TWI711906B - Control device and control method - Google Patents

Abstract

The present invention provides a control device and a control method, which do not require modeling of physical phenomena, and prevent continuous output of excessive output terminal operating variables during the application of FF operating variables. The control device includes: PID control calculation unit, which calculates the operation amount by PID control calculation; operation amount limiter, which limits the operation amount to a value above the lower limit of the operation amount and below the upper limit of the operation amount; FF operation amount generation unit , According to the input of the notification signal that started before the time point of the application of the disturbance and ended after the application of the disturbance, the operation amount in a rectangular wave shape is output to eliminate the disturbance; the operation amount adding unit outputs the operation amount of the output terminal, the output The end operation amount is the result of adding the operation amount output by the operation amount limiter and the operation amount; the upper and lower limit change section changes the upper and lower limits of the anti-integration saturation function of the PID control calculation section according to the operation amount; and the upper and lower limit changes Section to change the upper and lower limits of the operation limiter according to the operation amount.

Description

Control device and control method

The present invention relates to a control device and a control method that combine feedback control and feedforward control.

In order to offset the influence of disturbance on the control variable PV, a method of combining feedback (FB) control represented by proportional integral differentiation (PID) control and feedforward (FF) control has been proposed ( Refer to Patent Document 1). Among the methods disclosed in Patent Document 1, the following two methods (I) and (II) are roughly divided and proposed.

(I) Based on the trajectory of the controlled variable PV during the trial (only when disturbance is applied under PID control) and the manipulated variable MV of PID control, the physical model formula of the controlled object obtained by prior knowledge or analysis, and the experimental data Based on the result of the parameter identification of the physical model, the method to obtain the waveform and the amount of the FF control operation amount in a logical manner.

(II) Calculate the maximum deviation, the maximum deviation generation time, and the arrival time of the disturbance recovery from the trajectory of the control variable PV during the trial (only when disturbance is applied under PID control), and obtain the FF of a specific shape such as a step Manipulation method.

In the method (I), it is necessary to obtain the physical model formula of the control object by prior knowledge or analysis, and it is also necessary to identify the parameters of the physical model based on experimental data. It is difficult and easy for the user or the manufacturer of the controller. The premise of high degrees.

When the positive output completely cancels the influence of the disturbance on the control variable PV and the optimal FF operation amount, the FB operation amount becomes a constant value. It can be considered that the FB operation amount in the output of the FF operation amount in the method (I) becomes an operation amount with little fluctuation when the FF operation amount is close to the optimum FF operation amount for positive output.

On the other hand, in the method (II), the FB operation amount in the output of the FF operation amount changes due to the deviation of the waveform shape of the actual output FF operation amount from the optimal FF operation amount. Therefore, during the period when the FF operation amount obtained by the method (II) is given, the FB operation amount becomes a fluctuating behavior.

In the method of combining FB control and FF control (FB control + FF control), the FF operation amount is added to the FB operation amount. Therefore, the output terminal operation amount obtained by adding these operation amounts cannot be less than the FF operation amount (the reason is In the case of only FB operation amount, the range of 0%～100% of the output terminal movable range plus FF operation amount). Therefore, in the method (II), there is a possibility that the excess output terminal operation amount may continue to be output when the timing of the application of the FF operation amount is staggered or when no disturbance is applied.

In addition, in the method (I), the peak value of the optimal FF operation amount mostly exceeds the upper limit of the output end operation amount (the reason is that it becomes obvious due to the high-pass filter effect). There is also the possibility that the waveform shape of the actual output FF operation amount deviates from the optimal FF operation amount due to the limitation of the meter, and the excess output terminal operation amount is continuously output. [Prior Art Literature] [Patent Literature]

Patent Document 1: Japanese Patent No. 3760682

[The problem to be solved by the invention]

The present invention is made to solve the above-mentioned problems, and its purpose is to provide a control device and a control method that do not require modeling of physical phenomena that are difficult for users or manufacturers, It is possible to prevent the excessive output terminal operation amount from being continuously output during the application of the FF operation amount. [Means to solve the problem]

The control device of the present invention includes: a control calculation unit configured to input a setting value and a control amount and calculate the first operation amount by feedback control calculation; the operation amount generation unit is configured to start before and after the disturbance is applied. An input of a notification signal that ends after the disturbance is applied, and a second operation amount in a rectangular wave shape is output to eliminate the disturbance; an operation amount limiter configured to limit the first operation amount to a lower limit value of the operation amount And a value below the upper limit of the operation amount; the operation amount addition unit is configured to output the output terminal operation amount to the control object, and the output terminal operation amount is the first operation amount output by the operation amount limiter and The result of the addition of the second operation amount output by the operation amount generation unit; a first upper and lower limit change unit configured to change the resistance of the control calculation unit based on the second operation amount output by the operation amount generation unit The upper and lower limit values of the integral saturation function; and the second upper and lower limit changing unit configured to change the upper and lower limit values of the operation amount of the operation amount limiter based on the second operation amount output by the operation amount generation unit.

In addition, in a configuration example of the control device of the present invention, the operation amount generating unit outputs the first value of the first value in the first period including the period during which the disturbance is applied in the input of the notification signal The second operation amount is to eliminate the disturbance, and in the second period from when the notification signal is input to the start of the first period, the second operation amount is output so that the control amount stabilizes near the set value In the third period from the end of the first period to the end of the input of the notification signal, the second operation amount of the value is outputted so that the control amount coincides with the set value. Value of the second operation amount, the operation amount adding unit outputs the second operation amount output by the operation amount generating unit in the second period as the output terminal operation amount. In addition, in a configuration example of the control device of the present invention, the operation amount generating unit outputs a fourth value before the first period in the fourth period between the second period and the first period To eliminate the disturbance applied in the first period, and the operation amount adding unit uses the second operation amount output by the operation amount generating unit in the fourth period as the The output terminal manipulates the amount to output. In addition, an example of the configuration of the control device of the present invention further includes: a period determining unit configured to stop the output of the second operation amount by the operation amount generating unit at the time of automatic adjustment in the disturbance application test, based on the input of the notification The length of the second period is determined during the period after the signal is received until the absolute value of the control deviation between the set value and the control amount exceeds a predetermined deviation threshold. In addition, in a configuration example of the control device of the present invention, the period determination unit stops the output of the second operation amount by the operation amount generation unit during the automatic adjustment, and is based on an absolute value exceeding from the control deviation In the deviation threshold value, a period until the peak of the control amount after the disturbance is detected is detected, and the length of the first period is determined.

In addition, an example of the configuration of the control device of the present invention further includes an operation amount determination unit configured to determine such that the control amount in the first period becomes a desired characteristic at the time of automatic adjustment in the disturbance application test The first value. In addition, in an example of the configuration of the control device of the present invention, the operation amount determination unit is based on the first operation amount when the notification signal is input and the time when the input of the notification signal is completed during the automatic adjustment. The first operation amount determines the third value. In addition, an example of the configuration of the control device of the present invention further includes a period changing unit that changes the period of the first period so that the control amount in the first period becomes a desired characteristic during normal control operation. Length; and the operation amount changing unit, during normal control operation, changes the first value so that the control amount in the first period becomes a desired characteristic. In addition, an example of the configuration of the control device of the present invention further includes a period changing unit that changes the period of the fourth period so that the control amount in the first period becomes a desired characteristic during normal control operation. Length; and the operation amount changing unit, during normal control operation, changes the fourth value so that the control amount in the first period becomes a desired characteristic.

In addition, the control method of the present invention includes: a first step, inputting a set value and a control amount, and calculating the first operation amount by feedback control calculation; the second step is based on starting before the application time point of the disturbance and before applying the The notification signal that ends after the disturbance is outputted with a rectangular wave-shaped second operation amount to eliminate the disturbance; the third step is to perform operation amount restriction processing, which limits the first operation amount to an operation amount A value above the lower limit value and below the upper limit value of the operating quantity; the fourth step, the output terminal operating quantity is output to the control object, and the output terminal operating quantity is the first operating quantity after the operating quantity limitation is processed and all The result of the addition of the second operation amount; the fifth step, based on the second operation amount, to change the upper and lower limit values of the anti-integration saturation function of the control calculation unit, and the control calculation unit performs the feedback control calculation; and In the sixth step, the upper and lower limits of the operation amount of the operation amount restriction process are changed based on the second operation amount. [Effects of the invention]

According to the present invention, by processing only the rectangular wave-shaped operation amount as the second operation amount, it is possible to eliminate the need for modeling of a highly difficult physical phenomenon. In addition, in the present invention, by providing the first upper and lower limit value changing unit and the second upper and lower limit value changing unit, the second operation amount can be reflected in the judgment threshold value of the anti-integral saturation process and the operation amount restriction process in real time, which can prevent During the application of the second operation amount, the excess output terminal operation amount is continuously output, wherein the first upper and lower limit changing unit changes the upper and lower limit values of the anti-integration saturation function of the control calculation unit based on the second operation amount, and the second The upper and lower limit value changing unit changes the upper and lower limit values of the operation amount of the operation amount limiter based on the second operation amount.

In addition, in the present invention, by providing the first period, the second period, and the third period, the disturbance can be suppressed mainly in the first period, and the disturbance before the disturbance is suppressed in the second period before the first period The disturbance of the first operation amount caused by the irregular change of the control amount and the feedback control is suppressed in the third period that is later than the first period, which is caused by the change in static characteristics after the disturbance is applied. Changes in operating volume.

In addition, in the present invention, in the fourth period between the second period and the first period, the second operation quantity whose absolute value is greater than the second value is output earlier than the first period to eliminate the first The disturbance imposed during the period can further alleviate the influence of disturbance exerted on the control amount.

In addition, in the present invention, by providing the period determining unit, the length of the second period and the length of the first period can be automatically adjusted in the disturbance application test.

In addition, in the present invention, by providing the operation amount determination unit, the first value and the third value of the second operation amount can be automatically adjusted in the disturbance application test.

In addition, in the present invention, the length of the first period and the length of the fourth period can be changed during normal control operation by installing the period changing unit, and the first period can be changed during normal control operation by providing the operation amount changing unit. 2. The first value and the fourth value of the manipulated variable.

[Principle of Invention] In the present invention, only the rectangular wave-shaped operation amount is treated as the FF operation amount, so that the modeling of a physical phenomenon with high difficulty such as the method (I) is unnecessary.

In addition, in the present invention, in order to avoid the limitation of the movable range of the output terminal operation amount as in the method (II), the FF operation amount is reflected in the process of the value generated during the FB control operation (for example, The anti-integration saturation processing of the speed-type digital PID operation) and the judgment threshold value of the operation amount restriction processing of the FB control operation result, so that the entire movable range of the output terminal operation amount can be responded to when the FF operation amount is applied.

Specifically, the upper and lower limit thresholds of the FB operation amount obtained by subtracting the applied FF operation amount portion from the threshold are applied to the anti-saturation process and the operation amount restriction process. In addition, in the present invention, the time integration of the operation amount as in Patent Document 1 is not performed at all.

In addition, in the present invention, as an improvement of the influence of disturbance application on the control variable PV in a situation where the peak value of the optimal FF operation amount exceeds the lower limit/upper limit of the output end movable range, it is assumed that the FF operation is applied before the disturbance is applied. Therefore, it is necessary to set parameters that give flexibility to the timing of the FF operation amount.

[First Embodiment] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a flowchart showing the configuration of a control device according to a first embodiment of the present invention. The control device includes: PID control calculation unit 1, inputting the set value SP and the control variable PV, and calculating the operating variable MV (first operating variable) by feedback control calculation (in this embodiment, PID control calculation); 2. Limit the operation amount MV to a value above the lower limit value of the operation amount and below the upper limit value of the operation amount; the FF operation amount generating unit 3, based on the notification signal that starts before the time point when the disturbance is applied and ends after the disturbance is applied Input and output the rectangular wave-shaped operation quantity FF_P (second operation quantity) to eliminate the disturbance; the operation quantity adding unit 4 outputs the output terminal operation quantity MV_O to the control object 10, and the output terminal operation quantity MV_O is the operation The result of adding the operating variable MV_L output by the quantity limiter 2 and the operating variable FF_P output by the FF operating quantity generating unit 3; the upper and lower limit changing unit 5 (first upper and lower limit changing unit), based on the FF operating quantity generating unit 3 The output operation variable FF_P is used to change the upper and lower limits of the anti-integration saturation function of the PID control calculation unit 1; the upper and lower limit changing unit 6 (the second upper and lower limit changing unit) is based on the operation output by the FF operation quantity generating unit 3. Change the upper and lower limits of the manipulated amount limiter 2 by the amount FF_P; and control the calculation initialization unit 7 to initialize the PID control calculation of the PID control calculation unit 1.

2 to 4 are flowcharts for explaining the operation of the control device of this embodiment. The control variable PV (for example, temperature measurement value) is measured by a measuring device (for example, a temperature sensor that measures the temperature of the object to be heated) not shown, and is input to the PID control computing unit 1 (step S101 in FIG. 2 ).

The PID control arithmetic unit 1 inputs the set value SP (for example, temperature set value) and the control variable PV set by the user of the control device, etc., and performs such that the control variable PV coincides with the set value SP, for example, as shown in formula (1) PID control calculations like the transfer function formula are used to calculate the manipulated variable MV (step S102 in FIG. 2). MV=KgΔEr＋(Tz/Ti)Er＋(Td/Tz)Δ2Er＋MV_old...(1)

Here, take the speed-type PID control calculation as an example for description. In formula (1), MV_old is the operation quantity before a control cycle, Er is the control deviation, and is the difference SP-PV between the set value SP and the control quantity PV. In addition, ΔEr is the amount of change in the control deviation Er, Δ2Er is the amount of change in the control deviation Er, Kg is the proportional gain in the PID parameters, Ti is the integral time in the PID parameters, and Td is the derivative time in the PID parameters. Tz is the control period.

The manipulated variable limiter 2 outputs the manipulated variable MV_L. This manipulated variable MV_L is obtained by limiting the manipulated variable MV calculated by the PID control arithmetic unit 1 to a value above the manipulated variable lower limit OL and below the manipulated variable upper limit OH (Figure 2 Step S103). In other words, when the manipulated variable MV is less than the manipulated variable lower limit OL (MV<OL), the manipulated variable limiter 2 sets the manipulated variable MV_L=OL, and when the manipulated variable MV is greater than the manipulated variable upper limit OH (MV> OH), set the manipulated variable MV_L=OH, when the manipulated variable MV is greater than the manipulated variable lower limit OL and less than the manipulated variable upper limit OH (OL<MV<OH), set the manipulated variable MV_L=MV.

The operation amount adding unit 4 outputs the output terminal operation amount MV_O to the control object 10. The output terminal operation amount MV_O is MV_O=MV_L+FF_P, that is, the operation amount MV_L output by the operation amount limiter 2 is combined with the FF operation amount generating unit 3 The result of adding the output operation variable FF_P (Figure 2 step S104). However, a notification signal notifying that the manipulated variable FF_P should be applied is not input, and the manipulated variable FF_P is not output from the FF manipulated variable generating unit 3, so FF_P=0 and MV_O=MV_L.

In addition, the operation amount adding unit 4 limits the output terminal operation amount MV_O to a value greater than the predetermined output terminal operation amount lower limit value OL_O and the output terminal operation amount upper limit value OH_O and output. That is to say, when the manipulated variable MV_O at the output terminal is smaller than the lower limit of the manipulated variable OL_O at the output terminal (MV_O<OL_O), the manipulated variable adder 4 sets the manipulated variable MV_O of the output terminal = OL_O, and the manipulated variable MV_O at the output terminal is greater than the output When the upper limit value of the output terminal operation value OH_O (MV_O>OH_O), set the output terminal operation value MV_O=OH_O, when the output terminal operation value MV_O is greater than the lower limit value of the output terminal operation value OL_O and less than the upper limit value of the output terminal operation value OH_O (OL_O＜MV＿O＜OH＿O), directly output the output terminal manipulated variable MV_O.

When the notification signal to notify that the operation amount FF_P should be applied is not input (NO in step S100 in FIG. 2), the above-mentioned steps S101 to S104 are repeatedly executed in each control cycle until, for example, from the user Until the end of the control (YES in step S105 in FIG. 2).

On the other hand, when the FF operation amount generating unit 3 receives a notification signal notifying that the operation amount FF_P should be applied from the external device (YES in step S100), it outputs the operation amount FF_P as follows. For example, in a medicine manufacturing apparatus, there are situations such as temperature fluctuations in the furnace due to the opening of the door of the furnace for manufacturing the medicine. At this time, the control device (external device) that controls the temperature of the furnace can send a notification signal (ON) to the control device of this embodiment at the timing when the furnace door is opened.

Similarly, in a reflow furnace with a constant set value SP (temperature set value), there are situations such as temperature fluctuations caused by periodic input of a printed circuit board used as a soldering object. At this time, the control device (external device) that controls the transportation of the printed circuit board can transmit a notification signal (turn on) to the control device of the present embodiment at the timing of putting the printed circuit board into the reflow furnace.

In addition, the external device turns off the notification signal after a predetermined time from the time when the application of the disturbance ends.

In addition, under these conditions, a disturbance occurs where the temperature (PV) is lower than the set value SP. Therefore, when the furnace door is opened or when the printed circuit board is put into the reflow furnace, the output of the external device indicates that the disturbance of the control variable PV becomes convex downward. Disturbing and disturbing polarity signals of the waveform. In addition, when a disturbance in which the control variable PV is higher than the set value SP occurs, the external device outputs a disturbance polarity signal indicating that the disturbance in the control variable PV becomes a disturbance with a convex waveform.

FIG. 5 is a waveform diagram explaining the operation of the FF operation amount generating unit 3. In the example of FIG. 5, the case where the disturbance is a disturbance of a downwardly convex waveform in the reverse operation (heating control) will be described. When a notification signal (“ON” in FIG. 5) is input from the outside (YES in step S100 ), the FF operation amount generating unit 3 determines whether it is the operation amount application standby period T1 (FIG. 3 step S106 ).

Since there is a possibility that the control variable PV before disturbance is applied irregularly regardless of the FB control, and the FB operation variable MV may be disturbed, the operation variable application standby period T1 (the second period) is to stably maintain reproducibility (to control The way that the quantity PV is stable near the set value SP) The period during which the output terminal manipulated quantity MV_O is fixed. In addition, the example in FIG. 5 shows an example in which there is a standby period T1 for applying the manipulated variable. However, when the control variable PV is less likely to change irregularly regardless of the FB control before the disturbance is applied, the manipulated variable is applied in advance on standby. The length of the period T1 is set to 0, so that the operation amount application standby period T1 can be skipped.

The transient change cancellation advance period T2 (fourth period) is to alleviate the influence of the inevitable disturbance on the control variable PV. Before the disturbance is applied, the output terminal operating variable MV_O is fixed to increase the control variable PV (cooling disturbance) Time) or falling (when the temperature is disturbed).

In addition, the example in FIG. 5 shows an example in which there is a transient change cancellation precedent period T2, but when there is no need to increase or decrease the control variable PV in advance, by setting the length of the transient fluctuation cancellation precedent period T2 to 0 in advance, It is possible to skip the transient change and cancel the advance period T2.

In the transient change cancellation advance period T2, the output terminal manipulated variable MV_O is fixed, so the FB control does not function, and the stability of the controlled variable PV obtained by the FB control cannot be obtained. Therefore, the control device including this embodiment is required. In accordance with the characteristics of the control system of the control object 10, the length of the transient change cancellation advance period T2 is appropriately set.

The transient change cancellation period T3 (first period) is a period for suppressing the transient change of the control variable PV after the disturbance is applied (a period for making the control variable PV coincide with the set value SP). The larger the operation amount FF_P output in the transient change cancellation period T3 is, the more the disturbance suppression effect is improved.

The steady-state fluctuation cancellation period T4 (third period) is a period for suppressing the fluctuation of the FB operation amount MV caused by the static characteristic change after the disturbance is applied. The steady-state fluctuation cancellation period T4 is a period from the end of the transient fluctuation cancellation period T3 until the notification signal becomes off. The FF operation amount generating unit 3 firstly determines that the notification signal is turned on as the operation amount application standby period T1 (second period) (YES in step S106). However, when T1=0 is set, the process proceeds to step S115 in FIG. 3.

When the FF operation amount generating unit 3 determines that the operation amount application standby period T1 is the operation amount application standby period T1, it outputs FF_P=V1, that is, the operation amount FF_P of the predetermined value V1 (second value) (step S107 in FIG. 3).

Next, the upper and lower limit change unit 5 changes the upper and lower limit values of the anti-integration windup (reset windup) function of the PID control calculation unit 1 based on the operation amount FF_P output by the FF operation amount generation unit 3 (FIG. 3 step S108 ).

The anti-integral windup function is a function of stopping the integral operation in the direction exceeding the upper limit ARWH or the lower limit ARWL when the manipulated variable MV calculated by the PID control calculation unit 1 reaches the upper limit ARWH or the lower limit ARWL. As a result, it is possible to suppress the saturation of the manipulated variable MV, quickly recover the manipulated variable MV from saturation, and suppress the delay in the setting of the control.

The upper and lower limit value changing unit 5 inputs a disturbance polarity signal indicating that the disturbance is a downwardly convex waveform at the same time as the notification signal is input and when it is in reverse operation (heating control), or inputs a disturbance polarity indicating that the disturbance is a disturbance of the upwardly convex waveform When the signal is in operation (cooling control), the operation variable FF_P is subtracted from the upper limit value ARWH of the anti-integral saturation function of the PID control calculation unit 1, and the upper limit value ARWH is changed. At the same time, the upper and lower limit changing unit 5 subtracts the manipulated variable FF_P from the lower limit ARWL of the anti-integration windup function of the PID control calculation unit 1 to change the lower limit ARWL.

In addition, the upper and lower limit change unit 5 inputs a disturbance polarity signal indicating that the disturbance is an upwardly convex waveform at the same time as the notification signal is input and when the reverse operation (heating control) is performed, or inputs a disturbance indicating that the disturbance is a downwardly convex waveform. When the polarity signal is disturbed and it is running (cooling control), the lower limit value ARWL of the anti-integral windup function of the PID control calculation unit 1 is subtracted from the manipulated variable FF_P to change the lower limit value ARWL. At the same time, the upper and lower limit changing unit 5 subtracts the manipulated variable FF_P from the upper limit ARWH of the anti-integration windup function of the PID control calculation unit 1 to change the upper limit ARWH.

The upper and lower limit value changing unit 6 changes the upper and lower limit values of the operation amount limiter 2 based on the operation amount FF_P output by the FF operation amount generating unit 3 (FIG. 3 step S109 ). Specifically, the upper and lower limit value changing unit 6 inputs a disturbance polarity signal indicating that the disturbance is a downwardly convex waveform while inputting the notification signal and is in reverse operation (heating control), or inputs a signal indicating that the disturbance is a upwardly convex waveform. When the disturbed polarity signal is disturbed and it is running (cooling control), the operation amount FF_P is subtracted from the operation amount upper limit value OH of the operation amount limiter 2, and the operation amount upper limit value OH is changed. At the same time, the upper and lower limit changing unit 6 subtracts the operation amount FF_P from the operation amount lower limit value OL of the operation amount limiter 2 to change the operation amount lower limit value OL.

In addition, the upper and lower limit change unit 6 inputs a disturbance polarity signal indicating that the disturbance is an upwardly convex waveform at the same time as the notification signal is input and when the reverse operation (heating control) is performed, or inputs a disturbance indicating that the disturbance is a downwardly convex waveform. When the polarity signal is disturbed and it is running (cooling control), the manipulated variable FF_P is subtracted from the manipulated variable lower limit OL of the manipulated variable limiter 2, and the manipulated variable lower limit OL is changed. At the same time, the upper and lower limit changing unit 6 subtracts the operation amount FF_P from the operation amount upper limit value OH of the operation amount limiter 2 to change the operation amount upper limit value OH.

The processing of step S110 to step S112 in FIG. 3 is the same as step S101 to step S103 in FIG. 2. When the FF manipulated variable generator 3 determines that the manipulated variable is applied during the standby period T1, it sets MV_O=FF_P=V1, that is, the manipulated variable FF_P of the prescribed value V1 (second value) directly as the output terminal manipulated variable MV_O from the manipulated variable phase The adding section 4 outputs (step S113 in FIG. 3).

During the standby period T1 for applying the manipulated variable, the manipulated variable MV_O of the output terminal is fixed. Therefore, the FB control does not function, and the stability of the controlled variable PV obtained by the FB control cannot be obtained. Therefore, it is necessary to correspond to the characteristics of the control system of this embodiment. Appropriately set the length of the operation amount application standby period T1 and the output end operation amount MV_O=FF_P=V1.

In order to determine the length of the operation amount application standby period T1, it is only necessary to use the control system including the control device of this embodiment and the control object 10 to perform a disturbance application test in advance, and turn on the notification signal until the control deviation Er=SP-PV absolute value The period t1 (equivalent dead time) until the |Er| exceeds the predetermined deviation threshold TH1 may be determined in advance as the operation amount application standby period T1. In the disturbance application test, the FF control was stopped and only the FB control was used. In other words, set the FF operation amount FF_P=0.

In fact, due to the characteristics of the control object 10, there is a deviation from the equivalent dead time, so it can be set to T1=t1, or T1=t1×α1 (α1 is the prescribed adjustment ratio), or it can be set to T1=t1+β1 (β1 is the predetermined adjustment amount).

In addition, the output terminal operation amount MV_O=FF_P=V1 should be set as the maximum, minimum, and average value of the FB operation amount MV of the fluctuation in the operation amount of the disturbance application test during the standby period T1 as in the second embodiment described later. Or the middle value is fine. In addition, as in the third embodiment, in actual operation, the amount corresponding to the polarity may be gradually changed so that the control amount PV enters a certain range. During the operation amount application standby period T1 (YES in step S106 in FIG. 3), the processing of step S107 to step S113 is repeatedly executed every control cycle.

Next, the FF operation amount generating unit 3 determines that the transient fluctuation cancellation advance period T2 is the first time T1=0 when the notification signal turns on, or the time specified by the operation amount application standby period T1 has elapsed after the notification signal turns on On the other hand, when the operation amount application standby period T1 ends, it is determined that the transient fluctuation cancellation advance period T2 (T2>0) (No in step S106 in FIG. 3, yes in step S115). However, when T2=0 is set, it is determined as the transient fluctuation cancellation period T3 as follows.

When the FF operation amount generating unit 3 determines that the transient fluctuation cancellation advance period T2 (T2>0) (YES in step S115), it outputs FF_P=V2, which is the operation amount FF_P of the predetermined value V2 (fourth value) (Figure 3 step S116).

In order to determine the length of the transient change cancellation precedent period T2 and the output terminal operation variable MV_O=FF_P=V2, as long as the length of the transient change cancellation period T3 and the operation variable FF_P=V3 have been determined in the following stage, use includes The control device of this embodiment and the control system of the controlled object 10 perform a disturbance application test in advance, and use the output operation amount FF_P=V3 as a precondition during the transient fluctuation cancellation period T3, and for example, the absolute value of the control deviation Er when the disturbance is applied The maximum value of |Er| (the absolute value of the control deviation at the peak of the control variable PV) becomes the specified maximum deviation threshold TH2 or less (TH2>TH1), and the length and output terminal of the transient change cancellation precedent period T2 are determined in advance The operation amount MV_O=FF_P=V2.

Or, as long as the absolute value of the control deviation Er=SP-PV | Er | exceeds the predetermined deviation threshold TH1 to the absolute value of the control deviation Er | Er | returns to the deviation threshold TH1 or less, the recovery time becomes the predetermined time For the method below the threshold TH3, the length of the transient change cancellation precedent period T2 and the output terminal operation amount MV_O=FF_P=V2 may be determined in advance.

In addition, when the notification signal is input and a disturbed polarity signal indicating a disturbance of a downwardly convex waveform is input and the reverse operation (heating control) is input, or a disturbed polarity signal indicating a disturbance of the upwardly convex waveform is input and it is running During (cooling control), V1 and V2 become positive values.

On the other hand, when the notification signal is input and a disturbance polarity signal indicating a disturbance that is a convex waveform is input and the reverse operation (heating control) is input, or a disturbance polarity signal indicating a disturbance that is a convex waveform is input and During normal operation (cooling control), V1 and V2 become negative values.

The processing of step S117 to step S121 in FIG. 3 is the same as step S108 to step S112. When the FF operation amount generating unit 3 determines that the transient change cancels the advance period T2 (T2>0) (Yes in step S115), it sets MV_O=FF_P=V2, that is, the operation of the predetermined value V2 (fourth value) The quantity FF_P is directly output from the operation quantity addition unit 4 as the output terminal operation quantity MV_O (step S122 in FIG. 3).

When the transient change cancels the advance period T2 (Yes in step S115 in FIG. 3), the processing of step S116 to step S122 is repeatedly executed every control cycle. Next, the FF manipulated variable generator 3 determines that it is the transient change cancellation period T3 when the manipulated variable application standby period T1 ends and T2=0, or after the transient change cancel advance period T2 (T2>0) has passed When the transient change cancellation advance period T2 ends with time, it is determined as the transient change cancellation period T3 (No in step S106 and step S115 in FIG. 3, and yes in step S124 in FIG. 4).

The output terminal manipulated variable MV_O during the manipulated variable application standby period T1 and the transient change cancellation precedent period T2 is a fixed value. Therefore, further reproducibility is obtained by initializing the FB control calculation at the timing when the transient change cancel period T3 starts.

Specifically, the control arithmetic initialization unit 7 memorizes the manipulated variable MV (hereinafter referred to as MV0) at the timing just before the start of the manipulated variable application standby period T1 (immediately before the notification signal turns on), and the transient change cancel period T3 starts When timing (Yes in step S125 in Figure 4), set MV_old=MV0 in equation (1), that is, set the previous value of the PID control calculation result to MV0, thereby initializing the PID control calculation (step S125 in Figure 4). S126). In addition, MV_old can also be set to a predetermined specific value instead of MV0.

When it is determined that the transient fluctuation cancellation period T3 is the FF operation amount generating unit 3, it outputs FF_P=V3, that is, the operation amount FF_P of the predetermined value V3 (first value) (FIG. 4 step S127).

When the FF operation amount generating unit 3 inputs the notification signal while inputting a disturbance polarity signal indicating that the disturbance is a downwardly convex waveform and is in reverse operation (heating control), or inputs a disturbance polarity indicating that the disturbance is a disturbance of the upwardly convex waveform When signal and running (cooling control), set FF_P=V3=OH_O.

In addition, when the FF operation amount generating unit 3 inputs the notification signal while inputting a disturbance polarity signal indicating that the disturbance is a convex waveform and performs reverse operation (heating control), or inputs a disturbance indicating that the disturbance is a convex waveform. When the polarity signal is disturbed and it is running (cooling control), set FF_P=V3=-OH_O.

In order to determine the length of the transient change cancellation period T3, the control system including the control device of this embodiment and the control object 10 is used to perform a disturbance application test in advance, and the absolute value of the control deviation Er | Er | exceeds the specified deviation When the threshold value TH1 is used, the period t3 until the peak of the control variable PV after the disturbance is detected is determined in advance as the transient fluctuation cancellation period T3. In the disturbance application test, the FF control was stopped and only the FB control was used. In other words, set the FF operation amount FF_P=0.

In fact, due to the characteristics of the control object 10, there is a deviation from the equivalent dead time, so it can be set to T3=t3, or T3=t3×α3 (α3 is the predetermined adjustment ratio), or it can be set to T3=t3+β3 (β3 is the prescribed adjustment amount).

The processing of step S128 to step S132 in FIG. 4 is the same as step S108 to step S112. The operation amount adding unit 4 outputs the output terminal operation amount MV_O to the control object 10. The output terminal operation amount MV_O is MV_O=MV_L+FF_P, that is, the operation amount MV_L output by the operation amount limiter 2 is combined with the FF operation amount generating unit 3 The result of adding the output operation variable FF_P (Figure 4 step S133).

During the transient fluctuation cancellation period T3 (YES in step S124 in FIG. 4), the processing of step S125 and step S127 to step S133 is repeatedly executed every control cycle. Next, the FF operation amount generating unit 3 determines that the steady state fluctuation cancellation period T4 is the steady state fluctuation cancellation period T4 when the transient fluctuation cancellation period T3 has elapsed after the time specified by the transient fluctuation cancellation period T3 (FIG. 4, step S124 is No, FIG. 4 Step S135).

When the FF operation amount generating unit 3 determines that it is the steady state fluctuation cancellation period T4, it outputs FF_P=V4, that is, the operation amount FF_P of the predetermined value V4 (third value) (Step S136 in FIG. 4). In order to determine the magnitude of the manipulated variable FF_P=V4, it is only necessary to use the control system including the control device of this embodiment and the control object 10 to perform a disturbance application test in advance, and turn MV_OFF-MV_ON (MV_OFF is the manipulated variable MV at the timing of turning off the signal MV_ON is the operation amount (MV) at the timing when the notification signal is turned on. It is only necessary to decide V4 in advance.

At this time, it is also possible to perform multiple disturbance application tests, using the maximum value MV_OFFmax among multiple MV_OFF and the maximum value MV_ONmax among multiple MV_ON to calculate FF_P=V4=MV_OFFmax-MV_ONmax.

In addition, the minimum value MV_OFFmin among multiple MV_OFF and the minimum value MV_ONmin among multiple MV_ON can also be used to calculate FF_P=V4=MV_OFFmin-MV_ONmin.

In addition, the moving average value MV_OFFave in multiple MV_OFF and the moving average value MV_ONave in multiple MV_ON can also be used to calculate FF_P=V4=MV_OFFave-MV_ONave.

In addition, the intermediate value MV_OFFmid=(MV_OFFmax-MV_OFFmin)/2 in multiple MV_OFF and the intermediate value MV_ONmid=(MV_ONmax-MV_ONmin)/2 in multiple MV_ON can also be used to calculate FF_P=V4=MV_OFFmid-MV＿ONmid. In this way, by using data of multiple disturbance application tests, it is possible to expect improvement in noise resistance and reproducibility.

The processing of step S137 to step S141 in FIG. 4 is the same as step S108 to step S112. The operation amount adding unit 4 outputs the output terminal operation amount MV_O to the control object 10. The output terminal operation amount MV_O is MV_O=MV_L+FF_P, that is, the operation amount MV_L output by the operation amount limiter 2 is combined with the FF operation amount generating unit 3 The result of adding the output FF_P (step S142 in Fig. 4).

In the steady state fluctuation cancellation period T4, the process of step S136 to step S142 is repeatedly executed every control cycle. When the notification signal is turned off as shown in FIG. 2, the determination becomes No in step S100, and the steady state fluctuation cancellation period T4 ends.

As described above, in the present embodiment, by processing only the operation amount of the rectangular wave shape as the FF operation amount FF_P, it is possible to eliminate the need for modeling of a highly difficult physical phenomenon. In addition, in this embodiment, by making the FF operation amount FF_P reflected in the PID control calculation anti-integration saturation processing and the operation amount restriction processing judgment threshold value, it is possible to prevent the FF operation amount FF_P from continuously outputting excessive output terminals. Operating volume MV_O.

6 to 15 are waveform diagrams for explaining the effect of this embodiment. Fig. 6 shows the control analog result of the primary delay system with the main "transmission delay>disturbance delay" when the manipulated variable MV is limited to the output range of the control device (OH_O, OL_O) under the existing FB control. FIG. 7 shows the control analog result of the primary delay system with the main "transmission delay <disturbance delay" when the manipulated variable MV is limited to the output range of the control device only under the existing FB control. Fig. 8 shows the control analog result of the primary delay system when the manipulated variable MV exceeds the output range of the control device only under the existing FB control.

Fig. 9 shows the control analogy of a primary delay system that becomes the main "transmission delay>disturbance delay" under FB control + FF control with the optimal FF operation amount FF_P and the operation amount MV is limited to the output range of the control device (OH_O, OL_O) result. Fig. 10 shows the control analog result of the primary delay system that becomes the main "transmission delay <disturbance delay" under the FB control + FF control where the FF operation amount FF_P is optimal, and the operation amount MV is limited to the output range of the control device. Fig. 11 shows the control analog result of the primary delay system when the operating variable MV exceeds the output range of the control device under FB control + FF control where the FF operating variable FF_P is optimal.

Fig. 12 shows the control analog result of the primary delay system which becomes the main "transmission delay>disturbance delay" when the manipulated variable MV is limited to the output range of the control device (OH_O, OL_O) in the control device of this embodiment. FIG. 13 shows the control analog result of the primary delay system that is the main "transmission delay <disturbance delay" when the manipulated variable MV is limited to the output range of the control device in the control device of this embodiment.

FIG. 14 shows the control analog result of the primary delay system when the manipulated variable MV exceeds the output range of the control device in the control device of this embodiment. FIG. 15 shows the control analog result of the primary delay system when the operation variable MV exceeds the output range of the control device in the control device of this embodiment, and the transient fluctuation cancels the advance period T2.

According to Figs. 12-15, it is known that the control response of FB control + FF control close to the optimal FF operation amount FF_P is obtained.

In addition, it is conceivable that when the application of the disturbance is completed, a phenomenon having the opposite characteristics to that of when the disturbance is applied is generated. For example, think of a heating device that performs heat treatment in the following steps (a) to (c). (A) Open the door of the furnace that controls the temperature in the furnace. (B) Put the heated object into the furnace (producing disturbance). (C) Close the furnace door for heating.

In the heating device, the following steps (d) to (f) are required before placing the next heated object. (D) Open the furnace door. (E) Take out the heated object. (F) Close the furnace door and control the temperature in the furnace.

By applying this embodiment to this kind of heating device, it is possible to achieve high quality of the heated object (by suppressing the influence of disturbance, the quality of heating with less temperature fluctuation is stabilized) and productivity can be improved (shortening of tact time) (Takt time)).

[Second Embodiment] In the first embodiment, the length of the operation amount application standby period T1, the length of the transient fluctuation cancellation period T3, the FF operation amount FF_P=V3 in the transient fluctuation cancellation period T3, and the steady state fluctuation cancellation period T4 are manually adjusted in advance. FF operation amount FF_P=V4, but these manually adjusted amounts can also be automatically adjusted. FIG. 16 is a flowchart showing the configuration of the control device according to the second embodiment of the present invention, and the same configuration as in FIG. 1 is assigned the same reference numeral.

The control device of this embodiment includes: PID control calculation unit 1; operation amount limiter 2; FF operation amount generation unit 3; operation amount addition unit 4; upper and lower limit value changing unit 5, upper and lower limit value changing unit 6; control calculation Initialization unit 7; period determination unit 8, which stops the operation amount output by the FF operation amount generating unit 3 during the automatic adjustment in the disturbance application test, and determines the length of the operation amount application standby period T1 and the length of the transient fluctuation cancellation period T3 ; And the operation amount determination unit 9, which determines the FF operation amount FF_P=V3 in the transient fluctuation cancellation period T3 and the FF operation amount FF_P=V4 in the steady state fluctuation cancellation period T4 during the automatic adjustment in the disturbance application test size.

The normal control operation of the control device is as described in the first embodiment. Fig. 17 is a flowchart explaining the operation of the control device during automatic adjustment. In order to perform automatic adjustment, at least one disturbance application test is performed using the control system including the control device of this embodiment and the control object 10.

The period determining unit 8 stops the FF control performed by the FF operation amount generating unit 3 during automatic adjustment, and only sets it as FB control, from when the notification signal is turned on until the absolute value of the control deviation Er=SP-PV | Er | exceeds the stipulation The period t1 (equivalent dead time) until the deviation threshold value TH1 is determined as the operation amount application standby period T1 (FIG. 17 step S200).

However, in fact, due to the characteristics of the control object 10, there is a deviation from the equivalent dead time. Therefore, the period determining unit 8 can set the value of T1=t1 to the FF operation amount generating unit 3, or it can also set the value of T1=t1 to the FF operation amount generating unit 3. A value of T1=t1×α1 (α1 is a predetermined adjustment ratio) may be set, or a value of T1=t1+β1 (β1 is a predetermined adjustment amount) may be set for the FF operation amount generating unit 3.

In addition, the period determining unit 8 stops the FF control performed by the FF operation amount generating unit 3 during the automatic adjustment, and only uses the FB control. The control deviation Er=SP-PV absolute value|Er| exceeds the predetermined deviation threshold TH1 The period t3 until the peak of the control variable PV after the disturbance is detected is determined as the transient fluctuation cancellation period T3 (FIG. 17 step S201 ).

However, in fact, due to the characteristics of the control object 10, there is a deviation from the equivalent dead time. Therefore, the period determining unit 8 can set the value of T3=t3 to the FF operation amount generating unit 3, or it can also set the value of T3=t3 to the FF operation amount generating unit 3. A value of T3=t3×α3 (α3 is a predetermined adjustment ratio) may be set, or a value of T3=t3+β3 (β3 is a predetermined adjustment amount) may be set for the FF operation amount generating unit 3.

During automatic adjustment, the operation amount determination unit 9 determines the length of the operation amount application standby period T1 and the transient change cancellation period T3 by the period determination unit 8 (the length of the transient change cancellation advance period T2 and the output terminal operation amount MV_O= FF_P=V2 is a fixed value), so that the control variable PV in the transient change cancellation period T3 becomes the desired characteristic, for example, the maximum value of the control deviation Er=SP-PV absolute value|Er| The value (absolute value of the control deviation at the peak of the control variable PV) becomes the predetermined maximum deviation threshold TH2 or less, and determines the magnitude of the FF operation variable FF_P=V3 in the transient fluctuation cancellation period T3 (FIG. 17 step S202).

Alternatively, the operation amount determination unit 9 may determine the absolute value of the control deviation Er in the transient fluctuation cancellation period T3 from the time when the control deviation Er=SP-PV absolute value|Er| exceeds the predetermined deviation threshold TH1 to the absolute value of the control deviation Er in the transient fluctuation cancellation period T3|Er| The magnitude of the FF operation amount FF_P=V3 in the transient fluctuation cancellation period T3 is determined so that the recovery time until the deviation threshold TH1 or less becomes the predetermined time threshold TH3 or less.

In addition, the operation amount determination unit 9 can also determine the transient fluctuation cancellation period T3 so that the maximum value of the absolute value of the control deviation Er | Er | is less than the maximum deviation threshold TH2 and the recovery time is less than the time threshold TH3 The FF operation amount of FF_P = the size of V3.

In addition, during automatic adjustment, the operation amount determination unit 9 determines the length of the operation amount application standby period T1 and the transient change cancellation period T3 by the period determination unit 8 and also determines the FF operation amount FF_P= in the transient change cancellation period T3. After the value of V3, MV_OFF-MV_ON (MV_OFF is the operation variable MV when the notification signal is turned off, and MV_ON is the operation variable MV when the notification signal is turned on) is determined as the FF operation variable FF_P in the steady state change cancellation period T4 =V4 (Step S203 in Figure 17).

As described above, the operation amount determination unit 9 may also calculate FF_P=V4=MV_OFFmax-MV_ONmax using the maximum value MV_OFFmax of the multiple MV_OFF and the maximum value MV_ONmax of the multiple MV_ON obtained by the multiple disturbance application test.

In addition, the operation amount determination unit 9 may also use the minimum value MV_OFFmin among the multiple MV_OFFs and the minimum value MV_ONmin among the multiple MV_ONs to calculate FF_P=V4=MV_OFFmin-MV_ONmin.

In addition, the operation amount determination unit 9 may use the moving average value MV_OFFave in the multiple MV_OFF and the moving average value MV_ONave in the multiple MV_ON to calculate FF_P=V4=MV_OFFave-MV_ONave.

In addition, the operation amount determining unit 9 may also use the intermediate value MV_OFFmid in the multiple MV_OFF and the intermediate value MV_ONmid in the multiple MV_ON to calculate FF_P=V4=MV_OFFmid-MV_ONmid. With the above operations, the automatic adjustment is over.

In addition, in the present embodiment, after determining the length of the operation amount application standby period T1, the operation amount determining unit 9 applies the operation amount of the disturbance application test to the maximum and minimum values of the FB operation amount MV that changes in the standby period T1. , The average value or the intermediate value is determined as the magnitude of the output terminal operating quantity MV_O=FF_P=V1.

[Third Embodiment] In the first embodiment, the length of the transient change cancellation advance period T2, the length of the transient change cancellation period T3, and the FF operation amount FF_P=V2 (output terminal operation amount MV_O) in the transient change cancellation advance period T2 are manually adjusted in advance. And the FF operation amount FF_P=V3 in the transient change cancellation period T3, but these manually adjusted amounts can also be updated sequentially during the control operation. FIG. 18 is a flowchart showing the configuration of the control device according to the third embodiment of the present invention, and the same components as those in FIG. 1 are assigned the same reference numerals.

The control device of this embodiment includes: PID control calculation unit 1; operation amount limiter 2; FF operation amount generation unit 3; operation amount addition unit 4; upper and lower limit value changing unit 5, upper and lower limit value changing unit 6; control calculation Initialization section 7; period change section 11, during normal control operation, changes the length of the transient change cancel period T3 and the transient change cancel advance period so that the controlled variable PV in the transient change cancel period T3 becomes the desired characteristic The length of T2; and the operation amount changing unit 12, during normal control operation, changes the FF operation amount FF_P= in the transient fluctuation cancellation period T3 so that the control amount PV in the transient fluctuation cancellation period T3 becomes the desired characteristic. The magnitude of V3 and the transient change cancel the FF operation amount FF_P=the magnitude of V2 in the advance period T2.

Fig. 19 is a flowchart for explaining the operation of the control device of this embodiment. The operation of the PID control calculation unit 1, the operation amount limiter 2, the FF operation amount generating unit 3, the operation amount adding unit 4, the upper and lower limit value changing unit 5, the upper and lower limit value changing unit 6, and the control operation initialization unit 7 are as the first As explained in FIGS. 2 to 4 of the embodiment. In this embodiment, the initial value of the transient change cancellation precedent period T2 is T2=0. That is, skip the transient change and cancel the advance period T2.

When the period changing unit 11 and the operation amount changing unit 12 end the transient fluctuation cancellation period T3 (for example, the timing of D in FIG. 4), the control variable PV in the transient fluctuation cancellation period T3 does not reach the desired characteristics (FIG. 19 No in step S300), and the length of the transient change cancellation period T3 and the FF operation amount FF_P=V3 in the transient change cancellation period T3 are adjustable (Yes in step S301 in Figure 19), change these values (Figure 19) 19 Step S302, Step S303).

When the period change section 11 and the operation amount change section 12 do not reach the predetermined maximum time during the transient change cancellation period T3, and the FF operation amount FF_P=V3 in the transient change cancellation period T3 does not reach the predetermined maximum value, it is judged as OK Adjustment.

When it is determined that the adjustment is possible, the period changing unit 11 extends the length of the transient fluctuation cancellation period T3 by a predetermined period of time relative to the previous value (step S302). The initial value of the transient change cancellation period T3 is 0, for example.

In addition, the operation amount changing unit 12 increases the absolute value of the FF operation amount FF_P=V3 in the transient fluctuation cancellation period T3 by a predetermined amount from the previous value (FIG. 19 step S303 ). The initial value of the FF operation amount FF_P=V3 is, for example, V1.

When the notification signal is input and a disturbed polarity signal indicating a disturbance of a downwardly convex waveform is input and the reverse operation (heating control) is input, or a disturbed polarity signal indicating a disturbance of the upwardly convex waveform is input and it is running (cooling Control), V3 is a positive value.

On the other hand, when the notification signal is input and a disturbance polarity signal indicating a disturbance that is a convex waveform is input and the reverse operation (heating control) is input, or a disturbance polarity signal indicating a disturbance that is a convex waveform is input and When running (cooling control), V3 is a negative value.

For example, the period changing unit 11 and the operating variable changing unit 12 only need to control deviation Er=absolute value of SP-PV|Er| in the transient fluctuation cancellation period T3 (absolute value of the control deviation at the peak of the control variable PV) ) When the maximum deviation threshold TH2 is exceeded, it is determined that the control variable PV in the transient fluctuation cancellation period T3 has not reached the desired characteristics, and when the maximum value of the absolute value |Er| is below the maximum deviation threshold TH2, it is determined that the transient fluctuation cancellation The control variable PV in the period T3 may reach the desired characteristics.

Alternatively, the period changing unit 11 and the operation amount changing unit 12 may also change from when the control deviation Er=absolute value of SP-PV | Er | exceeds the predetermined deviation threshold TH1 to the time when the control deviation Er in the transient change cancellation period T3 Absolute value|Er| When the recovery time to return to the deviation threshold TH1 or less exceeds the time threshold TH3, it is determined that the control variable PV in the transient fluctuation cancellation period T3 has not reached the desired characteristic, and when the recovery time becomes less than the time threshold TH3, It is determined that the control variable PV in the transient fluctuation cancellation period T3 has reached the desired characteristic.

In addition, when the maximum value of the absolute value of the control deviation Er |Er| is less than the maximum deviation threshold TH2 and the recovery time is less than the time threshold TH3, it may be determined that the control variable PV in the transient fluctuation cancellation period T3 has reached The desired characteristics.

In this way, by performing the processing of step S302 and step S303 in each control operation, the length of the transient fluctuation cancellation period T3 and the FF operation amount FF_P=V3 in the transient fluctuation cancellation period T3 can be adjusted during the control operation.

In addition, there may be a situation in which even if the length of the transient change cancellation period T3 and the FF operation amount FF_P=V3 are adjusted by the period changer 11 and the operation amount changer 12, the transient change cancel period T3 The controlled quantity PV of the spool has not reached the desired characteristics.

The period change unit 11 and the operation amount change unit 12 change transiently when the transient change cancellation period T3 reaches the predetermined maximum time, or the FF operation amount FF_P=V3 in the transient change cancellation period T3 reaches the predetermined maximum value. When the control variable PV in the cancellation period T3 does not reach the desired characteristic, it is determined that the transient fluctuation cancellation period T3 and the FF operation variable FF_P=V3 are not adjustable (No in step S301).

When it is determined that the transient change canceling period T3 and the FF operation amount FF_P=V3 are not adjustable, the period changing unit 11 extends the length of the transient change canceling advance period T2 by a predetermined period of time relative to the previous value (FIG. 19 step S304 ). As described above, the initial value of the transient change cancellation advance period T2 is 0.

In addition, the operation amount changing unit 12 increases the absolute value of the FF operation amount FF_P=V2 in the transient fluctuation cancellation prior period T2 by a predetermined amount from the previous value (FIG. 19 step S305 ). The initial value of the FF operation amount FF_P=V2 is, for example, V1.

In this way, even if the length of the transient change cancellation period T3 and the size of the FF operation variable FF_P=V3 are adjusted, but the control variable PV in the transient change cancellation period T3 does not reach the desired characteristics, by each control operation By performing the processing of step S304 and step S305, the length of the transient change cancellation advance period T2 and the FF operation amount FF_P=V2 in the transient change cancellation advance period T2 can be adjusted during the control operation.

In addition, the period changing unit 11 and the operation amount changing unit 12 are in a state where the transient change cancellation advance period T2 reaches the predetermined maximum time, or the FF operation amount FF_P=V2 in the transient change cancellation advance period T2 reaches the predetermined maximum value. If the control variable PV in the transient fluctuation cancellation period T3 has not reached the desired characteristic, the process of FIG. 19 ends.

In addition, in this embodiment, it is also possible to gradually change the magnitude of the output terminal operation amount MV_O=FF_P=V1 so that the control amount PV in the operation amount application standby period T1 enters a predetermined range.

The control devices described in the first embodiment to the third embodiment can be implemented by a computer including a central processing unit (CPU), a memory device, and an interface, and programs that control these hardware resources. An example of the configuration of the computer is shown in FIG. 20. The computer includes a CPU 100, a memory device 101, and an interface device (hereinafter referred to as I/F) 102. The I/F 102 is connected to a measuring instrument (for example, a temperature sensor) and an operation quantity output unit (for example, a power regulator), etc. In such a computer, a program for implementing the control method of the present invention is stored in the memory device 101. The CPU 100 executes the processing described in the first to third embodiments in accordance with the program stored in the memory device 101.

Part or all of the above-mentioned embodiments may be described as in the following supplementary notes, but are not limited to the following supplementary notes.

(Supplement 1) A control method, including: the first step, input the set value and the control amount, and calculate the first operation amount by feedback control calculation; the second step, according to the disturbance application time point before and after the application The notification signal that ends after the disturbance, outputs the second operation amount in a rectangular wave shape to eliminate the disturbance; the third step is to limit the first operation amount to the lower limit of the operation amount and the upper limit of the operation amount The operation amount restriction processing of the following values; the fourth step, the output terminal operation amount is output to the control object, the output terminal operation amount is the first operation amount and the second operation amount after the operation amount restriction processing The result of the addition; the fifth step, based on the second operation amount, to change the upper and lower limits of the anti-integration saturation function of the control arithmetic unit that performs the feedback control operation; and the sixth step, based on the second operation amount To change the upper and lower limits of the operation amount of the operation amount restriction process.

(Supplement 2) The control method according to Supplement 1, wherein the second step includes: in the input of the notification signal, outputting the first value of the first period including the period during which the disturbance is applied The second operation amount is to eliminate the disturbance, and in the second period from when the notification signal is input to the start of the first period, the control amount is outputted so that the control amount is stable near the set value The binary second operation amount is output in a third period from the end of the first period to the end of the input of the notification signal so that the control amount matches the set value. The step of the three-valued second operation amount; the fourth step includes: the step of outputting the second operation amount output by the operation amount generating unit during the second period as the output terminal operation amount .

(Supplement 3) The control method according to Supplement 2, wherein the second step includes: in the fourth period between the second period and the first period, outputting a fourth period before the first period Value of the second operation amount to eliminate the disturbance applied in the first period; the fourth step includes: the second operation amount output by the operation amount generating unit in the fourth period The step output as the output terminal operation amount.

(Supplement 4) The control method according to Supplement 2 or 3, further comprising: a seventh step of stopping the output of the second operation amount of the second step during the automatic adjustment in the disturbance application test, based on the input of the notification signal Then, the length of the second period is determined until the absolute value of the control deviation between the set value and the control amount exceeds a predetermined deviation threshold.

(Supplement 5) The control method according to Supplement 4, wherein the seventh step includes stopping the output of the second operation amount of the second step during the automatic adjustment, based on the absolute value of the deviation from the control exceeding The deviation threshold is a step of determining the length of the first period during the period until the peak of the control amount after disturbance is detected.

(Supplement 6) The control method according to any one of Supplements 2 to 4, further comprising: an eighth step, in the case of automatic adjustment in the disturbance application test, using the control amount in the first period to be expected The method of the characteristic determines the first value.

(Supplement 7) The control method according to Supplement 6, wherein the eighth step includes: in the automatic adjustment, based on the first operation amount when the notification signal is input and when the input of the notification signal ends The step of determining the third value of the first operation amount.

(Supplement 8) The control method according to Supplement 2 or 3, further comprising: a seventh step of changing the first period such that the control amount in the first period becomes a desired characteristic during normal control operation The length of a period; and an eighth step of changing the first value such that the control amount in the first period becomes a desired characteristic during normal control operation.

(Supplement 9) The control method according to Supplement 3, further comprising: a seventh step of changing the fourth period so that the control amount in the first period becomes a desired characteristic during normal control operation And the eighth step, in a normal control operation, changing the fourth value so that the control amount in the first period becomes a desired characteristic. [Industrial availability]

The present invention can be applied to technologies that combine feedback control and feedforward control.

1: PID control calculation unit 2: Operation limiter 3: FF operation volume generation unit 4: Operation amount addition part 5, 6: Upper and lower limit change department 7: Control operation initialization part 8: Period decision department 9: Operation amount determination department 10: Control objects 11: Period change department 12: Operation volume change department 100: CPU 101: memory device 102: Interface device (I/F) FF_P: Operation amount (FF operation amount, second operation amount) MV, MV_L: operation volume MV_O: Output terminal operation amount PV: Controlled quantity (temperature) S100～S143, S200～S203, S300～S305: steps SP: set value T1: Waiting period for applying operation amount (second period) T2: Transient change cancellation advance period (fourth period) T3: Transient change cancellation period (first period) T4: Period of cancellation of steady-state changes (third period) V1: Specified value (second value) V2: Specified value (fourth value) V3: Specified value (first value) V4: Specified value (third value)

Fig. 1 is a flowchart showing the configuration of a control device according to a first embodiment of the present invention. Fig. 2 is a flow chart explaining the operation of the control device of the first embodiment of the present invention. Fig. 3 is a flow chart explaining the operation of the control device of the first embodiment of the present invention. Fig. 4 is a flow chart explaining the operation of the control device of the first embodiment of the present invention. FIG. 5 is a waveform diagram for explaining the operation of the FF operation amount generating unit of the control device according to the first embodiment of the present invention. Fig. 6 is a diagram showing a control simulation result of a conventional FB control. Fig. 7 is a diagram showing a control simulation result of a conventional FB control. Fig. 8 is a diagram showing a control simulation result of a conventional FB control. FIG. 9 is a diagram showing the control simulation result of FB control + FF control with the optimal FF operation amount. FIG. 10 is a diagram showing the control simulation result of FB control + FF control with the optimal FF operation amount. FIG. 11 is a diagram showing the control simulation result of FB control + FF control with the optimal FF operation amount. Fig. 12 is a diagram showing a control analogy result of the control device of the first embodiment of the present invention. Fig. 13 is a diagram showing a control analogy result of the control device of the first embodiment of the present invention. Fig. 14 is a diagram showing a control analogy result of the control device of the first embodiment of the present invention. Fig. 15 is a diagram showing a control analogy result of the control device of the first embodiment of the present invention. Fig. 16 is a flowchart showing the configuration of a control device according to a second embodiment of the present invention. Fig. 17 is a flowchart explaining the operation of the control device of the second embodiment of the present invention during automatic adjustment. Fig. 18 is a flowchart showing the configuration of a control device according to a third embodiment of the present invention. 19 is a flowchart for explaining the operations of the period determining unit and the operation amount determining unit of the control device according to the third embodiment of the present invention. 20 is a flowchart showing a configuration example of a computer that implements the control device of the first embodiment to the third embodiment of the present invention.

1: PID control calculation unit 2: Operation limiter 3: FF operation volume generation unit 4: Operation amount addition part 5, 6: Upper and lower limit change department 7: Control operation initialization part 10: Control objects FF_P: Operation amount (FF operation amount, second operation amount) MV, MV_L: operation volume MV_O: Output terminal operation amount PV: Controlled quantity (temperature) SP: set value

Claims (9)

A control device includes: a control calculation unit configured to input a setting value and a control amount and calculate a first operation amount by feedback control calculation; an operation amount generation unit is configured to start before and after the disturbance is applied Input of the notification signal that ends after the disturbance, and output a second operation amount in a rectangular wave shape to eliminate the disturbance; an operation amount limiter configured to limit the first operation amount to a lower limit of the operation amount and A value below the upper limit of the operation amount; the operation amount adding unit is configured to output an output end operation amount to the control object, and the output end operation amount is the first operation amount output by the operation amount limiter and the operation amount The result of the addition of the second operation amount output by the operation amount generation unit; a first upper and lower limit change unit configured to change the anti-integration of the control calculation unit based on the second operation amount output by the operation amount generation unit The upper and lower limit values of the saturation function; and a second upper and lower limit changing unit configured to change the upper and lower limits of the operation amount of the operation amount limiter based on the second operation amount output by the operation amount generation unit; and In the input of the notification signal, the operation amount generating unit outputs the second operation amount of the first value in the first period including the period during which the disturbance is applied to cancel the disturbance, and then input the In the second period from the time of the notification signal to the start of the first period, the second operation amount of the second value is output so that the control amount stabilizes near the set value, and the second operation amount is output from the first period. At the end of the period In the third period until the input of the notification signal ends, the second operation amount of the third value is output so that the control amount coincides with the set value, and the operation amount adding unit adds the second operation amount to The second operation amount output by the operation amount generating unit during the period is output as the output terminal operation amount. The control device according to claim 1, wherein in the fourth period between the second period and the first period, the operation amount generating unit outputs all of the fourth value before the first period. The second operation amount is used to eliminate the disturbance applied in the first period, and the operation amount adding section uses the second operation amount output by the operation amount generating section in the fourth period as the output terminal Operation amount and output. The control device according to claim 1 or 2, further comprising: a period determination unit configured to stop the output of the second operation amount by the operation amount generation unit at the time of automatic adjustment in the disturbance application test, based on the input The length of the second period is determined during the period after the notification signal until the absolute value of the control deviation between the set value and the control amount exceeds a predetermined deviation threshold. The control device according to claim 3, wherein the period determining unit stops the output of the second operation amount by the operation amount generating unit during the automatic adjustment, and the absolute value of the deviation from the control exceeds the In the case of the deviation threshold value, the period until the peak of the control amount after the disturbance is detected is detected, and the length of the first period is determined. The control device according to claim 1 or 2, further comprising: an operation amount determination unit configured to perform automatic adjustment in the disturbance application test The first value is determined so that the control amount in the first period becomes a desired characteristic. The control device according to claim 5, wherein, during the automatic adjustment, the operation amount determination unit is based on the first operation amount when the notification signal is input and the operation amount at the end of the notification signal input. The first operation quantity determines the third value. The control device according to claim 1 or 2, further comprising: a period changing unit that changes the first period so that the control amount in the first period becomes a desired characteristic during normal control operation And the operation amount changing unit, during normal control operation, changes the first value so that the control amount in the first period becomes a desired characteristic. The control device according to claim 2, further comprising: a period changing unit that changes the length of the fourth period so that the control amount in the first period becomes a desired characteristic during normal control operation And an operation amount changing unit, which changes the fourth value so that the control amount in the first period becomes a desired characteristic during normal control operation. A control method includes: a first step, inputting a setting value and a control amount, and calculating a first operation amount by feedback control calculation; a second step, starting before the disturbance application time point and ending after the disturbance is applied The notification signal of outputting a second operation quantity in a rectangular wave shape to eliminate the disturbance; The third step is to perform operation amount restriction processing, which restricts the first operation amount to a value above the lower limit value of the operation amount and below the upper limit value of the operation amount; the fourth step is to set the operation amount of the output terminal Output to the control object, the output terminal operation amount is the result of adding the first operation amount after the operation amount restriction processing to the second operation amount; the fifth step is to change based on the second operation amount The upper and lower limit values of the anti-integration saturation function of the control arithmetic unit, the control arithmetic unit performing the feedback control calculation; and the sixth step of changing the upper and lower limits of the operation amount restriction process based on the second operation amount Value; and in the second step, in the input of the notification signal, in the first period including the period in which the disturbance is applied, the second operation amount of the first value is output to eliminate the disturbance, in In the second period from when the notification signal is input to the start of the first period, the second operation amount of the second value is output so that the control amount stabilizes near the set value, and In the third period from the end of the first period to the end of the input of the notification signal, the second operation amount of the third value is output so that the control amount coincides with the set value, the The fourth step outputs the second operation amount output by the second step during the second period as the output terminal operation amount.

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