WO1999046647A1 - Appareil et procede de regulation - Google Patents

Appareil et procede de regulation Download PDF

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Publication number
WO1999046647A1
WO1999046647A1 PCT/JP1998/002968 JP9802968W WO9946647A1 WO 1999046647 A1 WO1999046647 A1 WO 1999046647A1 JP 9802968 W JP9802968 W JP 9802968W WO 9946647 A1 WO9946647 A1 WO 9946647A1
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WO
WIPO (PCT)
Prior art keywords
value
control
values
integer
past
Prior art date
Application number
PCT/JP1998/002968
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English (en)
Japanese (ja)
Inventor
Takehiko Futatsugi
Hiroo Sato
Original Assignee
Adtex Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Adtex Inc. filed Critical Adtex Inc.
Priority to AU79362/98A priority Critical patent/AU7936298A/en
Priority to PCT/JP1998/002968 priority patent/WO1999046647A1/fr
Priority to JP53559498A priority patent/JP3352701B2/ja
Priority to PCT/JP1999/003519 priority patent/WO2000002104A1/fr
Priority to AU43946/99A priority patent/AU4394699A/en
Publication of WO1999046647A1 publication Critical patent/WO1999046647A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B21/00—Systems involving sampling of the variable controlled
    • G05B21/02—Systems involving sampling of the variable controlled electric

Definitions

  • the present invention provides a control cycle in which a pulsation (ripple) of a control value is equal to or less than a desired value, and corrects an operation value obtained as a value that matches a control value predicted using a response function to a target value, thereby improving resolution.
  • the present invention relates to a control method having a characteristic that a constant bias does not occur even when an operation means (including ON / OFF control) with insufficient is used, and a control device using the method.
  • the control device inputs the target value S, control value R, and disturbance value (A, B: sometimes not used), and uses these values and the operation value C to calculate S and R in an arithmetic unit having a storage device. Find C that matches, and output C as a result.
  • preprocessing examples include converting the thermocouple electromotive force to temperature, converting voltage and current values to power values, and performing statistical processing to increase the signal Z noise ratio.
  • Examples of post-processing include converting the calculated power value to an AC phase value, and rounding a real value to an integer value.
  • this pre-processing and post-processing is expressed as inputting and outputting values used in control calculations in accordance with customary practices, and also means inputting and outputting converted values.
  • a response function is determined, and an operation value is calculated so that the control value predicted by the response function matches the target value.
  • the number of operation values (levels) that can be set by digitization is also limited.
  • the operation value has only 0 and 1 0 NZOFF control is an operation method with two levels of set values. In a control system with a control cycle of 10 seconds, ON operation is performed in integer units of seconds. If the operating value is fixed to one of these levels, the control value will also reach the value determined by this level (attained value). The number of reached values and the number of set levels are equal. The attained value corresponding to the minimum setpoint is one limit value, and the attained value corresponding to the maximum setpoint is the other limit value. The range between these two limits is the controllable range. The value obtained by dividing the controllable range by the number of set levels is the control value resolution.
  • this operation level and the reached value are represented by a series of integer values.
  • the resolution is 23.4, it is expressed as an integer with 23.4 as the unit. Because the operation target is high temperature, unstable, foams, and there are restrictions on the materials that can be handled, it is almost impossible to use operation means with a sufficient number of setting levels (operation means with high resolution), or it is often expensive and cannot be used There is none.
  • control value predicted by the transfer equation match the target value, and approach the target value.However, if it is limited to the conventional technology, it is essentially a prescription when the resolution of the measured value and the set value is high . Control has a starting point, and it is not necessary to mention an infinite past within a reasonable approximation.
  • a sequence (a left regular sequence) with a term that is not 0 itself but has a term that is all 0 on the past side of that term (called the first term, and its term number is called the first place)
  • All terms are 0 Is a sequence (represented by 0)
  • a sequence that has a term that is not 0, but whose futures are all 0 after that term (called the terminating term, and the term number is terminating) is called a finite sequence.
  • the sequence 0 is another example of this, but a 1 represents a sequence where the 0th term is 1 and all other terms are 0. 0 and 1 are the units of addition and multiplication, respectively.
  • This identification defines the scalar product by multiplication.
  • n ⁇ a ⁇ n-am ⁇ Defines positive and negative powers as if they were real numbers by repeating multiplication and division. a ° ⁇ 1 a k + 1 a a 'a k a k _ 1 ⁇ a k / a However, a ⁇ 0 can not be divided by 0, and the distribution law, the associative law, and the addition law And can be calculated in the same way as ordinary algebraic calculations.
  • the multiplication symbol ⁇ may be omitted.
  • ⁇ represents a sequence in which the first term is 1 and all other terms are 0.
  • the m-th power of ⁇ is 1 for only the m-th term and 0 for the other terms.
  • ⁇ - a ⁇ a A s + aAs + i + ⁇ ⁇ ⁇ + a » ⁇ (AS Hatsukurai of a is)
  • the transfer equation is an equation that relates the cause (operation value c, disturbance a, b, etc.) to the result (control value r).
  • the cause and effect shall represent the difference (change amount) at each time point.
  • the first order of the response function is 1 or more.
  • g ⁇ ⁇ ⁇ , 0, gl, g2, g3, ⁇ ⁇ ⁇
  • h ⁇ ⁇ ⁇ , 0, hi, h 2 , h 3 , ⁇ ;
  • This transfer equation can be expressed using a sequence as follows.
  • theorem “Limited energy can only do finite work. That is, the cause effect attenuates and stops changing.” For example, even if there is a difference in temperature between the input of a 100 W electric heater one second and two seconds before, it is not possible to measure the difference between one hour and ten hours ago. From this theorem, the response function f, g, h is approximated by the following equation using a finite sequence d ', f', g ', h' whose first rank is 1 or more (ends are DE, FE, GE, HE) I can do it.
  • this equation can be expressed as a cause (external cause c, b, a)
  • An internal cause is an accumulation of external causes and is known as a cause of phenomena such as memory, accumulation, inertia, resonance, and tailing.
  • d ' can be thought of as a response function of the memory effect
  • f', g ', and h' can be thought of as response functions considering the memory effect.
  • the pole of the memory effect is positive and less than 1.
  • d ', f g', h '; f, g, h are pulse response functions.
  • the response functions d ', f g', and h ' are determined by the least squares method, finite identification method, sequential identification method, etc. based on this equation.
  • the pulse response function and the cause and effect changes are expressed in lowercase letters, and the step response function and the actual values of the cause and effect are expressed in uppercase letters.
  • ⁇ ⁇ R means a sequence one point before R.
  • Expressions 1 and 2 are rewritten because it is easier to express target values and control values as real values (sum of differences) than as differences.
  • c is the last time point, the operation value when no change is made in the future (no operation) (current and future is 0), R is the measured value up to the present and the control value representing the prediction of no operation, c 'is the current The subsequent operation value (0 in the past) and R 'are the control values when c' is executed after c (the measured value in the past and present, and the predicted value in the future).
  • the predicted value R at the time of no operation can be calculated sequentially from the 1st time to the required time by the 4th formula.
  • Past and present values can be used as the disturbance values if they are measurable disturbances, and past values, present values, and future values (planned values) can be used if the disturbances are caused intentionally. . Equation 4 removes the effect of this intellectual disturbance. With PID control, the removal of such intellectual disturbances (feedforward) was difficult and required a lot of trial and error.
  • the required time is up to the FE + DE point in the finite settling method and the program settling method.
  • Optimal control depends on the choice of optimal conditions.
  • R ' F-(c + c') + G-b + H-a
  • Equation 6 The finite settling method is a method in which the target value S is invariable from the present time, and the program stabilization method allows for change. How. (These methods are called multipoint settling method.) To find the control value c ', in the multipoint settling method, Equation 6 is regarded as a simultaneous linear equation of unknown c', and in the optimal control method, Equation 6 is It is regarded as an observation equation of the least square method (selecting a weight and a specific point in time considered as an optimal condition).
  • control value and the target value are matched in the multipoint settling method, and close in the optimal control method.
  • the control value coincides with the target value. It is said that setting closer to Z is settled.
  • the pulsation (ripple) of the control value caused by reciprocating between the levels (two-sided levels) sandwiching the target value is unavoidable to some extent, It must be avoided that the time average of the control values will cause a constant difference (bias).
  • the response values d 'and f' are determined by appropriately changing the operation values in preliminary measurements.
  • the response function g ' h' of the intelligent disturbance Must make that change happen.
  • the operating value a pulse-like or step-like change with a safe operating value range is attempted. Observe this situation and find the response function using the least squares method, for example. Using this response function, the pulsation is reduced below the desired value by the following means.
  • the response function is modified using the preferred identification method (finite identification method, least squares method, sequential identification method, ⁇ ⁇ ⁇ ) in the actual production. If it is recorded in the non-volatile memory in a timely manner so that it can be used as the initial value at the start of the next control, a learning effect will be generated and the control can be started in a better state next time.
  • the preferred identification method finite identification method, least squares method, sequential identification method, ⁇ ⁇ ⁇
  • This operation value +.
  • the integral value ⁇ is obtained by integrating (accumulating) the fraction obtained when the operation value up to the previous point is converted into an integer C.
  • sgn (x) is a function that takes positive, 0, and negative values of X and takes values of -1, 0, and 1.
  • the value of sgn (0) can be +1 or 11 as well.
  • Int (x) is a function that converts ⁇ to an integer and uses rounding.
  • any function such as rounding, rounding down, rounding up, etc., is a nearly equivalent means of converting to an integer.
  • the manipulated value transitions between the two levels, the control value pulsates above and below the target value, and the average value over time of the control value matches the target value.
  • Fig. 2 shows a case where this transition is made under the condition of Fig. 1.
  • the non-negative numbers p and q in the range of p + 2'q ⁇ l are selected because the integral term rotates the phase in the loop transfer and the proportional term creates an oscillation cause by increasing the gain.
  • a positive number k less than or equal to 1 can be reduced to less than 1 to reduce phase rotation. If the oscillation is very small or no oscillation occurs, k can be set to 1.
  • the manipulated value C-i in the previous cycle (previous point) is not always an integer value.
  • the error integral is corrected with the measured C-i.
  • Fig. 1 is a graph when the operation value is converted to an operation method with low resolution by simply converting the operation value to an integer.
  • ⁇ -1, ⁇ , ⁇ + 1 indicates the control level
  • 0 to 7 indicate the control time
  • FIG. 2 is a graph showing the operation state according to the present invention.
  • Fig. 3 shows how to modify the response function using a graph when changing the control cycle.
  • FI G. 4 shows a graph that determines the end of the response function.
  • the final position is 4.
  • Rl Ro + d 'l To + f' 2-C- l + f '3-C-2 + g'l'bo + g '2-b- l + g' 3-b-2
  • R 2 Ri + d ':-(Ri-Ro) + f' 3-c- i + g 'i -bi + g' 2 -bo + g ' 3 -b- i
  • R 3 R2 + d 'l - (R 2 -Ri) + g' l ⁇ ba + g '2 ⁇ bi + g' 3 ⁇ bo

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Feedback Control In General (AREA)

Abstract

Afin de produire une valeur calculée au moyen d'une variable contrôlée, une variable de commande et une valeur perturbatrice utilisable sont utilisées pour amener une valeur prévue de la variable contrôlée en coïncidence ou presque avec une valeur souhaitée S d'un organe fonctionnel ayant un petit nombre de niveaux prédéfinis (de façon à convertir les valeurs prédéfinies en une série de valeurs entières). Les irrégularités de la variable contrôlée sont évaluées au niveau d'un pôle ayant l'effet mémoire le plus faible et la période de régulation est déterminée. Une valeur de correction est exprimée par une équation linéaire d'une valeur entière de fractions qui sont arrondies en nombres entiers et un changement de signe de la variable de commande est effectué de façon à convertir la valeur en un nombre entier et pour délivrer ce nombre entier en tant que variable de commande. Il est ainsi possible à la variable de commande de varier entre des valeurs prédéfinies (entre n et n+1 dans l'exemple donné en diagramme) qui sont des valeurs acquises de part et d'autre d'une valeur souhaitée S. Lorsque la différence entre la valeur acquise de la variable de commande et la valeur souhaitée est grande, la valeur de correction doit être ajoutée. Les irrégularités de la variable contrôlée sont faibles, de même que l'écart entre la valeur contrôlée et la valeur souhaitée.
PCT/JP1998/002968 1998-03-09 1998-07-01 Appareil et procede de regulation WO1999046647A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AU79362/98A AU7936298A (en) 1998-03-09 1998-07-01 Control method and apparatus therefor
PCT/JP1998/002968 WO1999046647A1 (fr) 1998-03-09 1998-07-01 Appareil et procede de regulation
JP53559498A JP3352701B2 (ja) 1998-03-09 1998-07-01 制御方法とその装置
PCT/JP1999/003519 WO2000002104A1 (fr) 1998-07-01 1999-06-30 Commande predictive utilisant des moyens de mise en oeuvre a niveaux definis reduits
AU43946/99A AU4394699A (en) 1998-07-01 1999-06-30 Predictive control using operating means with fewer set levels

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JPPCT/JP98/00959 1998-03-09
JP9800959 1998-03-09
PCT/JP1998/002968 WO1999046647A1 (fr) 1998-03-09 1998-07-01 Appareil et procede de regulation

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002056122A1 (fr) * 2001-01-10 2002-07-18 Adtex Inc. Nouveau systeme de commande automatique

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63128401A (ja) * 1986-11-18 1988-06-01 Hitachi Ltd 比例・積分形予測適応制御装置
JPH02249001A (ja) * 1989-03-22 1990-10-04 Mitsubishi Heavy Ind Ltd ディジタル操作量の演算装置
JPH0464107A (ja) * 1990-07-03 1992-02-28 Natl Space Dev Agency Japan<Nasda> アンテナ駆動装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63128401A (ja) * 1986-11-18 1988-06-01 Hitachi Ltd 比例・積分形予測適応制御装置
JPH02249001A (ja) * 1989-03-22 1990-10-04 Mitsubishi Heavy Ind Ltd ディジタル操作量の演算装置
JPH0464107A (ja) * 1990-07-03 1992-02-28 Natl Space Dev Agency Japan<Nasda> アンテナ駆動装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"AUTOMATIC CONTROL HANDBOOK", JOURNAL OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS, SN, JP, 1 October 1983 (1983-10-01), JP, pages 73 - 75, XP002926341 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002056122A1 (fr) * 2001-01-10 2002-07-18 Adtex Inc. Nouveau systeme de commande automatique

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