1)=Fd(t).

In addition, ΔF is obtained from ΔF=Ts/Ta×100% based on the sampling time Ts and the time Ta required for detection. In addition, whether Fd(t) is the actual measured feedback value Fd′ that does not include the influence of degradation can be determined, for example, by whether the deviation D=Fd−Fe between Fd and Fe is within the range of the preset allowable range εd. Therefore, if Fd′ closest in time to the estimated feedback value Fe to be calculated is used, Fe can be estimated with the highest accuracy.

The display control unit 20 has a function of storing the measured feedback value Fd and the estimated feedback value Fe obtained in the period from the start position PS to the stop position PE in the storage unit 22; and storing the Fd and Fe compares and detects the abnormal section where Fd is abnormal; and recognizes and displays the display section corresponding to the abnormal section in the section display section 21 in a different display form from the display section corresponding to the section other than the abnormal section The function of the segment.

The segment display unit 21 includes a plurality of display segments that can individually control lighting, and has lighting control of the display segment indicated by the display control unit 20 in the indicated display format, thereby identifying and displaying an abnormal section Function.

Fig. 3 is a front view of the regulator. As shown in FIG. 3, a main display unit 21A, a sub-display unit 21B, a bar-shaped display unit 21C, and an operation input unit 14 are arranged on a front panel 10P provided on the front of the regulator 10.

The main display unit 21A and the sub display unit 21B have a configuration in which segment displays such as a 7-segment display or a 16-segment display are arranged side by side only in a horizontal direction, and the segment display corresponds to the display control unit 20. The instructions will include multiple display segments of general display segments such as light emitting diodes (Light Emitting Diode, LED), lamps, liquid crystal display (LCD), fluorescent display tubes, etc. Turn off the lamp, thereby displaying arbitrary numbers, characters, or symbols.

Normally, when the operation position of the operation end is automatically controlled with respect to the previously set value SP, the set value SP, the manipulated variable MV, the controlled variable PV, etc. are displayed by symbols on the main display 21A and the sub display 21B. Information indicating the control situation.

The bar-shaped display section 21C has a configuration in which a plurality of display segments including general display segments such as LEDs, lamps, LCDs, fluorescent display tubes, and the like are arranged linearly in the horizontal direction only by a predetermined number.

Normally, when the operation position of the operation end is automatically controlled with respect to the set value SP set in advance, the bar display section 21C displays the data indicating the control status, such as the operation amount MV and the control amount PV, in a bar display.

In the present embodiment, when the bar-shaped display section 21C is used as the segment display section 21, when the degraded position of the operation terminal 30 is detected, it is recognized in a display format different from the display segment corresponding to the section other than the abnormal section The case where the display segment corresponding to the abnormal section in which the measured feedback value Fd is abnormal in the segment display unit 21 is displayed will be described. Regarding the identification display, it is sufficient to use different display colors, brightness, lighting, extinction, flashing and other display methods for the abnormal section and the normal section.

The storage unit 22 includes a semiconductor memory, and has a function of storing various data such as the measured feedback value Fd and the estimated feedback value Fe from the display control unit 20.

The communication I/F unit 23 has a measured feedback value Fd and an estimated feedback value Fe stored in the storage unit 22, and is directed to an external device or a universal serial bus (USB) memory or other storage medium (none (Illustrated) in the transfer function.

Operation of the first embodiment

Next, the operation of the regulator 10 of this embodiment will be described with reference to FIG. 4. FIG. 4 is a flowchart showing the degradation position detection process.

The regulator 10 executes the degraded position detection process of FIG. 4 in response to the operation of the monitor instructed by the operation input unit 14 to instruct the start of the degraded position detection. Furthermore, before performing the degradation position detection process, the drive control of the operation terminal 30 according to the operation amount MV is interrupted in advance.

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

Then, the drive control unit 15 starts the drive control to gradually shift the drive position of the operation end 30 at a fixed speed V to the designated stop position PE, for example, the fully open position (step 101).

After that, the operation position acquisition unit 17 stands by until the detection timing every fixed time (step 102: No), and corresponding to the detection timing (step 102: Yes), acquires the encoder ENC from the operation terminal 30 Detection signal P, and the operation position MP of the operation terminal 30 is detected (step 103).

Then, the measured feedback value calculation unit 18 calculates the measured feedback value Fd representing the operation position MP as a percentage based on the operation position MP from the operation position acquisition unit 17 (step 104).

In addition, the estimated feedback value calculation unit 19 calculates the change direction of the drive signal DS from the drive control unit 15 based on the measured feedback value Fd′, which does not include the influence of degradation, and the unit change amount ΔF, which is calculated before the measured feedback value Fd. The estimated feedback value Fe corresponding to the measured feedback value Fd (step 105).

After that, the display control unit 20 obtains the measured feedback value Fd from the measured feedback value calculation unit 18, and obtains the estimated feedback value Fe from the estimated feedback value calculation unit 19, and stores these feedback values in the storage unit 22 (step 106).

Then, the latest measured feedback value Fd and the estimated feedback value Fe stored in the storage unit 22 are obtained, the Fd and Fe are compared, and an abnormal section in which the measured feedback value Fd is abnormal is detected (step 107).

Then, the display control unit 20 recognizes and displays the segment display unit 21 (bar display unit) in a different display form from the display segment corresponding to the interval other than the abnormal interval between the detected abnormal interval and the normal interval other than the normal interval The display segment corresponding to the abnormal section in 21C) (step 108).

Then, the drive control unit 15 confirms whether the operating end 30 has been driven to the stop position PE (step 109), and if it has not been driven to the stop position PE (step 109: No), returns to step 102 and repeats the above Treatment.

On the other hand, when it has been driven to the stop position PE (step 109: YES), the series of degradation position detection processing ends.

FIG. 5 is an explanatory diagram showing the correspondence between the operation section of the operation end and the display segment. In the example of FIG. 5, 10 display segments are provided in the bar display 21C, and when all the display segments are used to display the operating range from fully closed to fully open, the operating range can be divided into 10 The partial action intervals (S1, S2, ..., S10) are displayed. That is, each of these display segments corresponds to its own arrangement position, and corresponds to any one of a plurality of partial motion intervals set by dividing the entire motion interval of the operation terminal 30.

For example, as one of the display formats, when the abnormal range is indicated by blinking and the normal range is indicated by lighting, a display corresponding to the abnormal section S3, the abnormal section S4, and the abnormal section S5 in which the abnormality is detected in the measured feedback value Fd The segment flashes. In addition, the display segments corresponding to the normal section S1, the normal section S2, the normal section S6, ..., the normal section S10 other than these abnormal sections are illuminated. Thereby, the monitor can easily confirm the abnormal section of the operation terminal 30, that is, the degraded operation position in the operation range on the spot.

FIG. 6 is a display example in the degraded position detection operation. Here, an example is shown in which the operation end 30 is driven from the fully closed state (start position PS) to the fully open state (stop position PE). The display control unit 20 performs display control as shown in FIG. 6 based on the measured feedback value Fd and the estimated feedback value Fe read from the storage unit 22.

First, when the detection of the deterioration position is started, the display control unit 20 turns off all the display segments, and during the detection process, the display segments corresponding to the detection section are lighted and displayed in accordance with the progress of the operation. Here, when the actually measured feedback value Fd is abnormal in the detection interval and it is determined to be an abnormal interval, the display segment corresponding to the detection interval is flashed and displayed. As a result, the detection status of each section is displayed in sequence during the detection process, and when the detection is stopped, the display section lights or flashes to identify whether there is an abnormality in each detection section, and the on-site monitor can extremely easily confirm the detection operation Progress and test results.

FIG. 7 is another display example in the degraded position detection operation. Here, when the main display section 21A or the sub display section 21B shown in FIG. 3 is used as the segment display section 21, it is shown that the operation terminal 30 is driven from the fully closed state (start position PS) to the fully open state ( The example up to the stop position PE).

First, when the detection of the deterioration position is started by the display control unit 20, the segment display of the segment display unit 21 displays "0.000%" indicating "0%" as the operation amount MV indicating the fully closed state (start position PS) "During the detection process, corresponding to the progress of the action, the operation amount MV corresponding to the detection interval is displayed, for example, "55.000" of "55%". Here, when the actual measured feedback value Fd is abnormal in the detection interval and it is determined to be an abnormal interval, the operation amount MV corresponding to the detection interval, for example, "60.000" of "60%" is displayed in a blinking display.

After that, when the detection is stopped, "100.000" indicating "100%" of the operation amount MV indicating the fully open state (stop position PE) is displayed, and when an abnormal section is detected, the operation amount MV corresponding to the abnormal section is performed Flashes. At this time, when a plurality of abnormal sections are detected, the operation amount MV corresponding to these abnormal sections is sequentially switched to perform flashing display.

As a result, the detected abnormal section is identified and displayed by flashing with arbitrary numbers, characters, or symbols, and the on-site monitor can extremely easily confirm the progress of the detection operation and the detection result.

In addition, the operation terminal 30 does not always degrade to the same degree, and there may be a mixture of mild degradation or severe degradation. Therefore, the position of the abnormal section also differs according to the degree of degradation. Therefore, by displaying differently in the display segment according to the degree of deterioration, these abnormal sections can be recognized and displayed. For example, it is sufficient to set the section with a high degree of deterioration to fast blinking, and the section with a small degree of deterioration to slow blinking.

In this case, when the display control unit 20 determines the abnormal section, the deviation D=Fd-Fe between the measured feedback value Fd and the estimated feedback value Fe is set in stages outside the range of the preset allowable range εd Of multiple abnormal ranges αi (i = 1 to n integer, n is an integer of 2 or more) corresponding to each degree of degradation, and when the deviation D is included in any of the abnormal ranges αi, as long as the abnormal range αi , It is sufficient to identify and display the display segment corresponding to the abnormal section in the individual display format allocated in advance.

Effects of the first embodiment

In this manner, this embodiment is an embodiment in which a segment display unit 21 including a plurality of display segments that can individually control lighting is provided, and the display control unit 20 detects the period from the start position PS to the stop position PE Among the measured feedback value Fd and the estimated feedback value Fe obtained in F, Fd is an abnormal abnormal section, and the display section is different from the display section corresponding to the section other than the abnormal section. The corresponding display segment is identified and displayed.

Thus, the abnormal section of the operation terminal 30 is identified and displayed by the corresponding display section of the section display section 21. Generally, the size of the housing of the controller 10 installed on the spot is relatively small, and it is not possible to install a high-resolution screen like a PC in the controller. According to the present embodiment, only by providing the segment display unit 21 including a plurality of display segments in the controller 10, the position of the abnormal section is recognized and the screen is displayed, so that the monitor can easily confirm on site.

Therefore, it is not necessary to connect an external device such as a recorder to obtain data indicating its deterioration, and the work load can be greatly reduced. In addition, there is no need to remove the wiring in order to connect to external equipment, and there is no risk of incorrect wiring when it is restored.

Therefore, data can be obtained at a frequency suitable for maintenance or at a timing to be confirmed, the deterioration of the operation terminal 30 can be confirmed extremely smoothly, and the user can be urged to replace it. Therefore, it is possible to suppress the post-mortem inspection, and it is possible to avoid the stop of the device caused by the emergency repair or the loss caused by the occurrence of defective products.

In addition, in the present embodiment, when the display control unit 20 determines the abnormal section, the deviation D=Fd-Fe between the measured feedback value Fd and the estimated feedback value Fe may be outside the range of the preset allowable range εd A plurality of abnormal ranges αi corresponding to each degradation degree set in stages are compared, and when the deviation D is included in any one of the abnormal ranges αi, the abnormal range αi is identified and displayed in a separate display form corresponding to the abnormal section Show segments. Thereby, the monitor can easily confirm not only the abnormal section but also the degree of deterioration at the scene.

In this embodiment, the drive control unit 15 may generate and output a drive signal DS corresponding to the operation amount MV calculated by the operation amount calculation unit 13 during automatic control, thereby driving the operation terminal 30, and In response to the instruction operation indicating the detection of the degraded position, a driving signal DS for changing the operation position of the operation terminal 30 from the start position PS to the stop position PE at a fixed speed is generated and output, thereby driving the operation terminal 30.

Second embodiment

Next, the regulator 10 of the second embodiment of the present invention will be described with reference to FIG. 8. FIG. 8 is a block diagram showing the configuration of the regulator of the second embodiment.

In the present embodiment, a case where the estimated feedback value Fe is used in place of the measured feedback value Fd for the adjustment of the operation amount MV (drive signal DS) when there is deterioration in the operating position of the operation terminal 30 will be described.

As shown in FIG. 8, in this embodiment, the regulator 10 is provided with a feedback value selection unit 24.

The feedback value selection unit 24 has the function of selecting the measured feedback value Fd as the operation when the deviation D=Fd-Fe between the measured feedback value Fd and the estimated feedback value Fe is within the range of the preset allowable range εa The adjustment feedback value Fa for the adjustment of the amount MV (drive signal DS) and output to the drive control unit 15; and in the case where the deviation D is outside the allowable range εa, the estimated feedback value Fe is selected as the adjustment feedback value Fa And output to the function in the drive control part 15.

The configurations and operations other than the above described in this embodiment are the same as those in the first embodiment, and the detailed description here is omitted.

Operation of the second embodiment

Next, the operation of the regulator 10 of this embodiment will be described with reference to FIG. 9. FIG. 9 is a flowchart showing the feedback value selection operation.

Each time the new actual measured feedback value Fd and the estimated feedback value Fe are calculated, the feedback value selection unit 24 performs the feedback value selection operation of FIG. 9.

First, the feedback value selection unit 24 obtains a new measured feedback value Fd and an estimated feedback value Fe (step 200).

Then, the feedback value selection unit 24 calculates the deviation D=Fd-Fe between the two (step 201), and compares it with the preset allowable range εa (step 202).

Here, when the deviation D is included in the allowable range εa (step 202: YES), the actual measured feedback value Fd is selected as the adjusted feedback value Fa and output to the drive control unit 15 (step 203), and the series of end Feedback value selection action.

On the other hand, when the deviation D is not included in the allowable range εa (step 202: No), the estimated feedback value Fe is selected as the adjustment feedback value Fa and output to the drive control unit 15 (step 204).

Effects of the second embodiment

In this way, the present embodiment is an embodiment in which the feedback value selection unit 24 selects the measured feedback value Fd as an adjustment when the deviation D between the measured feedback value Fd and the estimated feedback value Fe is within the range of the predetermined allowable range εa The feedback value Fa is output to the drive control unit 15. When the deviation D is outside the allowable range εa, the estimated feedback value Fe is selected as the adjusted feedback value Fa and output to the drive control unit 15.

Thus, in the case where the measured feedback value Fd shows an abnormal value due to the influence of the deterioration of the operation terminal 30, the estimated feedback value Fe inferred from the normal measured feedback value Fd' is used for the operation in the drive control section 15 Adjustment of volume MV (driving signal DS). Therefore, even if there is deterioration at any operation position of the operation end 30, stable adjustment of the operation amount MV can be achieved.

Third embodiment

Next, the regulator 10 of the third embodiment of the present invention will be described with reference to FIG. 10. FIG. 10 is a block diagram showing the configuration of the regulator of the third embodiment.

In the present embodiment, a case will be described in which when the deterioration position is detected, the operation amount MV used in the automatic control is changed to shift the operation position of the operation end 30 from the start position PS to the stop position PE.

As shown in FIG. 10, this embodiment further includes an operation amount switching unit 25.

The operation amount switching section 25 has the following functions: a function of outputting the operation amount MV calculated by the operation amount calculation section 13 during automatic control; and an instruction operation corresponding to the detection of the instruction deterioration position detected by the operation input section 14 , Switch to the function of outputting the operation amount MVS at a fixed speed from the start position operation amount corresponding to the start position PS to the stop position operation amount corresponding to the stop position PE.

The drive control section 15 has a function of generating and outputting a drive signal DS corresponding to the operation amount MV/MVS output from the operation amount switching section 25, thereby driving the operation terminal 30.

The configurations and operations other than the above described in this embodiment are the same as those in the first embodiment or the second embodiment, and the detailed description here is omitted.

Effects of the third embodiment

In this way, this embodiment is an embodiment in which the operation amount switching unit 25 outputs the operation amount MV calculated by the operation amount calculation unit 13 during automatic control, and corresponds to the instruction degradation position detected by the operation input unit 14 The detected instruction operation is switched to output the operation amount MVS at a fixed speed from the start position operation amount corresponding to the start position PS to the stop position operation amount corresponding to the stop position PE, and the drive control unit 15 generates and outputs The operation terminal 30 is driven by the drive signal DS of the operation amount MV/MVS output from the operation amount switching unit 25.

Thereby, the configuration of the operation amount calculation unit 13 and the drive control unit 15 in the conventional regulator can be changed, and when the deterioration position of the operation end 30 is detected, the operation position of the operation end 30 can be started at a fixed speed from a previously designated start The position PS moves to the stop position PE.

Implementation extension

The present invention has been described above with reference to the embodiments, but the present invention is not limited to the above embodiments. Various changes that can be understood by practitioners can be made to the configuration or details of the present invention within the scope of the present invention. In addition, the embodiments can be arbitrarily combined and implemented within a range that does not contradict each other.

10‧‧‧Adjuster 10P‧‧‧Front panel 11‧‧‧Set value acquisition part 12‧‧‧Control amount acquisition part 13‧‧‧Operation amount calculation part 14‧‧‧Operation input part 15‧‧‧Drive control part 16‧‧‧Drive unit 17‧‧‧Operation position acquisition unit 18‧‧‧Measured feedback value calculation unit 19‧‧‧Inferred feedback value calculation unit 20‧‧‧Display control unit 21‧‧‧Segment display unit 21A‧‧ ‧Main display part 21B‧‧‧Sub display part 21C‧‧‧Bar display part 22‧‧‧Storage part 23‧‧‧Communication I/F part 24‧‧‧Feedback value selection part 25‧‧‧Operation amount switching part 30‧‧‧Operating end M‧‧‧Moving body ENC‧‧‧Encoder SP‧‧‧Set value PV‧‧‧Control amount MV, MVS‧‧‧Operation amount DS‧‧‧Drive signal P‧‧‧ Detection signal MP‧‧‧Operating position Fd, Fd', Fd (t-1) ~ Fd (t + 2) ‧‧‧ measured feedback value Fe‧‧‧ estimated feedback value Fa‧‧‧adjusted feedback value ΔF‧‧‧ unit variation Ts ‧‧‧ Sampling time (period) Ta‧‧‧ detection time S1～S10 ‧‧‧ part of the operating interval T1 ‧‧‧ start time T2 ‧‧‧ stop time εa ‧‧‧ allowable range 100 ~ 109, 200 ~ 204 ‧‧‧step

FIG. 1 is a block diagram showing the configuration of the regulator of the first embodiment. Fig. 2 is an example of calculating the estimated feedback value. Fig. 3 is a front view of the regulator. FIG. 4 is a flowchart showing the degradation position detection process. FIG. 5 is an explanatory diagram showing the correspondence between the operation section of the operation end and the display segment. FIG. 6 is a display example in the degraded position detection operation. FIG. 7 is another display example in the degraded position detection operation. FIG. 8 is a block diagram showing the configuration of the regulator of the second embodiment. FIG. 9 is a flowchart showing the feedback value selection operation. FIG. 10 is a block diagram showing the configuration of the regulator of the third embodiment.

10‧‧‧ Regulator

11‧‧‧Set value acquisition unit

12‧‧‧Control quantity acquisition department

13‧‧‧Operation calculation unit

14‧‧‧Operation input section

15‧‧‧Drive Control Department

16‧‧‧Drive Department

17‧‧‧Operation position acquisition unit

18‧‧‧Measured feedback value calculation department

19‧‧‧Inferred feedback value calculation unit

20‧‧‧Display Control Department

21‧‧‧Screen display

22‧‧‧Storage Department

23‧‧‧Communication I/F Department

30‧‧‧operator

M‧‧‧movable body

ENC‧‧‧Encoder

SP‧‧‧Set value

PV‧‧‧Control amount

MV‧‧‧Operation

DS‧‧‧Drive signal

P‧‧‧detection signal

MP‧‧‧Motion position

Fd, Fd'‧‧‧ measured feedback value

Fe‧‧‧Inferred feedback value

Fa‧‧‧Adjust the feedback value

ΔF‧‧‧Unit change

Claims (5)

An adjuster is an adjuster based on an operation amount calculated based on a preset setting value and a control amount detected from a control object, driving an operation end, thereby automatically controlling an operation position of the operation end , Including: a measured feedback value calculation unit that calculates the measured feedback value indicating the action position of the operation end corresponding to the operation amount every fixed time based on the detection signal output from the encoder of the operation end; The feedback value calculation part is based on the measured feedback value calculated before the measured feedback value that does not include the influence of degradation, the unit variation of the measured feedback value within a sampling time, and a driving signal for driving the operation terminal Direction of change, calculate the estimated feedback value corresponding to the measured feedback value; drive control unit, corresponding to the instruction operation indicating the detection of the degraded position, so that the movement position is displaced at a fixed speed from the previously specified start position to stop The way up to the position, driving control of the operation end; the segment display section, which includes a plurality of display segments that can individually control the lighting; and the display control section, which detects from the start position to the stop position Of the measured feedback value and the estimated feedback value obtained during the driving period of, the measured feedback value is an abnormal interval that is different from the display segment corresponding to the interval other than the abnormal interval The display format of the segment, identifying and displaying the display segment corresponding to the abnormal section in the segment display section, wherein when the display control section determines the abnormal section, the measured feedback value and the inferred The deviation of the feedback value and the multiple abnormal ranges set in stages outside the range of the preset allowable range For comparison, when the deviation is included in any one of the plurality of abnormal ranges, a display segment corresponding to the abnormal section is identified and displayed in an individual display form within the abnormal range. The regulator according to Item 1 of the patent application scope, wherein the segment display section includes a plurality of display segments arranged side by side in a linear manner, and these display segments correspond to their own arrangement positions, respectively, and will Any one of the plurality of partial motion intervals set by dividing the entire motion interval of the operation end is associated. The regulator according to item 1 of the patent application scope, wherein the segment display section includes a plurality of symbols that display arbitrary numbers, characters, or symbols by turning off the plurality of display segments at any point. The segment display displays the symbol indicating the abnormal section output from the display control unit in the display format by each segment display. The regulator according to any one of items 1 to 3 of the patent application scope, further comprising: a feedback value selection unit, wherein the feedback value selection unit determines the actual value of the measured feedback value and the estimated feedback value. When the deviation is within the range of the preset allowable range, the measured feedback value is selected as the adjustment feedback value for the adjustment of the operation amount, and when the deviation is outside the allowable range Next, select the estimated feedback value as the adjusted feedback value. A degradation position detection method, which is based on an operation amount calculated based on a preset setting value and a control amount detected from a control object, driving The operation end, and thus the deterioration position detection method used in the regulator that automatically controls the operation position of the operation end, includes: a feedback value calculation step, and the measured feedback value calculation section is based on the output from the encoder of the operation end The detection signal calculates the measured feedback value indicating the operation position of the operation end corresponding to the operation amount every fixed time; the inferred feedback value calculation step, the inferred feedback value calculation section calculates based on the value calculated before the measured feedback value The measured feedback value that does not include the influence of degradation, the unit change amount of the measured feedback value within a sampling time, and the direction of change of a drive signal used to drive the operation terminal, to calculate the inferred feedback corresponding to the measured feedback value Value; drive control step, the drive control section corresponds to the instruction operation indicating the detection of the degraded position, so that the operation position is driven at a fixed speed from the pre-specified start position to the stop position to drive the operation end Control; and a display control step, the display control section detects the measured feedback value and the estimated feedback value obtained during the driving period from the start position to the stop position, the measured feedback value is An abnormal abnormal section, and in a display format different from the display section corresponding to the section other than the abnormal section, identify and display the AND in the section display section including a plurality of display sections that can individually control lighting A display segment corresponding to the abnormal section, wherein when the display control section determines the abnormal section, the deviation between the measured feedback value and the estimated feedback value is outside the range of the preset allowable range in stages A plurality of abnormal ranges set in the comparison, when the deviation is included in any of the plurality of abnormal ranges, the abnormal range The display segment corresponding to the abnormal section is identified and displayed in an individual display form within the enclosure.

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