WO2019193678A1 - 制御装置の調整支援装置及び制御装置の調整装置 - Google Patents
制御装置の調整支援装置及び制御装置の調整装置 Download PDFInfo
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- WO2019193678A1 WO2019193678A1 PCT/JP2018/014408 JP2018014408W WO2019193678A1 WO 2019193678 A1 WO2019193678 A1 WO 2019193678A1 JP 2018014408 W JP2018014408 W JP 2018014408W WO 2019193678 A1 WO2019193678 A1 WO 2019193678A1
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- 238000005259 measurement Methods 0.000 claims abstract description 43
- 238000012545 processing Methods 0.000 claims description 35
- 238000000034 method Methods 0.000 claims description 23
- 230000002238 attenuated effect Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 10
- 230000003313 weakening effect Effects 0.000 claims description 9
- 238000005728 strengthening Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims 8
- 238000010586 diagram Methods 0.000 description 11
- 230000004048 modification Effects 0.000 description 9
- 238000012986 modification Methods 0.000 description 9
- 230000003247 decreasing effect Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 238000013473 artificial intelligence Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
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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
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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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
- G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
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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
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
Definitions
- the present invention relates to an adjustment support device for a control device and an adjustment device for a control device, and more particularly, to provide an adjustment support device for a control device that provides a guideline for adjusting parameters of the PID control device, and to automatically set the parameters of the PID control device. It is related with the adjustment apparatus of the control apparatus adjusted by.
- a PID control device having proportional (P), integral (I), and differential (D) elements is known.
- P proportional
- I integral
- D differential
- the PID constant calculation unit measures the vibration period, the vibration amplitude, and the phase difference of the measurement value and the operation amount from the peak value of the measurement value and the operation amount. Based on this, it is disclosed to calculate a modified PID constant for suppressing the vibration and replace the PID constant of the PID control calculation unit.
- parameter adjustment direction when manually adjusting the parameters for the proportional, integral and derivative elements of the PID control device, there is no way of knowing which parameter to adjust. Even if a parameter can be specified, there is no way of knowing whether the value of the parameter should be increased or decreased (hereinafter referred to as parameter adjustment direction).
- the present invention has been made in view of the above points, and an object thereof is to provide an adjustment support device for a control device and an adjustment device for the control device that specify parameters to be adjusted in the PID control device and an adjustment direction of the parameters.
- an adjustment support device that supports the adjustment of the parameters of the PID control device that controls the control target by setting each parameter for the proportional element, the integral element, and the differential element, ) A notification unit for outputting a parameter adjustment guideline in a manner that can be detected by the user; and (b) inputting at least a proportional output and a differential output of the PID control device, a phase difference between the proportional output and the differential output, and a proportional output or differential.
- a parameter indicating that a first ratio with an output period or a predetermined multiple of the period is obtained, and when the first ratio is less than a predetermined first threshold, the differential element is strong or the differential element is weakened from the notification unit.
- An adjustment guideline is output, and when the first ratio is greater than or equal to a predetermined first threshold value and less than or equal to a second threshold value, it indicates that the proportional element is strong or weakens from the notification unit.
- the parameter adjustment guideline is output and the first ratio is larger than a predetermined second threshold, it indicates that the proportional element is weak or the integral element is strong or the proportional element is strengthened or the integral element is weakened from the notification unit.
- an adjusting device for adjusting the parameters of a PID control device for controlling a controlled object in which parameters for a proportional element, an integral element and a differential element are set
- An adjustment unit for adjusting the parameter of the PID control device in accordance with a parameter adjustment guideline, and (B) inputting at least a proportional output and a differential output of the PID control device, a phase difference between the proportional output and the differential output, and a proportional output
- the first ratio with the period of the differential output or a predetermined multiple of the period is obtained, and when the first ratio is less than a predetermined first threshold, the adjustment unit is instructed with a parameter adjustment guide for weakening the differential element, When the first ratio is greater than or equal to a predetermined first threshold value and less than or equal to a second threshold value, the adjustment unit is instructed with a parameter adjustment guideline that weakens the proportional factor, and the first ratio is determined in advance. If greater than the second threshold, the
- control device adjustment support device and a control device adjustment device that specify parameters to be adjusted in the PID control device and parameter adjustment directions.
- the simulation result at the time of adjusting the parameter of a PID control apparatus according to the parameter adjustment guideline in 1st Embodiment is shown.
- the simulation result at the time of adjusting the parameter of a PID control apparatus according to the parameter adjustment guideline in 1st Embodiment is shown.
- FIG. 1 is a block diagram of a control system in the present embodiment.
- the control system 1 includes an adjustment support device 10, a PID control device 20, and a control target 40.
- the control system 1 may further include a limiter 30.
- the adjustment support apparatus 10 includes a waveform measurement unit 11 and a notification unit 12.
- the control system 1 constitutes a feedback control system as shown in FIG.
- the PID control device 20 controls the control target 40 by setting each parameter of the proportional element (P) 20a, the integral element (I) 20b, and the differential element (D) 20c.
- the PID control device 20 controls the measurement value (PV) output from the control target 40 and measured by an appropriate measuring instrument to be a given target value (SV).
- the limiter 30 limits the operation amount input to the control target 40. For example, the limiter 30 outputs the upper limit value to the control object 40 when the operation amount output from the PID control device 20 exceeds a preset upper limit value, and the lower limit when the operation amount falls below the lower limit value. The value is output to the control target 40.
- the control object 40 is an object controlled by the PID control device 20.
- the temperature of a desired portion of the control target 40 may be controlled.
- An appropriate device can be used as the controlled object 40, and the measured value (PV) to be controlled may be an appropriate physical quantity.
- the adjustment support device 10 supports parameter adjustment by notifying the user of a parameter adjustment guideline.
- the parameter adjustment guideline indicates which parameter of the proportional element (P) 20a, the integral element (I) 20b, and the differential element (D) 20c is adjusted, and the parameter value is increased or decreased. This includes the adjustment direction of the parameter indicating.
- the notification destination of the parameter adjustment guideline may be a maintenance person of the PID control device 20 other than the user. In this specification, it demonstrates as a user.
- the waveform measurement unit 11 of the adjustment support apparatus 10 determines a parameter adjustment guideline and instructs the notification unit 12 of the parameter adjustment guideline. A method for determining the parameter adjustment guideline will be described in detail later.
- the notification unit 12 outputs a parameter adjustment guide given from the adjustment support device 10 in a manner that the user of the PID control device 20 can detect. For example, the notification unit 12 displays a parameter adjustment guideline on a display unit such as a display. In addition, the notification unit 12 may output the parameter adjustment guideline by voice using the voice output unit, may turn on the lighting unit associated with the content of the parameter adjustment guideline, or may use the parameter in another appropriate manner. An adjustment guideline may be output. The user senses the parameter adjustment guidelines output by the notification unit 12 and adjusts the parameters of the PID control device 20.
- the waveform measurement unit 11 determines a parameter adjustment guide based on the following information. (1) Phase difference between differential output and proportional output (2) Phase difference between proportional output and manipulated variable (3) Whether amplitude is attenuated
- FIG. 2 is an explanatory diagram of a parameter adjustment guide based on the phase difference between the differential output and the proportional output.
- FIG. 3 is an explanatory diagram showing the relationship between the phase difference between the differential output and the proportional output and each parameter. 2 to 4, the amplitude of each waveform is normalized.
- a waveform 31 indicates the output (proportional output) of the proportional element 20a of the PID controller 20.
- Each of the waveforms 32 to 34 represents the output (differential output) of the differential element 20b.
- a waveform 32 shows a differential output when the differential element is strong.
- a waveform 33 shows a differential output when the proportional element is strong.
- a waveform 34 shows a differential output when the proportional element is weak or the integral element is strong.
- the waveform measuring unit 11 inputs at least the output (proportional output) of the proportional element 20a of the PID controller 20 and the output (differential output) of the differential element 20b.
- a waveform 22 indicates a proportional output
- a waveform 21 indicates a differential output.
- the waveform measurement unit 11 obtains the phase difference between the proportional output and the differential output, and the quarter period of the proportional output or the differential output.
- the waveform measurement unit 11 takes the difference between the time of the sign inversion timing of the proportional output (waveform 22) and the time of the sign inversion timing of the differential output (waveform 21), thereby calculating the level of the proportional output and the differential output.
- the phase difference can be obtained.
- the waveform measuring unit 11 takes a difference between the time of the sign inversion timing of the proportional output (waveform 22) and the time of the peak value of the proportional output (waveform 22), so that the quarter cycle of the proportional output is obtained. Can be requested.
- what is necessary is just to obtain
- a 1/2 cycle, 1 cycle, or other predetermined multiple of 1 cycle of the proportional output or differential output may be used.
- the waveform measuring unit 11 obtains a ratio (first ratio; ratio with respect to 1 ⁇ 4 cycle time) between the phase difference between the proportional output and the differential output and the 1/4 cycle of the proportional output or the differential output.
- first ratio ratio with respect to 1 ⁇ 4 cycle time
- the waveform measuring unit 11 determines the parameter adjustment guideline as shown in Table 1 below based on the first ratio and the first and second threshold values set in advance.
- the waveform measurement unit 11 outputs the determined parameter adjustment guideline to the notification unit 12 and causes the notification unit 12 to output the parameter adjustment guideline.
- the parameter adjustment guideline may be output in either the “judgment” column or the “adjustment” column below. More specific examples will be described later.
- the waveform measurement unit 11 when the first ratio is less than a predetermined first threshold, the waveform measurement unit 11 outputs a parameter adjustment guideline indicating that the differential element is strong or weakens from the notification unit 12. When the first ratio is not less than the first threshold value and not more than the second threshold value, the waveform measurement unit 11 causes the notification unit 12 to output a parameter adjustment guideline indicating that the proportional element is strong or weak. When the first ratio is larger than a predetermined second threshold, the waveform measuring unit 11 adjusts the parameter indicating that the proportional element is weak or the integral element is strong or the proportional element is strengthened or the integral element is weakened from the notification unit 12 The pointer is output.
- Proportional element is strong means that the current situation is likely to be caused by the fact that the proportional element is strong, and suggests (notifies) the parameter of the proportional element to be weakened as adjustment content. .
- a notification method for example, “please expand the proportional band” may be notified, but is not limited thereto.
- Proportional factor is weak indicates that the current situation is likely to arise from the fact that the proportional factor is weak, and suggests to increase the parameter of the proportional factor as an adjustment (notification). To do.
- a notification method for example, “Please narrow the proportional band” may be notified, but is not limited thereto.
- “Strong differential element” indicates that there is a high possibility that the current situation is caused by a strong differential element, and suggests (notifies) the parameter of the differential element to be weakened as adjustment content. .
- “Please shorten the derivative time” may be notified, but is not limited thereto.
- “Strong integral element” indicates that there is a high possibility that the current situation is caused by a strong integral element, and suggests (notifies) to weaken the integral element parameters as adjustment content. .
- “Please increase the integration time” may be notified, but is not limited thereto.
- the first threshold value may be any value in the range of 0.50 to 0.70, preferably any value in the range of 0.55 to 0.65.
- 0.85 is used as the second threshold.
- the first threshold value may be any value in the range of 0.75 to 0.95, preferably any value in the range of 0.80 to 0.90.
- the first threshold value and the second threshold value are used. May be appropriately multiplied by a predetermined value. For example, when the 1/2 period is used, the denominator for obtaining the first ratio is doubled and the first ratio is 1/2 times compared to the case where the 1/4 period is used. It is sufficient to make it 1/2 times.
- the first threshold value and the second threshold value can be determined in advance by an empirical rule, but may be found by a learning function such as artificial intelligence. In other words, it is important to define the critical points (first threshold value, second threshold value) for classifying the parameter adjustment guideline, but the phase difference between the proportional output and the differential output, and the 1/4 cycle of the proportional output or the differential output, It is more important to pay attention to the index of the ratio of.
- FIG. 4 is an explanatory diagram of a parameter adjustment guide based on the phase difference between the proportional output and the operation amount.
- the proportional element may be weak or the integral element may be strong. I can judge. Whether the proportional element is weak or the integral element is strong can be determined based on the phase difference between the proportional output and the manipulated variable.
- the waveform measurement unit 11 further inputs an operation amount to the control target 40.
- the waveform measuring unit 11 can input the above-described differential output and proportional output and the operation amount in parallel.
- a waveform 41 indicates an operation amount
- a waveform 42 indicates a proportional output.
- the waveform measuring unit 11 obtains the phase difference between the proportional output and the manipulated variable and the quarter cycle of the proportional output or manipulated variable.
- the waveform measuring unit 11 obtains the phase difference between the proportional output and the manipulated variable by taking the difference between the peak time of the manipulated variable (waveform 41) and the peak time of the proportional output (waveform 42). Can do.
- the 1/4 cycle of the proportional output or the manipulated variable is the same cycle as the 1/4 cycle of the proportional output or the differential output used when obtaining the above-described first ratio. A value of / 4 period can be used.
- the waveform measuring unit 11 obtains a ratio (second ratio; ratio with respect to 1 ⁇ 4 cycle time) between the phase difference between the proportional output and the manipulated variable and the proportional output or 1 ⁇ 4 period of the manipulated variable.
- Second ratio (phase difference between proportional output and manipulated variable) / (proportional output or 1/4 period of manipulated variable)
- the waveform measuring unit 11 determines a parameter adjustment guideline as shown in Table 2 below based on the second ratio and a predetermined third threshold value. Further, the waveform measuring unit 11 outputs the determined parameter adjustment guideline to the notification unit 12 and causes the notification unit 12 to output the parameter adjustment guideline.
- the parameter adjustment guideline may be output in either the “judgment” column or the “adjustment” column below. More specific examples will be described later.
- the waveform measurement unit 11 when the second ratio is less than a predetermined third threshold, the waveform measurement unit 11 outputs a parameter adjustment guideline indicating that the integral element is strong or weakens from the notification unit 12. In addition, when the second ratio is equal to or greater than a predetermined third threshold, the waveform measurement unit 11 outputs a parameter adjustment guideline indicating that the proportional element is weak or the proportional element is increased from the notification unit 12.
- An example of the notification method is the same as described above.
- the third threshold value may be any value in the range of 0.20 to 0.40, preferably any value in the range of 0.25 to 0.35.
- the proportional output or the operation amount is not 1 ⁇ 4 period, but the proportional output or the operation amount is 1 ⁇ 2 period, one period, or other predetermined multiple of one period, the above-described first threshold value and second Similar to the threshold value, the third threshold value may be appropriately multiplied by a predetermined value.
- the third threshold value can be determined in advance by an empirical rule, but may be found by a learning function such as artificial intelligence. In other words, it is also important to determine the critical point (third threshold value) for classifying the parameter adjustment guideline, but an indicator of the ratio between the phase difference between the proportional output and the manipulated variable and the proportional output or a quarter cycle of the manipulated variable. The point which pays attention to is more important.
- the parameter adjustment guideline when the amplitude is attenuated will be described. Even if the first ratio is equal to or greater than a predetermined second threshold, if the amplitude of the measurement value from the control target 40 is not attenuated at a predetermined attenuation rate or more, the phase difference between the proportional output and the manipulated variable described above is obtained.
- the parameter adjustment guideline based on the parameter that is, the parameter adjustment guideline based on the second ratio
- the parameter adjustment guideline indicating that the integral element is strong or weakens the integral element is used.
- the waveform measurement unit 11 attenuates when the first ratio is greater than or equal to a predetermined second threshold value and the amplitude of the measurement value obtained by measuring the output from the controlled object 40 is greater than or equal to a predetermined attenuation rate. If not, a parameter adjustment guideline indicating that the integral element is strong or weakens is output from the notification unit 12.
- the waveform measurement unit 11 outputs a parameter adjustment guideline indicating that the integral element is strong or weakens from the notification unit 12,
- the notification unit 12 outputs a parameter adjustment guideline indicating that the proportional element is weak or the proportional element is strengthened.
- Simulation result 5 and 6 show simulation results when the parameters of the PID control device are adjusted in accordance with the parameter adjustment guidelines in the first embodiment.
- a waveform 51 indicates a target value (SV)
- a waveform 52 indicates a measured value (PV).
- the measured values vibrate.
- the waveform measurement unit 11 starts measuring the waveform at time 300 (the unit is an arbitrary time), and the notification unit 12 displays the parameter adjustment guideline at time 400. Thereafter, the parameters of the PID control device 20 were adjusted according to the displayed parameter adjustment guidelines.
- the measured value after the parameter adjustment is less stable than the value before the adjustment, and is stabilized at the target value.
- FIG. 6 shows a proportional output (waveform 61) and a differential output (waveform 62) in the above-described simulation operation. Proportional output and differential output were also stable after parameter adjustment.
- the notification of the parameter adjustment guideline can be started, for example, in response to a predetermined instruction from the user.
- a predetermined instruction from the user For example, an instruction to start the parameter adjustment guideline notification process may be input from the input unit by a user operation.
- the user adjusts the parameters of the PID control device 20 based on the parameter adjustment guideline notified by the notification unit 12, but the measured value from the control target 40 does not become a desired state (if not improved, improved but desired).
- the user may input an instruction to start the parameter adjustment guideline notification process again.
- the parameter adjustment can be performed a plurality of times, and the first threshold value and the second threshold value that divide the parameter adjustment guideline do not necessarily have to be strict critical points.
- FIG. 7 is a block diagram of a control system in a modification of the first embodiment.
- the adjustment support device 10 further includes a filter processing unit 13.
- the filter processing unit 13 performs filter processing such as a low-pass filter on each PID calculation value.
- the filter processing unit 13 inputs the proportional output and differential output of the PID control device 20 and the operation amount output from the PID control device 20.
- the filter processing unit 13 performs filter processing on each of the proportional output, the differential output, and the manipulated variable, and outputs the result to the waveform measuring unit 11.
- the waveform processing unit 11 obtains the first ratio and the second ratio in the same manner as described above using the filtered proportional output, differential output, and manipulated variable, and determines the parameter adjustment guideline.
- the filter processing unit 13 performs filter processing on one or more of the proportional output, the differential output, and the operation amount in addition to performing the filter processing on all of the proportional output, the differential output, and the operation amount. Also good.
- the waveform measurement unit 11 uses the filtered value for the proportional output, the differential output, and the manipulated variable for the filter processing target, and the non-filter processing target as it is. A value may be used.
- Other configurations and processes are the same as those in the first embodiment, and a detailed description thereof will be omitted.
- the filter processing unit 13 can maintain or improve accuracy even when there is noise in each output and operation amount of the PID control device 20, and can avoid malfunction.
- FIG. 8 is a block diagram of a control system in the second embodiment.
- the control system 3 includes an adjustment device 80, a PID control device 20, and a control target 40.
- the control system 3 may further include a limiter 30.
- the adjustment device 80 includes a waveform measurement unit 81 and an automatic adjustment unit (adjustment unit) 82.
- the control system 3 constitutes a feedback control system as shown in FIG.
- the PID control device 20, the limiter 30, and the controlled object 40 are the same as those in the first embodiment, and detailed description thereof is omitted.
- the adjustment device 80 determines a parameter adjustment guideline, and adjusts each parameter of the proportional element (P) 20a, the integral element (I) 20b, and the differential element (D) 20c of the PID control device 20 according to the parameter adjustment guideline.
- the waveform measurement unit 81 of the adjustment device 80 determines a parameter adjustment guideline and outputs it to the automatic adjustment unit 82.
- the parameter adjustment guideline determination method is the same as in the first embodiment. However, in the present embodiment, the automatic adjustment unit 82 is instructed by the parameter adjustment guideline described in the “Adjustment” column of Tables 1 and 2 above, such as “Weak proportionality factor”.
- the waveform measurement unit 81 obtains the first ratio in the same manner as in the first embodiment, and weakens the differential element in the automatic adjustment unit 82 when the first ratio is less than a predetermined first threshold value. Specify parameter adjustment guidelines.
- the waveform measurement unit 81 instructs the automatic adjustment unit 82 of a parameter adjustment guideline that weakens the proportional element when the first ratio is greater than or equal to a predetermined first threshold value and less than the second threshold value.
- the waveform measurement unit 81 instructs the automatic adjustment unit 82 to set a parameter adjustment guideline that increases the proportional element or weakens the integral element.
- the waveform measuring unit 81 obtains the second ratio in the same manner as in the first embodiment, and the second ratio is less than the predetermined third threshold value.
- the automatic adjustment unit 82 is instructed with a parameter adjustment guideline for weakening the integral element.
- the waveform measurement unit 81 instructs the automatic adjustment unit 82 to set a parameter adjustment guideline that weakens the proportional element.
- the parameter adjustment guideline indicating that the integral element is weakened is used.
- the waveform measurement unit 81 has a first ratio that is equal to or greater than a predetermined second threshold value, and a measurement value obtained by measuring the output from the control target 40 is not attenuated by a predetermined attenuation rate or more. In this case, a parameter adjustment guideline for weakening the integral element is instructed to the automatic adjustment unit 82.
- the waveform measuring unit 81 instructs the automatic adjustment unit 82 to set a parameter adjustment guideline for weakening the integral element, and the second ratio is determined in advance.
- the automatic adjustment unit 82 is instructed with a parameter adjustment guideline for strengthening the proportional element.
- the other configurations and processes of the first threshold value, the second threshold value, the third threshold value, and the waveform measuring unit 81 are the same as those in the first embodiment.
- the automatic adjustment unit 82 sets any one of the parameters of the proportional element (P) 20a, the integral element (I) 20b, and the differential element (D) 20c of the PID control device 20 in accordance with the parameter adjustment guidelines instructed from the waveform measurement unit 81. adjust.
- the automatic adjustment unit 82 widens the proportional band. Similarly, when a parameter adjustment guideline that strengthens the proportional element is instructed, the automatic adjustment unit 82 narrows the proportional band, for example. When a parameter adjustment guideline that weakens the differential element is instructed, the automatic adjustment unit 82 shortens the differential time, for example. When a parameter adjustment guideline that weakens the integral element is instructed, the automatic adjustment unit 82 increases the integration time, for example.
- the adjustment amount can be determined in advance. As an example, the parameter indicated by the parameter adjustment guideline may be increased (or decreased) by a predetermined rate in the parameter adjustment direction, or may be increased (or decreased) by a predetermined amount.
- the adjustment device 80 After the parameter adjustment by the automatic adjustment unit 82, the adjustment device 80 performs the above-described process again when the measured value from the control target 40 is still in a desired state, for example, when the measurement value is oscillating at a predetermined amplitude or more.
- the parameters may be adjusted again.
- the parameter adjustment can be performed a plurality of times, and the first threshold value and the second threshold value that divide the parameter adjustment guideline are not necessarily strictly critical points.
- the adjustment device 80 may further include the filter processing unit 13 in the modified example of the first embodiment.
- FIG. 9 is a block diagram of a control system in a modification of the second embodiment.
- the adjustment device 80 further includes a learning unit 83 and a threshold adjustment unit 84.
- the learning unit 83 and the threshold adjustment unit 84 learn the parameter adjustment result by the automatic adjustment unit 82, and adjust (change) the first threshold value, the second threshold value, and the third threshold value used for determining the parameter adjustment guideline.
- the learning unit 83 has adjusted the parameter of the PID control device 20 by the automatic adjustment unit 82, for example, whether the deviation between the measured value measured from the control target 40 and the target value has decreased from before the parameter adjustment.
- adjustment effect For example, whether the deviation between the measured value measured from the control target 40 and the target value has decreased from before the parameter adjustment.
- the first ratio or the second ratio used when determining the parameter adjustment guideline and the adjustment effect are learned.
- an absolute value may be used as the deviation.
- By accumulating deviations (absolute values) in a predetermined time range it is possible to learn whether or not the vibration of the measured value is smaller than that before the parameter adjustment. Artificial intelligence may be used as a learning method.
- the threshold adjustment unit 84 adjusts the parameter by the automatic adjustment unit 82 based on the learning result by the learning unit 83 so that the deviation between the measured value obtained by measuring the output from the control target 40 and the target value decreases. , At least one of the second threshold and the third threshold is automatically adjusted.
- the adjustment support apparatus 10 and the adjustment apparatus 80 described above can also be realized by a computer having a processing unit and a storage unit.
- the processing unit executes each process of the adjustment support device 10 and the adjustment device 80.
- the storage unit stores a program executed by the processing unit. In addition, the storage unit holds a proportional output, a differential output, and an operation amount from the PID control device 20.
- the above-described processing can also be realized as an adjustment support method and an adjustment method executed by the processing unit. Further, the present invention can be realized by a program or a program medium including instructions for causing the processing unit to execute the above-described processing, a computer-readable recording medium storing the program, a non-temporary recording medium, and the like.
- the present invention is applicable to industries using a control system that performs PID control, such as a device that controls temperature by PID control.
- Adjustment support device 11 Waveform measurement unit 12 Notification unit 13 Filter processing unit 20 PID control device 30 Limiter 40 Control target 80 Adjustment device 81 Waveform measurement unit 82 Automatic adjustment unit 83 Learning unit 84 Threshold adjustment Part
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Abstract
Description
まず、PID制御装置のパラメータの調整を支援する調整支援装置(制御装置の調整支援装置)について説明する。
図1は、本実施形態における制御系のブロック図である。
制御系1は、調整支援装置10と、PID制御装置20と、制御対象40とを備える。制御系1は、リミッタ30をさらに備えてもよい。調整支援装置10は、波形測定部11と通知部12を有する。制御系1は、図1に示すようにフィードバック制御系を構成している。
波形測定部11は、以下の情報に基づいて、パラメータ調整指針を決定する。
(1)微分出力と比例出力の位相差
(2)比例出力と操作量の位相差
(3)振幅が減衰するか否か
第1比率=(比例出力と微分出力の位相差)/(比例出力又は微分出力の1/4周期)
第2比率=(比例出力と操作量の位相差)/(比例出力又は操作量の1/4周期)
図5及び図6は、第1の実施形態におけるパラメータ調整指針に従いPID制御装置のパラメータを調整した際のシミュレーション結果を示す。
上述のパラメータ調整指針の通知は、例えば、ユーザからの所定の指示を契機として開始することができる。例えば、ユーザの操作により入力部から、パラメータ調整指針の通知処理を開始する指示が入力されてもよい。
図7は、第1の実施形態の変形例における制御系のブロック図である。
本変形例における制御系2において、調整支援装置10は、フィルタ処理部13をさらに有する。フィルタ処理部13は、各PID演算値に対して、ローパスフィルタなどのフィルタ処理を行う。
次に、PID制御装置のパラメータを調整する調整装置(制御装置の調整装置)について説明する。
図8は、第2の実施形態における制御系のブロック図である。
制御系3は、調整装置80と、PID制御装置20と、制御対象40とを備える。制御系3は、リミッタ30をさらに備えてもよい。調整装置80は、波形測定部81と自動調整部(調整部)82を有する。制御系3は、図8に示すようにフィードバック制御系を構成している。
調整装置80の波形測定部81は、パラメータ調整指針を決定し、自動調整部82に出力する。パラメータ調整指針の決定方法は、第1の実施形態と同様である。ただし、本実施形態においては、「比例要素を弱める」等、上述の表1及び表2の「調整」の欄に記載したパラメータ調整指針を自動調整部82に指示する。
図9は、第2の実施形態の変形例における制御系のブロック図である。
本変形例における制御系4において、調整装置80は、学習部83と閾値調整部84をさらに有する。学習部83と閾値調整部84は、自動調整部82によるパラメータの調整の結果を学習し、パラメータ調整指針の決定に用いる第1閾値、第2閾値及び第3閾値を調整(変更)する。
上述の調整支援装置10及び調整装置80は、処理部と記憶部を有するコンピュータで実現することも可能である。処理部は、調整支援装置10及び調整装置80の各処理を実行する。記憶部は、処理部が実行するプログラムを記憶する。また、記憶部は、PID制御装置20からの比例出力、微分出力及び操作量を保持する。
10 調整支援装置
11 波形測定部
12 通知部
13 フィルタ処理部
20 PID制御装置
30 リミッタ
40 制御対象
80 調整装置
81 波形測定部
82 自動調整部
83 学習部
84 閾値調整部
Claims (15)
- 比例要素、積分要素及び微分要素に対する各パラメータが設定され制御対象を制御するPID制御装置の前記パラメータの調整を支援する調整支援装置であって、
パラメータ調整指針をユーザが検知可能な態様で出力する通知部と、
前記PID制御装置の少なくとも比例出力と微分出力を入力し、比例出力と微分出力の位相差と、比例出力若しくは微分出力の周期又は周期の所定倍との第1比率を求め、該第1比率が予め定められた第1閾値未満の場合、前記通知部から微分要素が強いこと又は微分要素を弱めることを示すパラメータ調整指針を出力させ、該第1比率が予め定められた第1閾値以上第2閾値以下の場合、前記通知部から比例要素が強いこと又は比例要素を弱めることを示すパラメータ調整指針を出力させ、該第1比率が予め定められた第2閾値より大きい場合、前記通知部から比例要素が弱い若しくは積分要素が強いこと又は比例要素を強める若しくは積分要素を弱めることを示すパラメータ調整指針を出力させる波形測定部と
を備えた制御装置の調整支援装置。 - 前記波形測定部は、第1比率が予め定められた第2閾値以上の場合、
さらに前記制御対象への操作量を入力し、
比例出力と操作量の位相差と、比例出力若しくは操作量の周期又は該周期の所定倍との第2比率を求め、
該第2比率が予め定められた第3閾値未満の場合、前記通知部から積分要素が強いこと又は積分要素を弱めることを示すパラメータ調整指針を出力させ、該第2比率が予め定められた第3閾値以上の場合、前記通知部から比例要素が弱いこと又は比例要素を強めることを示すパラメータ調整指針を出力させる請求項1に記載の制御装置の調整支援装置。 - 前記波形測定部は、第1比率が予め定められた第2閾値以上であり、かつ、前記制御対象からの出力を測定した測定値の振幅が所定の減衰率以上で減衰していない場合、前記通知部から積分要素が強いこと又は積分要素を弱めることを示すパラメータ調整指針を出力させ、
前記波形測定部は、第1比率が予め定められた第2閾値以上であり、かつ、制御対象からの出力を測定した測定値が所定の減衰率以上で減衰する場合、
さらに前記制御対象への操作量を入力し、
比例出力と操作量の位相差と、比例出力若しくは操作量の周期又は該周期の所定倍との第2比率を求め、
該第2比率が予め定められた第3閾値未満の場合、前記通知部から積分要素が強いこと又は積分要素を弱めることを示すパラメータ調整指針を出力させ、該第2比率が予め定められた第3閾値以上の場合、前記通知部から比例要素が弱いこと又は比例要素を強めることを示すパラメータ調整指針を出力させる請求項1に記載の制御装置の調整支援装置。 - 前記第1比率として、比例出力と微分出力の位相差と、比例出力又は微分出力の1/4周期との比率を用い、
前記第1閾値として、0.50~0.70の範囲の値を用い、
前記第2閾値として、0.75~0.95の範囲の値を用いる請求項1乃至3のいずれかに記載の制御装置の調整支援装置。 - 前記第2比率として、比例出力と操作量の位相差と、比例出力又は操作量の1/4周期との比率を用い、
前記第3閾値として、0.20~0.40の範囲の値を用いる請求項1乃至4のいずれかに記載の制御装置の調整支援装置。 - 前記PID制御装置の比例出力と微分出力のいずれか又は双方にフィルタ処理を行い、前記波形処理部へ出力するフィルタ処理部
をさらに備え、
前記波形処理部は、比例出力と微分出力のいずれか又は双方がフィルタ処理された比例出力と微分出力を入力して第1比率を求める請求項1乃至5のいずれかに記載の制御装置の調整支援装置。 - 前記制御対象への操作量にフィルタ処理を行い、前記波形処理部へ出力するフィルタ処理部
をさらに備え、
前記波形処理部は、フィルタ処理された操作量を入力して第2比率を求める請求項2又は3に記載の制御装置の調整支援装置。 - 比例要素、積分要素及び微分要素に対する各パラメータが設定され制御対象を制御するPID制御装置の前記パラメータを調整する調整装置であって、
指示されるパラメータ調整指針に従い、前記PID制御装置の前記パラメータを調整する調整部と、
前記PID制御装置の少なくとも比例出力と微分出力を入力し、比例出力と微分出力の位相差と、比例出力若しくは微分出力の周期又は周期の所定倍との第1比率を求め、該第1比率が予め定められた第1閾値未満の場合、前記調整部に微分要素を弱めるパラメータ調整指針を指示し、該第1比率が予め定められた第1閾値以上第2閾値以下の場合、前記調整部に比例要素を弱めるパラメータ調整指針を指示し、該第1比率が予め定められた第2閾値より大きい場合、前記調整部に比例要素を強める又は積分要素を弱めるパラメータ調整指針を指示する波形測定部と
を備えた制御装置の調整装置。 - 前記波形測定部は、第1比率が予め定められた第2閾値以上の場合、
さらに前記制御対象への操作量を入力し、
比例出力と操作量の位相差と、比例出力若しくは操作量の周期又は該周期の所定倍との第2比率を求め、
該第2比率が予め定められた第3閾値未満の場合、前記調整部に積分要素を弱めるパラメータ調整指針を指示し、該第2比率が予め定められた第3閾値以上の場合、前記調整部に比例要素を強めるパラメータ調整指針を指示する請求項8に記載の制御装置の調整装置。 - 前記波形測定部は、第1比率が予め定められた第2閾値以上であり、かつ、制御対象からの出力を測定した測定値の振幅が所定の減衰率以上で減衰していない場合、前記調整部に積分要素を弱めるパラメータ調整指針を指示し、
前記波形測定部は、第1比率が予め定められた第2閾値以上であり、かつ、制御対象からの出力を測定した測定値が所定の減衰率以上で減衰する場合、
さらに前記制御対象への操作量を入力し、
比例出力と操作量の位相差と、比例出力若しくは操作量の周期又は該周期の所定倍との第2比率を求め、
該第2比率が予め定められた第3閾値未満の場合、前記調整部に積分要素を弱めるパラメータ調整指針を指示し、該第2比率が予め定められた第3閾値以上の場合、前記調整部に比例要素を強めるパラメータ調整指針を指示する請求項8に記載の制御装置の調整装置。 - 前記第1比率として、比例出力と微分出力の位相差と、比例出力又は微分出力の1/4周期との比率を用い、
前記第1閾値として、0.50~0.70の範囲の値を用い、
前記第2閾値として、0.75~0.95の範囲の値を用いる請求項8乃至10のいずれかに記載の制御装置の調整装置。 - 前記第2比率として、比例出力と操作量の位相差と、比例出力又は操作量の1/4周期との比率を用い、
前記第3閾値として、0.20~0.40の範囲の値を用いる請求項8乃至11のいずれかに記載の制御装置の調整装置。 - 前記PID制御装置の比例出力と微分出力のいずれか又は双方にフィルタ処理を行い、前記波形処理部へ出力するフィルタ処理部
をさらに備え、
前記波形処理部は、比例出力と微分出力のいずれか又は双方がフィルタ処理された比例出力と微分出力を入力して第1比率を求める請求項8乃至12のいずれかに記載の制御装置の調整援装置。 - 前記制御対象への操作量にフィルタ処理を行い、前記波形処理部へ出力するフィルタ処理部
をさらに備え、
前記波形処理部は、フィルタ処理された操作量を入力して第2比率を求める請求項9又は10に記載の制御装置の調整装置。 - 前記調整部による前記パラメータの調整により、前記制御対象からの出力を測定した測定値と目標値の偏差がパラメータの調整前よりも減少したか否かを学習する学習部と、
前記学習部による学習結果に基づいて、前記調整部による前記パラメータの調整により、前記制御対象からの出力を測定した測定値と目標値の偏差が減少するように前記第1閾値、第2閾値及び第3閾値の少なくともいずれかを自動調整する閾値調整部と、
をさらに備える請求項8乃至14のいずれかに記載の制御装置の調整装置。
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