TWI711907B - Regulator - Google Patents

Abstract

Even if it is a control object with non-linear characteristics, the present invention can be dealt with by simple adjustment. The regulator of the present invention includes a proportional-integral-derivative arithmetic unit that uses a set value and a control amount as inputs to calculate the operation amount; a cooling-side operation amount output unit, when the operation amount is below the cooling-side threshold, based on the cooling-side table , The operation amount is converted into the cooling side operation amount and output to the cooling device, wherein the cooling side table is divided into a plurality of areas in the numerical range that the operation amount can take, and the relationship between the operation amount and the cooling side operation amount is in each Different methods are specified in the area; the heating-side operation amount output unit converts the operation amount to the heating side based on the heating-side table that defines the relationship between the operation amount and the heating-side operation amount when the operation amount is greater than or equal to the heating-side threshold value The operation amount is output to the heating device; and the area switching point changing unit changes the area switching point as the boundary of the plurality of areas according to the user's instruction.

Description

Adjuster

The present invention relates to a regulator.

There is a control method called Heating and Cooling Proportion Integration Differentiation (PID) control, which switches the heating output and the cooling output according to the operation amount MV calculated by PID calculation, and is used in many control devices. In heating and cooling PID control, because the heating side and cooling side are different, the response characteristics are different. Therefore, it is necessary to set appropriate PID constants (proportional band, integral time, derivative time) for heating side and cooling side respectively.

In applications such as extruders, as a cooling method for products to be molded, a solenoid valve (solenoid valve) is used to control the flow of cold water, but the process gain on the cooling side is too large, so for example, as shown in Figure 11 It shows that in most cases, the control characteristic is not linear, and the PID constant of the regulator cannot be switched well, so there is a problem that the control is greatly disordered.

In the past, for the above-mentioned problems, different PID adjustments were performed for each control object, that is, countermeasures such as making auto-tuning (auto-tuning, AT) a different method from the normal linear control object (refer to Patent Literature) 1. Patent Document 2). However, in the techniques disclosed in Patent Document 1 and Patent Document 2, since the adjustment parameter is a PID constant, there is a problem that the user feels it is difficult to perform fine matching. In addition, in the extruder, in addition to the water cooling method, there is also an air cooling method, but the cooling characteristics are very different. In the techniques disclosed in Patent Document 1 and Patent Document 2, it is necessary to adjust the cooling method after setting the cooling method. Prior art literature Patent literature

Patent Document 1: Japanese Patent Laid-Open No. 2016-170806 Patent Document 2: Japanese Patent Laid-Open No. 5-289704

The problem to be solved by the invention The present invention was made to solve the above-mentioned problems, and its object is to provide a regulator that can be dealt with by simple adjustment even if it is a control object having non-linear characteristics.

Technical means to solve the problem The regulator of the present invention includes: a PID calculation unit configured to set a set value and a control amount as input, and calculate the first operation amount through PID control calculation; the operation amount output unit is configured to be based on a predetermined table, The first operation amount calculated by the PID calculation unit is converted into the second operation amount and output to the cooling device, wherein the table is divided into a plurality of areas by dividing the range of values that the first operation amount can take, and the first operation amount The relationship between the first operation amount and the converted second operation amount is predetermined in a different manner in each area; and an area switching point changing section configured to change the area switching as the boundary of the plurality of areas according to the user's instruction point. In addition, in a configuration example of the regulator of the present invention, the plurality of regions include: a strong cooling region; a normal cooling region is set in a range where the first operation amount is larger than the strong cooling region, and The change in the second operation amount corresponding to the first operation amount is gentler than the strong cooling area; and the extremely weak cooling area is set in a range where the first operation amount is larger than the normal cooling area, Furthermore, the change of the second operation amount corresponding to the first operation amount is gentler than that of the normal cooling area, and the zone switching point changing unit changes between the strong cooling area and the normal cooling area according to a user's instruction The zone switching point of the boundary of the cooling zone.

In addition, the regulator of the present invention includes: a PID calculation unit configured to set a set value and a control amount as input, and calculate the first operation amount through PID control calculation; the operation amount output unit is configured to be based on a predetermined table, The first operation amount calculated by the PID calculation unit is converted into the second operation amount and output to the heating device, wherein the table is divided into a plurality of regions by dividing the range of values that the first operation amount can take, and The relationship between the first operation amount and the converted second operation amount is predetermined in a different manner in each area; and an area switching point changing unit is configured to change the boundary of the plurality of areas according to the user's instruction Zone switching point. In addition, in an example of the configuration of the regulator of the present invention, the area switching point changing unit changes the value of the second operation amount at the area switching point, which is instructed by the user, to change the Table, so that the relationship between the first operation amount and the second operation amount in two adjacent areas with the area switching point as the boundary is changed.

In addition, the regulator of the present invention includes: a PID calculation unit configured to input a set value and a control amount, and calculate the first operation amount through PID control calculation; and the first operation amount output unit is configured to use the PID When the first operation amount calculated by the arithmetic unit is below the cooling side threshold, the first operation amount calculated by the PID arithmetic unit is converted into the second operation amount based on the first table and output to the cooling device. The first table divides the range of values that can be taken by the first operation amount below the cooling side threshold into a plurality of first areas, and the relationship between the first operation amount and the converted second operation amount is The different modes in the first area are predetermined; the second operation amount output unit is configured to be based on the predetermined first operation when the first operation amount calculated by the PID calculation unit is greater than or equal to the heating side threshold A second table of the relationship between the amount and the converted third operation amount, which converts the first operation amount calculated by the PID calculation unit into the third operation amount and outputs it to the heating device; and a zone switching point changing unit constitutes To change the first area switching point as the boundary of the plurality of first areas according to the user's instruction.

In addition, in a configuration example of the regulator of the present invention, the plurality of first regions include: a strong cooling region; a normal cooling region is set in a range where the first operation amount is larger than the strong cooling region, And the change of the second operation amount corresponding to the first operation amount is gentler than the strong cooling area; and the extremely weak cooling area is set in a range where the first operation amount is larger than the normal cooling area , And the change of the second operation amount corresponding to the first operation amount is gentler than that of the normal cooling zone, and the zone switching point changing unit changes as the strong cooling zone and the The first zone switching point is usually the boundary of the cooling zone. In addition, in a configuration example of the regulator of the present invention, the zone switching point changing unit changes the value of the second operation amount at the first zone switching point indicated by the user. The first table changes the relationship between the first operation amount and the second operation amount in two adjacent first areas with the first area switching point as a boundary.

In addition, in an example of the configuration of the regulator of the present invention, the second table is divided into a plurality of second regions in a numerical range that can take the first operation amount equal to or greater than the heating-side threshold value, and the first The relationship between the operation amount and the third operation amount is predetermined in a different manner for each second area, and the area switching point changing unit changes the first area that is the boundary of the plurality of second areas in accordance with the instruction of the user. Two area switching points. In addition, in an example of the configuration of the regulator of the present invention, the zone switching point changing unit changes the value of the third operation amount at the second zone switching point indicated by the user. The second table changes the relationship between the first operation amount and the third operation amount in two adjacent second areas with the second area switching point as a boundary. In addition, in an example of the configuration of the regulator of the present invention, the PID calculation section is when the first operation amount becomes less than or equal to the cooling side threshold value and when the first operation amount becomes more than or equal to the heating side threshold value. In either case, a common PID constant is used to calculate the first operation amount. Effect of invention

According to the present invention, by converting the first operation amount into the second operation amount based on a predetermined table and outputting it to the cooling device or the heating device, good PID control can be achieved. The range is divided into a plurality of areas, and the relationship between the first operation amount and the second operation amount is predetermined in a different manner for each area. In addition, in the present invention, it is possible to change the area switching point that is the boundary between a plurality of areas according to a user's instruction, so that even a control object having non-linear characteristics can be dealt with by simple adjustment.

In addition, in the present invention, good PID control can be achieved by converting the first operation amount into the second operation amount based on the first table and outputting the second operation amount to the cooling device. The numerical range that the operation amount can take is divided into a plurality of first regions, and the relationship between the first operation amount and the converted second operation amount is predetermined in a different manner for each first region. In addition, in the present invention, the area switching point that is the boundary of the plurality of first areas can be changed according to a user's instruction, so that even a control object having a non-linear characteristic can be dealt with by simple adjustment.

First embodiment Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a block diagram showing the configuration of a regulator according to a first embodiment of the present invention. The regulator includes: PID calculation unit 1, which sets the control setting value SP and control variable PV as inputs, and calculates the operation amount MV through PID control calculation; cooling side operation amount output unit 2, when the operation amount MV is below the cooling side threshold In the case of MV, the operation amount MV is converted into the cooling side operation amount MVC and output to the cooling device (not shown); the heating side operation amount output unit 3, when the operation amount MV is greater than or equal to the heating side threshold, the operation amount The MV is converted into a heating-side operation amount MVH and output to a heating device (not shown); the input unit 4 accepts operations from the user; and the area switching point changing unit 5 changes the area switching point described later in accordance with the user's instruction.

Hereinafter, in this embodiment, a plastic extruder including a heating device and a cooling device is used as the control object, and the control amount PV is set as the temperature of the raw material (plastic) of the extruder. In addition, the cooling device includes a cooling pipe arranged around the extruder, a solenoid valve that controls the flow of the cooling medium (cold water) supplied to the cooling pipe, and a water temperature adjustment device that cools the cooling medium after passing through the cooling pipe. In the description, a heater that heats the raw material will be described as a heating device.

Fig. 2 is a flowchart illustrating the control operation of the regulator of this embodiment. The set value SP (temperature set value) is set by the user and input to the PID calculation unit 1 (Figure 2 step S100). The control variable PV (measured temperature value) is measured by a sensor installed in the control object, and input to the PID calculation unit 1 (step S101 in FIG. 2).

The PID calculation unit 1 takes the set value SP and the control variable PV as inputs, and calculates the manipulated variable MV by a well-known PID control calculation so that the control variable PV matches the set value SP (step S102 in FIG. 2 ). The operation amount MV is a numerical value ranging from a minimum of 0% to a maximum of 100%. Furthermore, in the past, different PID constants (proportional band, integral time, derivative time) were used on the heating side and the cooling side. However, in the PID calculation unit 1 of this embodiment, a PID common to the heating side and the cooling side is preset constant.

The cooling-side operation amount output unit 2 includes a cooling-side table 20 which is a storage unit that stores the operation amount MV and the cooling-side operation amount MVC in correspondence. When the operation amount MV calculated by the PID calculation unit 1 is less than or equal to the predetermined cooling side threshold THC (for example, THC=50%) (Yes in step S103 of FIG. 2), the cooling-side operation quantity output unit 2 The cooling side table 20 acquires the cooling side operation amount MVC corresponding to the operation amount MV, converts the operation amount MV into the cooling side operation amount MVC, and outputs it to the cooling device (step S104 in FIG. 2).

FIG. 3 shows an example of the relationship between the operation amount MV specified by the cooling side table 20 and the cooling side operation amount MVC. When the operation amount MV is greater than the cooling side threshold THC, the cooling side operation amount MVC is 0%. Of course, the larger the cooling-side operation amount MVC, the higher the cooling capacity.

On the other hand, the heating-side operation amount output unit 3 includes a heating-side table 30 that is a storage unit that stores the operation amount MV and the heating-side operation amount MVH in association with each other. The heating-side operation amount output unit 3, when the operation amount MV calculated by the PID calculation unit 1 is greater than or equal to the predetermined heating-side threshold THH (for example, THH=50%) (Yes in step S105 in FIG. 2) The heating side table 30 acquires the heating side operation amount MVH corresponding to the operation amount MV, converts the operation amount MV into the heating side operation amount MVH, and outputs it to the heating device (step S106 in FIG. 2).

FIG. 4 shows an example of the relationship between the operation amount MV specified by the heating side table 30 and the heating side operation amount MVH. When the operation amount MV is smaller than the heating-side threshold value THH, the heating-side operation amount MVH is 0%. Of course, the larger the heating-side operation amount MVH, the higher the heating capacity.

The processes of steps S100 to S106 as described above are repeatedly executed in each control cycle until the operation of the regulator is completed (YES in step S107 in FIG. 2).

Next, the features of this embodiment will be described. In this embodiment, assuming a control object with non-linear characteristics such as a plastic extruder, as shown in Fig. 4, for the heating side, the heating side operation variable MVH equal to the calculation result of the normal heating PID control is output. On the one hand, for the cooling side, the range of the operation amount MV is divided from 0% to THC (%) into multiple regions with different purposes, and the cooling side is set so that each region can output the cooling side operation amount MVC corresponding to the purpose. Table 20. In addition, the user can set at least a part of the area switching point.

FIG. 5 is a diagram illustrating the characteristics of the present embodiment, and is a diagram illustrating the division of the cooling area and the setting of the area switching point. In this embodiment, the cooling zone with the operating amount MV=0% to THC (%) is divided into three zones: a strong cooling zone Z1, a normal cooling zone Z2, and an extremely weak cooling zone Z3.

The strong cooling zone Z1 is a zone where the maximum cooling capacity of the cooling device can be exerted during forced cooling or cooling control, and is a zone where the cooling-side operation amount MVC changes rapidly and linearly according to the operation amount MV. The normal cooling zone Z2 is a zone for which a certain degree of normal cooling is possible, and the cooling-side operation amount MVC changes linearly according to the operation amount MV, but the cooling-side operation amount MVC changes more slowly than the strong cooling zone Z1.

The extremely weak cooling zone Z3 is a zone for reducing control disturbances at low output, and the change in the cooling-side operation amount MVC corresponding to the operation amount MV is extremely gentle. In the cooling device of the plastic extruder, even if the output is just as small as the output switching from the heating side, a strong heat absorption effect caused by the latent heat of the cooling medium will occur, and the control will be greatly disordered. Considering this control disturbance and the minimum on-time of solenoid valves or relays, MV-MVC characteristics are set.

In this way, in this embodiment, the cooling area is divided into three, and by outputting the cooling-side operation amount MVC corresponding to the purpose in each area, good cooling PID control can be realized. Furthermore, in this embodiment, the cooling area is divided into three, but it is not limited to this, and the cooling area may be divided into two or more than four.

In addition, in this embodiment, the user can easily perform control adjustment, so the user can set at least a part of the area switching point. In the example of FIG. 5, it is possible to increase or decrease the value of the cooling side operation amount MVC at the zone switching point ZP1 that is the boundary between the strong cooling zone Z1 and the normal cooling zone Z2. In addition, only the zone switching point ZP1 can be changed for setting, and the zone switching point ZP2, which is the boundary between the normal cooling zone Z2 and the extremely weak cooling zone Z3, is not subject to change.

The operation of the regulator when changing the setting of the zone switching point ZP1 will be described with reference to FIG. 6. When the user wants to set the change zone switching point ZP1 before starting the control, the input unit 4 is operated to input the desired value of the cooling side operation amount MVC at the zone switching point ZP1 (step S200 in FIG. 6). For example, when it is found that the solenoid valve of the cooling device has a tendency to close and the cooling capacity is low, increase the value of the cooling side operation amount MVC at the zone switching point ZP1. Conversely, when it is found that the solenoid valve has a tendency to open and When the cooling capacity is high, decrease the value of the cooling side operation amount MVC at the zone switching point ZP1.

When the user inputs the changed value of the cooling side operation amount MVC at the zone switching point ZP1, the zone switching point changing unit 5 rewrites the cooling side table 20 of the cooling side operation amount output unit 2 based on the input (FIG. 6的 step S201). Specifically, along with the change of the cooling-side operation amount MVC at the zone switching point ZP1, the value of the cooling-side operation amount MVC of the strong cooling zone Z1 changes, so the zone switching point changing unit 5 is based on the cooling at the zone switching point ZP1 The changed value of the side operation amount MVC and the value of the fixed point of the strong cooling zone Z1 at the end opposite to the zone switching point ZP1 (the cooling side operation amount MVC=100% at the operation amount MV=0% ), calculate the value of the cooling side operation amount MVC corresponding to each operation amount MV between the operation amount MV=0% and the zone switching point ZP1 through linear interpolation, and compare the operation amount MV registered in the cooling side table 20 with the operation amount MV The value of the corresponding cooling-side operation amount MVC is rewritten to the calculated value. In this way, according to the setting change of the zone switching point ZP1, the value of the cooling-side operation amount MVC in the strong cooling zone Z1 can be rewritten.

Furthermore, with the change of the cooling-side operation amount MVC at the zone switching point ZP1, the value of the cooling-side operation amount MVC of the cooling zone Z2 generally also changes, so the zone switching point changing unit 5 is based on the cooling side at the zone switching point ZP1 The changed value of the operating variable MVC and the fixed point value of the normal cooling zone Z2 at the end opposite to the zone switching point ZP1 (the value of the cooling-side operating variable MVC at the zone switching point ZP2) are linear Interpolate to calculate the value of the cooling-side operation amount MVC corresponding to each operation amount MV between the zone switching point ZP1 and the zone switching point ZP2, and the cooling-side operation corresponding to the operation amount MV registered in the cooling-side table 20 The value of the quantity MVC is rewritten to the calculated value. In this way, the value of the cooling-side operation amount MVC in the normal cooling zone Z2 can be rewritten, and the setting change of the zone switching point ZP1 is completed.

In this embodiment, by setting the zone switching point ZP1 as an item that can be changed by the user, it is possible to cope with the control objects of both the water-cooled extruder and the air-cooled extruder. In addition, it is possible to perform output gain with each control object. Adjust the characteristics accordingly. Therefore, even a control object with nonlinear characteristics can be dealt with by simple adjustments. In addition, by changing the setting of the zone switching point ZP1, it is also possible to compensate for the decrease in the cooling capacity caused by the deterioration of the cooling device.

In the techniques disclosed in Patent Document 1 and Patent Document 2, since adjustment is performed by the setting of PID constants, the user cannot easily perform fine adjustment after AT execution. On the other hand, in this embodiment, the value of the cooling side operation amount MVC at the zone switching point ZP1 is increased when the cooling ability is weak, and the cooling side at the zone switching point ZP1 is reduced when the cooling ability is strong. The value of the operation amount MVC, so that the adjustment of each control object can be performed simply with one parameter. For example, since air-cooled plastic extruders tend to have lower cooling capacity compared with water-cooled methods, it is only necessary to initially set the value of the cooling side operation amount MVC at the zone switching point ZP1 to a suitably large value, and to match each The characteristics of each device can be fine-tuned.

Furthermore, in this embodiment, the plastic extruder is used as the control object, but the regulator of this embodiment can also be applied to other control objects. In addition, the cooling-side threshold THC and the heating-side threshold THH are both set to 50%, but the cooling-side threshold THC may be a value higher than the heating-side threshold THH. THC can be set by the user as a parameter.

Second embodiment Next, the second embodiment of the present invention will be described. In the first embodiment, the cooling side in the heating and cooling PID control is described, but the heating area may be divided into multiple, and the area switching point may be an item that can be set and changed by the user.

FIG. 7 is a block diagram showing the configuration of the regulator of this embodiment, and the same configuration as in FIG. 1 is assigned the same reference numeral. The regulator of this embodiment includes a PID calculation unit 1, a cooling-side operation amount output unit 2, a heating-side operation amount output unit 3, an input unit 4, and a zone switching point changing unit 5a.

The control operation of the regulator is the same as the control operation described in FIG. 2 of the first embodiment. FIG. 8 shows an example of the relationship between the operation amount MV and the heating side operation amount MVH specified by the heating side table 30 of the heating side operation amount output unit 3 of the present embodiment. Generally speaking, the heating device (heater) has a temperature rising characteristic that the temperature rises sharply with respect to the increase in the operation amount MV and then saturates. However, the rapid temperature rise causes the heater to disconnect, which may shorten the life of the heater. Therefore, as shown in FIG. 8, by dividing the heating area into two areas Z4 and Z5, the temperature of the heater is prevented from rising sharply and excessively. In addition, the thermal shock to the product due to a rapid temperature rise can also be suppressed.

In addition, by setting the zone switching point ZP3, which is the boundary between zone Z4 and zone Z5, as an item that can be set and changed by the user, it is possible to easily change the rising speed of the heating-side operation amount MVH with respect to the increase in the operation amount MV. High-speed heating is performed while suppressing the deterioration of the heater. In addition, by changing the setting of the zone switching point ZP3, it is also possible to compensate for the decrease in heating capacity caused by the deterioration of the heating device.

The operation of the regulator when changing the setting of the zone switching point ZP3 will be described using FIG. 9. When the user wants to set the change zone switching point ZP3 before starting the control, the user operates the input unit 4 to input a desired value of the heating-side operation amount MVH at the zone switching point ZP3 (step S300 in FIG. 9).

When the user inputs the changed value of the heating side operation amount MVH at the zone switching point ZP3, the zone switching point changing unit 5a rewrites the heating side table 30 of the heating side operation amount output unit 3 based on the input (FIG. 9 Step S301). Specifically, with the change of the heating-side operation amount MVH at the zone switching point ZP3, the value of the heating-side operation amount MVH of the zone Z4 changes, so the zone switching point changing unit 5a is based on the heating-side operation at the zone switching point ZP3 The changed value of the amount MVH and the value of the fixed point of the zone Z4 located at the end opposite to the zone switching point ZP3 (the heating-side operation amount MVH=0% at the operation amount MV=THH(%)), Calculate the value of the heating side operation amount MVH corresponding to each operation amount MV between the operation amount MV=THH (%) and the zone switching point ZP3 by linear interpolation, and compare the value registered in the heating side table 30 with the operation amount The value of the heating-side operation amount MVH corresponding to MV is rewritten to the calculated value.

Furthermore, with the change of the heating side operation amount MVH at the zone switching point ZP3, the value of the heating side operation amount MVH of the zone Z5 also changes, so the zone switching point changing unit 5a is based on the heating side operation amount at the zone switching point ZP3 The changed value of MVH and the fixed point value of the zone Z5 at the end opposite to the zone switching point ZP3 (the heating-side manipulation amount MVH=100% at the manipulation amount MV=100%) are linearly interpolated To calculate the value of the heating-side operation amount MVH corresponding to each operation amount MV between the zone switching point ZP3 and the operation amount MV=100%, and to register the heating-side operation amount MVH corresponding to the operation amount MV registered in the heating side table 30 The value of the manipulated variable MVH is rewritten to the calculated value. In this way, the setting change of the zone switching point ZP3 is completed.

The operation of the zone switching point changing unit 5a on the cooling side is the same as that of the zone switching point changing unit 5 of the first embodiment. Furthermore, in the first and second embodiments, the heating and cooling PID control has been described as an example, but the present invention can be applied to heating PID control and cooling PID control. When the present invention is applied to heating PID control, as long as the cooling side operation amount output unit 2 is removed from the configuration of FIG. 7, the operation amount MV of the heating side table 30 shown in FIG. 8 is changed from THH (%) ～100% can be changed to the range of 0%～100%.

Similarly, when the present invention is applied to cooling PID control, it is only necessary to remove the heating-side operation amount output unit 3 from the configuration of FIG. 1, and to set the operation amount MV of the cooling side table 20 shown in FIG. 3 from 0 %～THC(%) can be changed to the range of 0%～100%.

The regulator described in the first and second embodiments can be realized by a computer equipped with a central processing unit (CPU), a storage device and an interface, and a program that controls these hardware resources. An example of the configuration of the computer is shown in FIG. 10. The computer includes a CPU 200, a storage device 201, and an interface device (hereinafter referred to as I/F) 202. A sensor, a cooling device, and a heating device for measuring the control variable PV are connected to the I/F202. In such a computer, a program for realizing the operation of the present invention is stored in the storage device 201. The CPU 200 executes the processing described in the first embodiment and the second embodiment in accordance with the program stored in the storage device 201. Industrial availability

The present invention can be applied to the control of control objects with non-linear characteristics.

1‧‧‧PID Operation Department 2‧‧‧Operation output unit on cooling side 3‧‧‧Heating side operation quantity output unit 4‧‧‧Input part 5. 5a‧‧‧Area switching point change part 20‧‧‧Cooling side table 30‧‧‧Heating side table 200‧‧‧CPU 201‧‧‧Storage device 202‧‧‧I/F MV‧‧‧operation volume MVC‧‧‧Cooling side operation volume MVH‧‧‧Heating side operation amount PV‧‧‧Control amount SP‧‧‧setting value S100～S107, S200, S201, S300, S301‧‧‧Step THC‧‧‧Cooling side threshold THH‧‧‧Heating side threshold Z1‧‧‧Strong cooling zone Z2‧‧‧Normal cooling area Z3‧‧‧Very weak cooling area Z4, Z5‧‧‧zone ZP1, ZP2, ZP3‧‧‧Zone switching point

Fig. 1 is a block diagram showing the configuration of a regulator according to a first embodiment of the present invention. Fig. 2 is a flowchart illustrating the control operation of the regulator of the first embodiment of the present invention. 3 is a diagram showing an example of the relationship between the operation amount specified by the cooling side table and the cooling side operation amount in the first embodiment of the present invention. 4 is a diagram showing an example of the relationship between the operation amount specified by the heating side table and the heating side operation amount in the first embodiment of the present invention. Fig. 5 is a diagram illustrating the division of a cooling zone and the setting of zone switching points. Fig. 6 is a flowchart illustrating the operation of the regulator when changing the setting of the zone switching point in the first embodiment of the present invention. Fig. 7 is a block diagram showing the configuration of a regulator according to a second embodiment of the present invention. FIG. 8 is a diagram showing an example of the relationship between the operation amount specified by the heating side table and the heating side operation amount in the second embodiment of the present invention. Fig. 9 is a flowchart illustrating the operation of the regulator when the setting of the zone switching point is changed in the second embodiment of the present invention. Fig. 10 is a block diagram showing a configuration example of a computer that implements the regulators of the first and second embodiments of the present invention. Fig. 11 is a diagram illustrating the non-linearity of the cooling characteristic with respect to the operation amount output.

1‧‧‧PID Operation Department

2‧‧‧Operation output unit on cooling side

3‧‧‧Heating side operation quantity output unit

4‧‧‧Input part

5‧‧‧Zone switching point change section

20‧‧‧Cooling side table

30‧‧‧Heating side table

MV‧‧‧operation volume

MVC‧‧‧Cooling side operation volume

MVH‧‧‧Heating side operation amount

PV‧‧‧Control amount

SP‧‧‧setting value

Claims (8)

A regulator includes: a proportional integral derivative arithmetic unit configured to set a set value and a control variable as input, and calculate a first operating amount through proportional integral derivative control arithmetic; and an operating variable output unit configured to be based on a predetermined table, The first operation amount calculated by the proportional integral derivative operation part is converted into a second operation amount and output to the cooling device, wherein the table is divided into a plurality of regions by dividing the range of values that the first operation amount can take , And the relationship between the first operation amount and the converted second operation amount is pre-defined in a different manner in each area; and an area switching point changing unit is configured to change as the multiple The area switching point at the boundary of the two areas, wherein the plurality of areas include: a strong cooling area; a general cooling area is set in a range where the first operation amount is larger than the strong cooling area, and is different from the first The change of the second operation amount corresponding to the operation amount is gentler than that of the strong cooling area; and the extremely weak cooling area is set in a range where the first operation amount is larger than the normal cooling area, and is different from the first operation amount. The change of the second operation amount corresponding to one operation amount is gentler than that of the normal cooling zone, and the zone switching point changing unit changes the difference between the strong cooling zone and the normal cooling zone according to the instruction of the user. The area switching point of the boundary. A regulator includes: a proportional integral derivative operation unit, which is configured to set a set value and a control variable as input, and calculate a first operating amount through a proportional integral derivative control operation; The operation quantity output unit is configured to convert the first operation quantity calculated by the proportional integral derivative operation unit into a second operation quantity based on a predetermined table, and output it to the heating device, wherein the table is The numerical range that the first operation amount can take is divided into a plurality of regions, and the relationship between the first operation amount and the converted second operation amount is predetermined in a different manner in each region; and the region switching point changes Section, configured to change the area switching point that is the boundary of the plurality of areas in accordance with the instruction of the user, wherein the area switching point changing section is configured to change the area switching point at the area switching point indicated by the user Two changed values of the operation amount, changing the table so that the relationship between the first operation amount and the second operation amount in two adjacent areas with the area switching point as a boundary changes. A regulator includes: a proportional integral derivative arithmetic unit, which is configured to set a set value and a control variable as input, and calculate a first operating amount through a proportional integral derivative control operation; a first operating amount output unit is configured to When the first operation amount calculated by the proportional integral derivative calculation unit is below the cooling side threshold value, the first operation amount calculated by the proportional integral derivative calculation unit is converted into a second operation amount based on the first table. Output to the cooling device, wherein the first table is divided into a plurality of first regions in the numerical range that the first operation amount below the cooling side threshold value can take, and the first operation amount and the converted The relationship of the second operation amount is predetermined in a different manner in each first region; the second operation amount output unit is configured to be the heating side when the first operation amount calculated by the proportional integral derivative operation unit If the threshold is higher than the threshold value, based on the second table that pre-defined the relationship between the first operation amount and the converted third operation amount, The first operation amount calculated by the proportional integral derivative calculation unit is converted into the third operation amount and output to the heating device; and the zone switching point changing unit is configured to change as the plurality of second operations according to a user's instruction The first area switching point at the boundary of an area. The regulator according to item 3 of the scope of patent application, wherein the plurality of first regions include: a strong cooling region; a normal cooling region is set in a range where the first operation amount is larger than the strong cooling region, And the change of the second operation amount corresponding to the first operation amount is gentler than the strong cooling area; and the extremely weak cooling area is set in a range where the first operation amount is larger than the normal cooling area , And the change of the second operation amount corresponding to the first operation amount is gentler than that of the normal cooling area, and the area switching point changing unit changes as the strong cooling area and The first zone switching point of the boundary of the normal cooling zone. The regulator according to item 3 or item 4 of the scope of patent application, wherein the zone switching point changing unit is based on the change of the second operation amount at the first zone switching point indicated by the user After the changed value, change the first table so that the relationship between the first operation amount and the second operation amount in the two adjacent first areas with the first area switching point as the boundary occurs Variety. The regulator according to item 3 or item 4 of the scope of the patent application, wherein the second table divides the allowable numerical range of the first operation amount above the heating side threshold into a plurality of second regions , And the first operation amount and the third The relationship of the operation amount is predetermined in a different manner for each second area, and the area switching point changing unit changes the second area switching point that is the boundary of the plurality of second areas according to an instruction of the user. The regulator according to claim 6, wherein the zone switching point changing unit is based on the changed value of the third operation amount at the second zone switching point indicated by the user , Changing the second table so that the relationship between the first operation amount and the third operation amount in two adjacent second areas with the second area switching point as a boundary is changed. The regulator according to claim 3, wherein the proportional-integral-derivative arithmetic section becomes the heating-side threshold when the first operation amount becomes below the cooling side threshold and the first operation amount becomes the heating side threshold In any of the above cases, a common proportional integral derivative constant is used to calculate the first operation amount.

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