WO2015129677A1 - 制御パラメータ調整装置、および制御パラメータ調整プログラム - Google Patents

制御パラメータ調整装置、および制御パラメータ調整プログラム Download PDF

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Publication number
WO2015129677A1
WO2015129677A1 PCT/JP2015/055195 JP2015055195W WO2015129677A1 WO 2015129677 A1 WO2015129677 A1 WO 2015129677A1 JP 2015055195 W JP2015055195 W JP 2015055195W WO 2015129677 A1 WO2015129677 A1 WO 2015129677A1
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WO
WIPO (PCT)
Prior art keywords
control
disturbance
gain
integral gain
amount
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PCT/JP2015/055195
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English (en)
French (fr)
Japanese (ja)
Inventor
諒 難波
理 山中
勝也 横川
寿治 杉野
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株式会社東芝
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Application filed by 株式会社東芝 filed Critical 株式会社東芝
Priority to CN201580010126.XA priority Critical patent/CN106030423B/zh
Publication of WO2015129677A1 publication Critical patent/WO2015129677A1/ja

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    • 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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • 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
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance

Definitions

  • An input / output unit 15 including a mouse, a keyboard, a touch panel, a display device, and the like, and a communication unit 16 that performs communication via the network NW.
  • the program executed by the CPU 10 may be read from the portable storage device by the drive unit 13 and stored in the auxiliary storage unit 14 or the like, or may be downloaded from another computer via the network NW. Further, the program executed by the CPU 10 may be stored in advance in the auxiliary storage unit 14 or the like when the control parameter adjusting device 1 is shipped.
  • the normative model M (s) may be a model of the equations (5) to (8) represented by the binomial coefficient standard form, or the equations (9) to (12) represented by the Butterworth standard form. ) Or the models of formulas (13) to (16) expressed in ITAE standard form. Note that the normative model setting unit 26 may select one normative model M (s) from various normative models M (s) as required.
  • the parameter derivation unit 30 calculates the manipulated variable u, the control amount y, and the measurable disturbance received from the signal accumulation database 55 by the second preprocessing unit 28 with respect to the equations (18) to (24).
  • the gain vector ⁇ is derived.
  • an integral gain KI, a proportional gain KP, and a value ⁇ indicating the relationship between the measurable disturbance v and the estimated amount d of the disturbance are derived, and the terminal 70 and the like are adjusted as adjusted parameters.
  • the control parameter adjusting apparatus 1 can adjust the control parameters more appropriately.
  • control amount y0 is expressed as in Expression (27).
  • Expression (45) can be transformed into the form of Expression (35) as in the case of performing PI control, ⁇ that minimizes JFD can be obtained by the matrix operation of Expression (18). From the above, it can be seen that the control parameter in which the closed-loop transfer function from the disturbance d to the controlled variable y matches the disturbance reference model ⁇ sM (s) KI-1 ⁇ is obtained by the matrix operation of Expression (18).

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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)
PCT/JP2015/055195 2014-02-28 2015-02-24 制御パラメータ調整装置、および制御パラメータ調整プログラム WO2015129677A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201580010126.XA CN106030423B (zh) 2014-02-28 2015-02-24 控制参数调整装置和控制参数调整程序

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014-039851 2014-02-28
JP2014039851A JP6147687B2 (ja) 2014-02-28 2014-02-28 制御パラメータ調整装置、および制御パラメータ調整プログラム

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WO2015129677A1 true WO2015129677A1 (ja) 2015-09-03

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JP (1) JP6147687B2 (zh)
CN (1) CN106030423B (zh)
WO (1) WO2015129677A1 (zh)

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US11480931B2 (en) * 2018-03-15 2022-10-25 Omron Corporation Learning device, learning method, and program therefor

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JP7107496B2 (ja) * 2017-07-19 2022-07-27 株式会社明電舎 制御系設計方法及び試験システムの制御パラメータ決定方法
JP2019175409A (ja) * 2018-03-30 2019-10-10 国立大学法人横浜国立大学 水処理施設の運転制御装置及び運転制御方法
JP7210996B2 (ja) * 2018-10-17 2023-01-24 富士電機株式会社 制御モデル同定方法、制御モデル同定装置及びプログラム
JP6683270B1 (ja) * 2019-02-04 2020-04-15 オムロン株式会社 外乱抑制装置、外乱抑制方法、およびプログラム
CN110187641B (zh) * 2019-07-12 2021-12-14 杭州电子科技大学 一种城市水务管网供水系统在外加扰动输入下的控制方法
JP2022112300A (ja) * 2021-01-21 2022-08-02 いすゞ自動車株式会社 パラメータ調整装置及びパラメータ調整方法

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JPS625403A (ja) * 1985-06-29 1987-01-12 Toshiba Corp プロセスの自動制御装置
JPH07104681B2 (ja) * 1988-03-18 1995-11-13 株式会社東芝 プロセス制御装置
JP2604036B2 (ja) * 1989-06-09 1997-04-23 株式会社東芝 エンジン試験制御装置
JP3164667B2 (ja) * 1992-10-08 2001-05-08 株式会社東芝 調節装置
JPH06274205A (ja) * 1993-03-22 1994-09-30 Toshiba Corp ゲイン適応形調節装置
JP4166637B2 (ja) * 2003-07-10 2008-10-15 株式会社東芝 プロセス制御装置の調整方法及びその調整ツール

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RYO NAMBA: "A Practical Fictitious Reference Iterative Tuning for Disturbance Attenuation Based on Measurable Disturbance Feed-forward Control Combined with PID Control", THE PAPERS OF JOINT TECHNICAL MEETING ON ''CONTROL'' AND ''INDUSTRIAL INSTRUMENTATION AND CONTROL, 9 July 2014 (2014-07-09) *
SHIRO MASUDA: "PID Gain Tuning for Disturbance Attenuation FRIT Method", THE TRANSACTIONS OF THE INSTITUTE OF ELECTRICAL ENGINEERS OF JAPAN C, vol. 132, no. 6, 1 June 2012 (2012-06-01) *
SHIRO MASUDA: "PID gain tuning for regulator problem based on a direct control parameter tuning approach from one-shot experimental data", THE PAPERS OF TECHNICAL MEETING ON CONTROL, 2 December 2011 (2011-12-02) *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11480931B2 (en) * 2018-03-15 2022-10-25 Omron Corporation Learning device, learning method, and program therefor

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Publication number Publication date
JP6147687B2 (ja) 2017-06-14
CN106030423A (zh) 2016-10-12
JP2015165344A (ja) 2015-09-17
CN106030423B (zh) 2019-03-19

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