WO2020179531A1

WO2020179531A1 - Disturbance suppression device, disturbance suppression method, and program

Info

Publication number: WO2020179531A1
Application number: PCT/JP2020/007347
Authority: WO
Inventors: 昌平山口; 凌汰柿原
Original assignee: オムロン株式会社
Priority date: 2019-03-06
Filing date: 2020-02-25
Publication date: 2020-09-10
Also published as: JP7006637B2; JP2020144590A

Abstract

This disturbance suppression device enables highly accurate suppression of disturbance even in the case of occurrence of system fluctuation. A temperature control device (disturbance suppression device)(200) is provided with a proportional band information acquisition unit (30), a system fluctuation rate determination unit (35), and disturbance operation amount correction unit (40). The proportional band information acquisition unit (30) performs an adjustment process on a control system so as to adjust control parameters for a PID control unit (15) in accordance with a period of time, and acquires information indicating a proportional band. The system fluctuation rate determination unit (35) calculates a proportional band change rate between a first proportional band, information of which is obtained in a first period of time, and a second proportional band, information of which is obtained in a second period of time later than the first period of time, and determines the system fluctuation rate of the control system by using the proportional band change rate. The disturbance operation amount correction unit (40) creates a disturbance operation amount FF2 for a second period of time by dividing, by the system fluctuation rate, a disturbance operation amount FF1 for the first period of time created by a disturbance operation amount prediction unit (20).

Description

Disturbance suppression device, disturbance suppression method, and program

The present invention relates to a disturbance suppression device, a disturbance suppression method, and a program, for example, a disturbance suppression device, a disturbance suppression method, and a program capable of suppressing the influence of a disturbance on a control system.

There is a technique for predicting the disturbance applied to the control system and reducing the influence of the disturbance on the control system (for example, Patent Document 1: Japanese Patent Application Laid-Open No. 2000-227801). Patent Document 1 describes a disturbance manipulation amount predicting means and a disturbance manipulation amount applying means. The disturbance manipulated amount predicting means predicts the disturbance manipulated amount for canceling the disturbance. Then, the disturbance manipulation amount applying means adds the disturbance manipulation amount to the manipulation amount from the PID control means so as to cancel the disturbance when the disturbance is applied. As a result, the influence of the disturbance on the controlled object is suppressed.

Japanese Unexamined Patent Publication No. 2000-227801

However, with the passage of time, system fluctuations may occur in the control system. Here, when the control system includes a heater, system fluctuation occurs due to deterioration of the heater. In addition, system fluctuations can also occur due to changes in the ambient temperature between summer and winter, fluctuations in the workpiece to be processed, and the like. Then, in order to achieve accurate disturbance suppression, it is considered inappropriate to use the disturbance manipulation amount predicted before the system fluctuation occurs even after the system fluctuation occurs.

Therefore, an object of the present invention is to provide a disturbance suppression device, a disturbance suppression method, and a program capable of performing highly accurate disturbance suppression even if a system fluctuation occurs in the disturbance suppression device.

In order to solve the above problems, the disturbance suppression device according to this disclosure is
A disturbance suppression device that suppresses disturbances applied to the control system.
The control system is
Control target,
A PID control unit that outputs a PID operation amount to the control target so as to eliminate the deviation between the target value and the control amount,
The disturbance suppression device is
A disturbance operation amount prediction unit that predicts and creates a disturbance operation amount that acts to cancel the disturbance in response to the disturbance applied to the control system.
A disturbance operation amount application unit capable of applying the disturbance operation amount to the PID operation amount, and
With respect to the control system, an adjustment process for adjusting the control parameters of the PID control unit is performed according to the time, and information representing the proportional band is acquired.
Information is acquired by the proportional band information acquisition unit at a first time when the first proportional band is acquired by the proportional band information acquisition unit at a first time and at a second time after the first time. A system fluctuation rate determination unit that obtains the proportional band change rate between the second proportional band and determines the system fluctuation rate of the control system using the proportional band change rate.
A disturbance operation amount correction unit that creates the disturbance operation amount for the second time period by dividing the disturbance operation amount created by the disturbance operation amount prediction unit for the first time period by the system fluctuation rate. It is characterized by having and.

In the present specification, the PID control (section) is a kind of feedback control and performs proportional control (P control), integral control (I control), and derivative control (D control).

In addition, the "disturbance manipulated amount" means the manipulated variable applied to cancel the disturbance. If the influence of the disturbance on the feedback control system is stylized with the passage of time, the disturbance manipulation amount is also stylized (patterned) with the passage of time.

Also, the "proportional band" means the range of the control amount necessary to change the operation amount from 0 to 100%. Further, the "proportional band change rate" means the rate of change of the proportional band.

In the disturbance suppression device according to this disclosure, the disturbance operation amount prediction unit predicts/creates the disturbance operation amount that acts to cancel the disturbance. The proportional band information acquisition unit performs adjustment processing for adjusting the control parameter of the PID control unit according to the time, and acquires information indicating the proportional band. The system fluctuation rate determination unit includes a first proportional band acquired by the proportional band information acquisition unit at the first time, and a second proportional band acquired by the proportional band information acquisition unit at the second time. A proportional band change rate between the proportional band and the proportional band is obtained, and the system change rate is determined using the proportional band change rate. The disturbance manipulation amount correction unit creates the disturbance manipulation amount for the second period by dividing the disturbance manipulation amount created by the disturbance manipulation amount prediction unit for the first period by the system fluctuation rate. Here, the proportional band change rate is proportional to the system fluctuation rate. Therefore, the proportional fluctuation rate is used to determine the system fluctuation rate, and by dividing the disturbance operation amount by the system fluctuation rate, it is possible to determine a more appropriate disturbance operation amount after the system fluctuation. it can. Therefore, even if the system fluctuates in the control system, it is possible to suppress the disturbance with high accuracy.

When the adjustment process is sequentially performed a plurality of times depending on the time, for example, the first time corresponds to the first time and the second time corresponds to the second time.

In the disturbance suppression device of one embodiment,
The above proportional band information acquisition unit
The above adjustment process is sequentially performed a plurality of times according to the time, and the information indicating the proportional band is sequentially obtained a plurality of times,
When n is an integer of 3 or more, the system fluctuation rate determination unit may be used.
The (n-1) proportional band whose information was acquired by the proportional band information acquisition unit during the (n-1) th time, and the nth time following the (n-1) time. At the time, the proportional band change rate between the nth proportional band information acquired by the proportional band information acquisition unit is obtained, and the system change rate is determined using the proportional band change rate.
The disturbance operation amount correction unit is
A disturbance operation amount for the n-th time is created using the disturbance operation amount created by the disturbance operation amount correction unit for the (n-1)-th time and the system fluctuation rate.
It is characterized by

With the disturbance suppression device of this one embodiment, the disturbance operation amount correction unit once creates the disturbance operation amount, and then when the disturbance operation amount correction unit newly creates the disturbance operation amount, the disturbance operation amount prediction unit It is not necessary to use the created disturbance operation amount. Therefore, it is not necessary to create the disturbance operation amount by the disturbance operation amount prediction unit after the disturbance operation amount correction unit once creates the disturbance operation amount. Therefore, the disturbance tuning by the disturbance manipulated variable predicting unit after the system fluctuation occurs is unnecessary.

In the disturbance suppression device of one embodiment,
The above proportional band information acquisition unit
The above adjustment process is sequentially performed a plurality of times according to the time, and the information representing the above proportional band is sequentially acquired a plurality of times.
When n is an integer of 3 or more, the system fluctuation rate determination unit may be used.
The proportional band change rate between the first proportional band and the nth proportional band information acquired by the proportional band information acquisition unit at the n-th time is calculated, and the proportional band change rate is calculated. Use to determine the above system volatility
The disturbance operation amount correction unit is
It is characterized in that the disturbance operation amount for the nth time is created by using the system fluctuation rate and the disturbance operation amount created by the disturbance operation amount prediction unit.

With the disturbance suppression device of this one embodiment, the disturbance operation amount correction unit can create the disturbance operation amount for the nth time period by using the disturbance operation amount created by the disturbance operation amount prediction unit. Therefore, the disturbance operation amount correction unit can accurately determine the disturbance operation amount for the nth time period.

The disturbance suppression device of one embodiment is
When the proportional band change rate exceeds a preset threshold value, a notification device for notifying the fact is further provided.

In the disturbance suppression system of this one embodiment, when the proportional band information acquisition unit acquires a proportional band having an abnormal value, the user can be notified of that fact. Therefore, it is possible to prevent in advance the improper disturbance operation amount created by the disturbance operation amount correction unit using the abnormal proportional band from being applied to the operation amount from the PID control unit.

In another aspect, the disturbance suppression method of this disclosure is
It is a disturbance suppression method that suppresses the disturbance applied to the control system.
The control system is
Control target,
A PID control unit that outputs a PID operation amount to the control target so as to eliminate the deviation between the target value and the control amount,
The above disturbance suppression method is
In the first period,
Corresponding to the disturbance applied to the control system, a disturbance operation amount that acts to cancel the disturbance is created by prediction, and the disturbance operation amount is applied to the PID operation amount.
With respect to the control system, an adjustment process for adjusting the control parameters of the PID control unit is performed to acquire information representing the first proportional band as the proportional band.
In the second period after the first period above,
With respect to the control system, the adjustment process is performed to obtain information indicating the second proportional band as the proportional band,
The rate of change in the proportional band between the first proportional band and the second proportional band is obtained, and the rate of change in the proportional band is used to determine the system fluctuation rate of the control system.
By dividing the disturbance manipulated amount for the first period by the system fluctuation rate, the disturbance manipulated amount for the second period is created.
The disturbance operation amount for the second period is applied to the PID operation amount.

According to the disturbance suppression method of the present invention, the disturbance operation amount that acts to cancel the disturbance is predicted and created. At the first time, the above adjustment process is performed to obtain the information indicating the first proportional band. At the second time, the adjustment process is performed to obtain the information indicating the second proportional band. The proportional band change rate between the first proportional band and the second proportional band is obtained, and the system fluctuation rate is determined using the change rate of the proportional band. By dividing the disturbance manipulated amount for the first period by the system fluctuation rate, the disturbance manipulated amount for the second period is created. Then, the disturbance operation amount for the second period is applied to the PID operation amount. Here, the proportional band change rate is proportional to the system change rate. Therefore, the system fluctuation rate is determined using the proportional band change rate, and the disturbance manipulation amount can be divided by the system fluctuation rate to determine a more appropriate disturbance manipulation amount after the system fluctuation. it can. Therefore, even if the system fluctuation occurs in the disturbance suppression system, the disturbance can be suppressed with high accuracy.

In yet another aspect, this disclosed program is a program for causing a computer to execute a disturbance suppression method.

The above disturbance suppression method can be carried out by causing a computer to execute the program of this disclosure.

As is clear from the above, according to the disturbance suppression system and the disturbance suppression method disclosed in this disclosure, it is possible to perform highly accurate disturbance suppression even if system fluctuations occur. Further, the disturbance suppression method can be implemented by causing a computer to execute the program of this disclosure.

It is a figure which shows schematic structure of the whole system which concerns on embodiment. It is a figure which shows the structure of the temperature control apparatus to which the disturbance suppression apparatus which concerns on embodiment is applied. It is a figure which shows an example of the disturbance operation amount created so that the said disturbance may be cancelled, when temperature changes in time series by disturbance. It is a figure which shows the flow of the preparation process operation for disturbance suppression in the said temperature control apparatus. 4 is a diagram showing a flow of a disturbance tuning operation included in the preparation processing operation of FIG. 3. FIG. It is a figure which shows the flow of the operation which creates the disturbance operation amount performed by a temperature control device. It is a figure which illustrates the change of the temperature and the change of the disturbance operation amount before and after the system change. It is a figure which illustrates the disturbance operation amount corresponding to each time, which was created by the method of newly creating a disturbance operation amount using the disturbance operation amount created just before. It is a figure which illustrates the disturbance operation amount corresponding to each time created by the method of newly creating a disturbance operation amount using the disturbance operation amount created by the disturbance operation amount prediction unit.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows the configuration of the control system according to this embodiment. The control system includes a system control device 100, a temperature control device 200 to which the disturbance suppression device of one embodiment is applied, a heating device as a control target (hereinafter, simply referred to as “heating device”) 300, and a work transfer device 400. including. As shown in FIG. 1, the system control device 100 is communicably connected to the temperature control device 200 and the work transfer device 400. Further, the temperature control device 200 is connected to the heating device 300 so as to communicate with each other. The connection method described here may be wired connection or wireless connection.

In the system shown in FIG. 1, the work transfer device 400 transfers an object to be heated (not shown) to the heating device 300. Then, the heating device 300 heat-treats the heated body to generate an article after the heat treatment.

The system control device 100 is responsible for controlling the entire system. The system control device 100 transmits each signal related to heating control to the temperature control device 200, and sends a transport signal CS related to transport control of the heated body and the article after heat treatment to the work transport device 400. Send. Based on the transfer signal CS, the work transfer device 400 controls the movement of the object to be heated from outside the system to the heating device 300 and the movement of the article after the heat treatment from the heating device 300 to the outside of the system. The heating device 300 heat-treats the heated body transported to the heating device 300.

The temperature control device 200 controls the temperature of the heating body 300a included in the heating device 300 so that the heating device 300 can perform the heat treatment at a desired temperature. The heating device 300 has a temperature sensor 300b capable of detecting the temperature of the heat treatment. The detected value of the temperature sensor 300b is the temperature T (hereinafter, simply referred to as “temperature T”) as a controlled quantity. The temperature control device 200 transmits a signal including the PID manipulated variable O to the heating device 300 so that the temperature T becomes the target value TO. Then, the heating device 300 controls the heating of the heating body 300a by using the signal including the received PID manipulated variable O so that the temperature T of the heat treatment becomes the target value TO.

FIG. 2 shows a specific configuration example of the temperature control device 200. The temperature control device 200 includes a memory 10, a processor 50, and a notification device 60. The processor 50 realizes functions as a PID control unit 15, a disturbance operation amount prediction unit 20, a disturbance operation amount application unit 25, a proportional band information acquisition unit 30, a system fluctuation rate determination unit 35, and a disturbance operation amount correction unit 40. To do. A program for controlling the temperature control device 200, including a disturbance suppression method described later, is stored in the memory 10. The processor 50 is communicatively connected to the memory 10 and reads a program from the memory 10. As a result, the processor 50 executes various operations including the disturbance suppression method. The processor 50 is communicably connected to the notification device 60.

As shown in FIG. 2, the PID control unit 15 in the temperature control device 200 constitutes a control system for controlling the heating device 300 as a control target. The “control system” includes the heating device 300 and the PID control unit 15. The PID control unit 15 sets the PID operation amount O with respect to the heating device 300 so as to eliminate the deviation (TO-T) between the target value TO and the temperature T (detection temperature T of the temperature sensor 300b as described above). Output.

By the way, when the operation of the system shown in FIG. 1 is started and the transport of the heated body into the system is started, as shown in FIG. 2, a disturbance D due to the disturbance element 70 is generated due to the start of the operation. Here, as the disturbance element 70, there is an inflow of air into the system due to the intrusion of the system to be heated, a decrease in the temperature of the heating body 300a due to the contact of the heated body with the heating body 300a, and the like. .. Here, in this system, the disturbance element 70 is predictable. Therefore, each disturbance D corresponding to each disturbance element 70 applied to the control system can also be predicted in advance.

Therefore, the disturbance operation amount prediction unit 20 in the temperature control device 200 corresponds to the disturbance D applied to the control system, and the disturbance operation amount DO acts to cancel the disturbance D (see FIGS. 1 and 2). Predict. Further, as shown in FIG. 2, the disturbance operation amount applying unit 25 can apply the disturbance operation amount DO predicted by the disturbance operation amount prediction unit 20 to the PID operation amount O.

Here, as shown in the lower part of FIG. 3, the disturbance operation amount DO is the operation amount applied in order to cancel the disturbance D. If the influence of the disturbance D on the control system is standardized with the passage of time, the disturbance manipulated variable DO is also standardized (patterned) with the passage of time. In the example of FIG. 3, it has a stepwise pattern (that is, the disturbance operation amount DO is composed of a plurality of segments Sa to Sd). The upper part of FIG. 3 shows how the temperature T changes in time series due to the application of the disturbance D. The disturbance element 70, the disturbance D, the disturbance operation amount DO, the operation of the PID control unit 15, the operation of the disturbance operation amount predicting unit 20, the operation of the disturbance operation amount applying unit 25, and the like are described in, for example, Japanese Patent Laid-Open No. 2000-227801. It is described in.

As shown in FIG. 2, the temperature control device 200 according to the present embodiment has a proportional band information acquisition unit 30, a system fluctuation rate determination unit 35, and a disturbance operation amount correction unit 40 as functional blocks. ing. The proportional band information acquisition unit 30 performs adjustment processing for adjusting the control parameter of the PID control unit 15 in accordance with the time with respect to the control system, and acquires information representing the proportional band (hereinafter, simply obtain the proportional band. (Called). The system fluctuation rate determination unit 35 determines the proportional band change rate (the ratio of the two proportional bands acquired above), and determines the system fluctuation rate SR of the control system using the proportional band change rate. Further, the disturbance operation amount correction unit 40 creates the corrected disturbance operation amount DO by dividing the disturbance operation amount DO created by the disturbance operation amount prediction unit 20 by the system fluctuation rate SR.

The operation of the temperature control device 200 according to this embodiment will be described below. The operation is roughly classified into two processes. One is a preparation process, and the other is a heating device control process.

(Operation of preparation process)
FIG. 4 shows the flow of the preparatory processing operation for suppressing disturbance in the temperature control device 200. First, in step S1, PID tuning for the PID control unit 15 shown in FIG. 2 is performed. The PID tuning is performed in order to adjust the control parameters (gain, proportional band, integration time, derivative time, etc.) of the PID control unit 15 corresponding to the control system including the heating device 300. Here, as the PID tuning, for example, auto tuning by the limit cycle method as described in detail in JP-A-2005-284828 can be adopted. The control parameters may be adjusted by auto-tuning by the step response method, system identification method by the least squares method, or the like.

As described above, in step S1 of the preparatory process (at the first time), the above-mentioned PID tuning (adjustment process for adjusting the control parameters of the PID control unit 15) is performed. The proportional band information acquisition unit 30 acquires the proportional band Kp by performing the PID tuning (step S1). Here, the proportional band Kp acquired by the proportional band information acquisition unit 30 at the first time is referred to as a proportional band Kp1. The proportional band Kp1 is stored in the memory 10. Note that acquisition of the proportional band Kp by PID tuning is described in, for example, Japanese Unexamined Patent Application Publication No. 2018-112954.

Next, in step S2 of FIG. 4, the disturbance operation amount prediction unit 20 shown in FIG. 2 performs disturbance tuning. As described above, the disturbance element 70 shown in FIG. 2 occurs when the operation (conveyance and heating) of the object to be heated using the heating device 300 and the work conveyance system 400 is started, and the disturbance element 70 is It can be specified in advance. Since the disturbance operation amount prediction unit 20 predicts the disturbance operation amount DO corresponding to the predictable disturbance D applied by the start of the operation of the above process, the disturbance operation amount prediction unit 20 performs the disturbance tuning. ..

Note that, in the heating device control process described later, the disturbance operation amount DO is added to the PID operation amount O in a feedforward manner. Thereby, in the heating device control process, the operation signals O and DO for canceling the disturbance D can be given to the heating device 300.

Now, the operation of determining the disturbance operation amount DO by the disturbance tuning in step S2 of FIG. 4 will be described with reference to FIG. FIG. 5 shows each operation of the disturbance tuning.

First, in the control system described above, a state is created in which the temperature T substantially matches the target value TO. After that, the disturbance operation amount prediction unit 20 starts the disturbance tuning. Specifically, in the preparatory process, the operation of the process (conveyance and heating) for the object to be heated is started (see "Start of system operation" in Fig. 3). When the system control device 100 transmits a signal related to the start of the system operation to the temperature control device 200, the disturbance operation amount prediction unit 20 can recognize the time point of the start of the operation. Then, upon receiving the signal, the disturbance manipulation amount prediction unit 20 starts disturbance tuning.

After that, the process of canceling the disturbance D is not performed, and only the normal PID feedback control is performed. That is, after the start of the operation, with the disturbance D applied to the control system, PID control using the temperature T, the target value TO, and the PID manipulated variable O (that is, feedback that matches the temperature T with the target value TO). Control) is performed in the control system. In this way, after the start of the operation, the disturbance D is applied and the feedback control is performed.

After the start of the operation, during the feedback control, the disturbance operation amount prediction unit 20 detects the disturbance start time ti (see the upper part of FIG. 3) (step S11 in FIG. 5). Here, the disturbance start time point ti means a time point when the temperature deviation |TO-T| between the target value TO and the temperature T exceeds the preset temperature threshold value Tth after the start of the operation.

After step S11, the disturbance operation amount prediction unit 20 logs (records) the temperature T and the PID operation amount O in the memory 10 in time series while performing the feedback control (step S12). Then, the disturbance operation amount prediction unit 20 detects the disturbance end time point tf (see the upper part of FIG. 3) (step S13). Here, the disturbance end time tf means the time when the temperature deviation |TO-T| falls below a preset temperature threshold Tth after step S11. After step S13, the logging (recording) of the temperature T and the PID manipulated variable O ends.

After step S13, the disturbance operation amount prediction unit 20 creates (predicts) the disturbance operation amount DO as shown in the lower part of FIG. 3 using each temperature T and each PID operation amount O recorded in step S12 (. Step S14). In the preparation process, the above-mentioned disturbance operation amount created by the disturbance operation amount prediction unit 20 (which can be grasped as the disturbance operation amount created by the disturbance operation amount prediction unit 20 for the first time) DO is stored in the memory 10. To. The disturbance operation amount DO created by the disturbance operation amount prediction unit 20 for the first time period is referred to as a disturbance operation amount FF1. Here, the creation of the disturbance operation amount DO and the disturbance tuning in the disturbance operation amount prediction unit 20 are described in detail, for example, in Japanese Patent Laid-Open No. 2000-227801.

In this way, the disturbance tuning (step S2 in Fig. 4) is completed. Then, the preparation process shown in FIG. 4 also ends.

(Heating device control processing)
Next, the operation of the heating device control process performed after the preparatory process will be described. Generally speaking, in the heating device control process, the temperature control device 200 transmits the operation amounts O and DO obtained by applying the disturbance operation amount DO to the PID operation amount O in a feedforward manner to the heating device 300. The temperature control device 200 according to the present embodiment can also apply the disturbance operation amount DO created (corrected) by the disturbance operation amount correction unit 40 to the PID operation amount O in a feedforward manner. ..

The heating device control process will be described in detail with reference to FIG. Note that FIG. 6 shows the operation of the heating device control process.

After the above preparatory process, in the above-mentioned control system, a state in which the temperature T substantially matches the target value TO is created. Then, the operation of processing (conveying and heating) on the object to be heated is started. At the time of the start, the system control device 100 transmits the above-mentioned signal relating to the start of operation to the temperature control device 200. When the conveyance of the object to be heated into the system is started, the disturbance D by the disturbance element 70 is applied to the control system described above. On the other hand, the temperature control device 200 receives the temperature T detected by the temperature sensor 300b of the heating device 300. The PID control unit 15 of the temperature control device 200 receives the difference between the target value TO and the received temperature T. Then, the PID control unit 15 outputs the PID operation amount O according to the difference. That is, the PID control unit 15 uses each parameter determined by the PID tuning performed in the preparatory process to perform the PID operation so as to eliminate the temperature deviation | TO-T | between the target value TO and the temperature T. Output the quantity O.

Further, after the temperature control device 200 receives the signal regarding the operation start, the disturbance operation amount application unit 25 applies the disturbance operation amount DO to the PID operation amount O at a predetermined timing, and the disturbance suppression process is executed. (Step S21 in FIG. 6). Here, in the disturbance suppression process in step S21, the disturbance operation amount application unit 25 applies the disturbance operation amount FF1 created by the disturbance operation amount prediction unit 20 in the preparation process to the PID operation amount O in a feedforward manner.

By the way, as described above, system fluctuation may occur in the control system with the passage of time. As an example of system fluctuation, deterioration of the heating element 300a included in the heating device 300 is assumed. Therefore, in the present embodiment, for example, when there is a possibility that a system change has occurred, the user re-performs PID tuning for the control system (step S22). Then, by the PID tuning, the proportional band information acquisition unit 30 acquires the proportional band Kp2 at the second time (step S22). The proportional band Kp2 is stored in the memory 10. The second time is a time when the PID tuning is performed after the first time.

Next, the system fluctuation rate determination unit 35 obtains a proportional band change rate (Kp2/Kp1) between the proportional band Kp1 and the proportional band Kp2 described above. Then, the system fluctuation rate determination unit 35 determines the proportional band change rate (Kp2/Kp1) as the system fluctuation rate SR of the control system for the second time (step S23).

Next, in step S24, the disturbance operation amount correction unit 40 calculates the above-described disturbance operation amount FF1 created by the disturbance operation amount prediction unit 20 for the first time and the system fluctuation rate (Kp2/Kp1). The disturbance manipulated variable DO for the second time period is created using this. More specifically, by dividing the disturbance manipulated variable FF1 by the system fluctuation rate (Kp2 / Kp1), the disturbance manipulated variable DO for the second period is created. The disturbance operation amount DO created by the disturbance operation amount correction unit 40 for the second time is referred to as a disturbance operation amount FF2. The disturbance operation amount FF2 is stored in the memory 10. Further, for example, when the disturbance manipulated variable FF1 and the proportional band Kp1 are not used thereafter, the disturbance manipulated variable FF1 and the proportional band Kp1 are deleted from the memory.

Then, in step S25, the disturbance manipulated variable application unit 25 applies the disturbance manipulated variable FF2 to the PID manipulated variable O in a feedforward manner instead of the disturbance manipulated variable FF1. Note that FIG. 7 exemplifies a time-series change of the temperature T before and after the system change and a change of the disturbance operation amount FO before and after the system change.

By the way, there is a possibility that system fluctuation will occur in the above control system even after the second time. In such a case, the disturbance operation amount correction unit 40 newly creates a disturbance operation amount DO. Here, with respect to the third time period and thereafter, as a mode of creating the disturbance operation amount DO, there are, for example, a first mode and a second mode. Hereinafter, as an example, a method of creating a disturbance manipulated variable DO according to the first aspect and the second aspect will be described.

(First mode)
If there is a possibility that system fluctuation has occurred after the second time, the user performs a third PID tuning on the control system (see step S22 in FIG. 6). Then, by the PID tuning, the proportional band information acquisition unit 30 acquires the proportional band Kp3 at the third time (step S22). The proportional band Kp3 is stored in the memory 10. The third time is the time when PID tuning is performed after the second time.

Next, the system fluctuation rate determination unit 35 obtains a proportional band change rate (Kp3/Kp2) between the proportional band Kp2 described above and the proportional band Kp3 described above. Then, the system fluctuation rate determination unit 35 uses the proportional band change rate (Kp3/Kp2) to determine the system fluctuation rate SR for the third time (step S23). Here, the disturbance operation amount correction unit 40 determines the proportional band change rate (Kp3/Kp2) as the system variation rate SR for the third time period.

Next, in step S24, the disturbance operation amount correction unit 40 creates the disturbance operation amount FF2 regarding the second time period created by the disturbance operation amount correction unit 40 and the system fluctuation rate (Kp3/ Kp2) is used to create the disturbance operation amount DO for the third time period. The disturbance operation amount DO created by the disturbance operation amount correction unit 40 for the third time is referred to as a disturbance operation amount FF3. For example, the disturbance operation amount correction unit 40 divides the disturbance operation amount FF2 by the system fluctuation rate (Kp3/Kp2) to create the disturbance operation amount FF3 for the third time period. The disturbance operation amount FF3 is stored in the memory 10, and, for example, the disturbance operation amount FF2 and the proportional band Kp2 are deleted from the memory. Then, in step S25, the disturbance operation amount application unit 25 applies the disturbance operation amount FF3, instead of the disturbance operation amounts FF1 and FF2, to the PID operation amount O in a feedforward manner.

Similarly, if there is a possibility that system fluctuation has occurred after the third time, the user performs the fourth PID tuning for the control system (see step S22 in FIG. 6). Then, by the PID tuning, the proportional band information acquisition unit 30 acquires the proportional band Kp4 at the fourth time (step S22). The proportional band Kp4 is stored in the memory 10. The fourth time is a time when the PID tuning is performed after the third time.

Next, the system fluctuation rate determination unit 35 obtains the proportional band change rate (Kp4 / Kp3) between the above-mentioned proportional band Kp3 and the above-mentioned proportional band Kp4. Then, the system fluctuation rate determination unit 35 determines the system fluctuation rate SR for the fourth time period using the proportional band change rate (Kp4 / Kp3) (step S23). Here, the disturbance manipulation amount correction unit 40 determines the proportional band change rate (Kp4 / Kp3) as the system fluctuation rate SR for the fourth time period.

Next, in step S24, the disturbance operation amount correction unit 40, the disturbance operation amount FF3 regarding the third time period created by the disturbance operation amount correction unit 40, and the system fluctuation rate regarding the fourth time period (Kp4/Kp3). And are used to create the disturbance operation amount DO for the fourth time period. The disturbance operation amount DO created by the disturbance operation amount correction unit 40 for the fourth time is referred to as a disturbance operation amount FF4. For example, the disturbance manipulated variable correction unit 40 creates the disturbance manipulated variable FF4 for the fourth time period by dividing the disturbance manipulated variable FF3 by the system fluctuation rate (Kp4 / Kp3). The disturbance operation amount FF4 is stored in the memory 10, and, for example, the disturbance operation amount FF3 and the proportional band Kp3 are deleted from the memory. Then, in step S25, the disturbance operation amount application unit 25 applies the disturbance operation amount FF4, instead of the disturbance operation amounts FF1, FF2, and FF3, to the PID operation amount O in a feedforward manner.

FIG. 8 illustrates the relationship between the proportional band Kp, the system fluctuation rate SR, and the disturbance manipulated variable DO when the first aspect is implemented. In the example of FIG. 8, 4 is acquired as the proportional band Kp1 in the first period, 2 is acquired as the proportional band Kp2 in the second period, and 2 is acquired as the proportional band Kp2 in the third period, and the proportional band Kp3 is acquired in the third period. Is acquired, and 1 is acquired as the proportional band Kp4 in the fourth time period. Further, in the example of FIG. 8, the system fluctuation rate SR is Kp2 / Kp1 = 2/4 = 0.5 for the second time period, and the system fluctuation rate SR is Kp3 / for the third time period. Kp2 = 8/2 = 4, and the system fluctuation rate SR is Kp4 / Kp3 = 1/8 = 0.125 for the 4th period. Therefore, in FIG. 8 exemplifying the first mode, the disturbance operation amount FF2 for the second time period is FF2=FF1/0.5, and the disturbance operation amount FF3 for the third time period is FF3=FF2. /4, and the disturbance operation amount FF4 for the fourth time is FF4=FF3/0.125.

As described above, in the first aspect, when n is an integer of 3 or more, the disturbance operation amount correction unit 40 generates the disturbance operation amount created by the disturbance operation amount correction unit 40 with respect to the (n-1)th time. The disturbance operation amount FFn for the n-th time is created using the amount FF(n-1) and the system fluctuation rate SR for the n-th time after the (n-1)-th time. ..

(Second mode)
Next, the second aspect will be described. If there is a possibility that system fluctuation has occurred after the second time, the user performs a third PID tuning on the control system (see step S22 in FIG. 6). Then, by the PID tuning, the proportional band information acquisition unit 30 acquires the proportional band Kp3 at the third time (step S22). The proportional band Kp3 is stored in the memory 10. The third time is a time when the PID tuning is performed after the second time.

Next, the system fluctuation rate determination unit 35 obtains the proportional band change rate (Kp3 / Kp1) between the above-mentioned proportional band Kp1 and the above-mentioned proportional band Kp3. Then, the system fluctuation rate determination unit 35 determines the system fluctuation rate SR for the third period using the proportional band change rate (Kp3 / Kp1) (step S23). Here, the disturbance manipulation amount correction unit 40 determines the proportional band change rate (Kp3 / Kp1) as the system fluctuation rate SR for the third time period.

Next, in step S24, the disturbance operation amount correction unit 40 causes the disturbance operation amount prediction unit 20 to create the disturbance operation amount FF1 relating to the first time and the system variation rate (Kp3/Kp1) relating to the third time. ) To create a disturbance manipulated variable DO for the third period. Note that, here, the disturbance operation amount DO created by the disturbance operation amount correction unit 40 for the third time is referred to as a disturbance operation amount FF3'. For example, the disturbance operation amount correction unit 40 divides the disturbance operation amount FF1 by the system fluctuation rate (Kp3/Kp1) to create the disturbance operation amount FF3' for the third time period. The disturbance operation amount FF3' is stored in the memory 10. Then, in step S25, the disturbance operation amount application unit 25 applies the disturbance operation amount FF3' instead of the disturbance operation amounts FF1 and FF2 to the PID operation amount O in a feedforward manner.

Next, the system fluctuation rate determination unit 35 obtains a proportional band change rate (Kp4/Kp1) between the proportional band Kp1 described above and the proportional band Kp4 described above. Then, the system fluctuation rate determination unit 35 determines the system fluctuation rate SR for the fourth period using the proportional band change rate (Kp4 / Kp1) (step S23). Here, the disturbance operation amount correction unit 40 determines the proportional band change rate (Kp4/Kp1) as the system variation rate SR for the fourth time period.

Next, in step S24, the disturbance operation amount correction unit 40 causes the disturbance operation amount prediction unit 20 to generate the disturbance operation amount FF1 relating to the first time and the system variation rate (Kp4/Kp1) relating to the fourth time. ) And are used to create the disturbance operation amount DO for the fourth time period. Note that, here, the disturbance operation amount DO created by the disturbance operation amount correction unit 40 for the fourth time is referred to as a disturbance operation amount FF4'. For example, the disturbance operation amount correction unit 40 divides the disturbance operation amount FF1 by the system fluctuation rate (Kp4/Kp1) to create the disturbance operation amount FF4' for the fourth time period. The disturbance operation amount FF4' is stored in the memory 10. Then, in step S25, the disturbance operation amount application unit 25 applies the disturbance operation amount FF4' instead of the disturbance operation amounts FF1, FF2, FF3' to the PID operation amount O in a feedforward manner.

FIG. 9 exemplifies the relationship between the proportional band Kp, the system fluctuation rate SR, and the disturbance operation amount DO when the second mode is implemented. In the example of FIG. 9, the proportional band Kp acquired at each time is the same as the example of FIG. In the example of FIG. 9, the system fluctuation rate SR is Kp2/Kp1=2/4=0.5 for the second time, and the system fluctuation rate SR is Kp3/Kp1= for the third time. 8/4=2, and the system variation rate SR is Kp4/Kp1=1/4=0.25 for the fourth time period. Therefore, in FIG. 9 illustrating the second aspect, the disturbance manipulated amount FF2 for the second time period is FF2 = FF1 / 0.5, and the disturbance manipulated amount FF3'for the third time period is FF3'. =FF1/2, and the disturbance operation amount FF4′ regarding the fourth time is FF4′=FF1/0.25.

As described above, in the second aspect, when n is an integer of 3 or more, the disturbance operation amount correction unit 40 has the disturbance operation amount FF1 created by the disturbance operation amount prediction unit 20 for the first time, and the disturbance operation amount FF1. The disturbance operation amount FO for the n-th time is created using the system fluctuation rate SR for the n-th time.

Here, when the proportional band change rate at each time exceeds a preset threshold value, the notification device included in the temperature control device 200 may notify that the proportional band change rate exceeds the threshold value. ..

(effect)
In the temperature control device 200 to which the disturbance suppression device according to the present embodiment is applied, the proportional band information acquisition unit 30 performs PID tuning on the control system according to the time to acquire the proportional band Kp. The system fluctuation rate determination unit 35 acquires the proportional band information at the first time and the proportional band Kp1 acquired by the proportional band information acquisition unit 30 and at the second time after the first time. The proportional band change rate with the proportional band Kp2 acquired by the unit 30 is obtained, and the system fluctuation rate SR is determined using the proportional band change rate. Then, the disturbance operation amount correction unit 40 divides the disturbance operation amount FF1 created by the disturbance operation amount prediction unit 20 for the first time by the system fluctuation rate SR, so that the disturbance operation for the second time is performed. Create quantity FF2.

Here, the proportional band change rate is proportional to the system fluctuation rate SR. Therefore, the system fluctuation rate SR is determined using the proportional band change rate, and the disturbance manipulated variable FO is divided by the system fluctuation rate SR to determine a more appropriate disturbance manipulated variable FO after the system fluctuation. be able to. Therefore, even if the system fluctuates in the control system, it is possible to suppress the disturbance with high accuracy.

Further, in the temperature control device 200 according to the present embodiment, when n is an integer of 3 or more, the disturbance operation amount correction unit 40 is created by the disturbance operation amount correction unit 40 with respect to the (n-1) th time. Using the disturbance manipulated variable FF (n-1) and the system fluctuation rate SR for the nth time following the (n-1) time, the disturbance manipulated amount FFn for the nth time. Is created (see the first aspect).

Therefore, after the disturbance operation amount correction unit 40 once creates the disturbance operation amount FO, when the disturbance operation amount correction unit 40 newly creates the disturbance operation amount FO, the disturbance operation amount prediction unit 20 creates the disturbance. It is not necessary to use the manipulated variable FO(FF1). Therefore, it is not necessary for the disturbance operation amount prediction unit 20 to create the disturbance operation amount after the disturbance operation amount correction unit 40 once creates the disturbance operation amount FO. Therefore, the disturbance tuning by the disturbance operation amount prediction unit 20 after the system fluctuation occurs is not necessary.

Further, in the temperature control device 200 according to the present embodiment, when n is an integer of 3 or more, the disturbance operation amount correction unit 40 is the disturbance operation amount FF1 created by the disturbance operation amount prediction unit 20 for the first time. And the system fluctuation rate SR for the n-th time may be used to create the disturbance operation amount FO for the n-th time (see the second mode).

Therefore, using the disturbance operation amount FO (FF1) created by the disturbance operation amount prediction unit 20, the disturbance operation amount correction unit 40 can create the disturbance operation amount FO for the n-th time. Therefore, the disturbance operation amount correction unit 40 can accurately determine the disturbance operation amount FO for the n-th time.

The temperature control device 200 according to the present embodiment further includes a notification device 60 for notifying when the proportional band change rate exceeds a preset threshold value. Therefore, when the proportional band information acquisition unit 30 acquires the proportional band of an abnormal value, the user can be notified to that effect. Therefore, it is possible to prevent in advance the improper disturbance operation amount FO created by the disturbance operation amount correction unit 40 using the abnormal proportional band from being applied to the operation amount O from the PID control unit 15. Can be done.

The above embodiments are examples, and various modifications can be made without departing from the scope of the present invention. The above-described plurality of embodiments can be independently established, but the embodiments can be combined with each other. Further, although various features in different embodiments can be established independently, it is also possible to combine features in different embodiments.

15 PID control unit 20 Disturbance operation amount prediction unit 25 Disturbance operation amount application unit 30 Proportional band information acquisition unit 35 System fluctuation rate determination unit 40 Disturbance operation amount correction unit 60 Notification device 200 Temperature control device (disturbance suppression device)
300 Heating device (controlled object)

Claims

A disturbance suppression device that suppresses disturbances applied to the control system.
The control system is
Control target,
A PID control unit that outputs a PID operation amount to the control target so as to eliminate the deviation between the target value and the control amount,
The disturbance suppression device is
A disturbance operation amount prediction unit that predicts and creates a disturbance operation amount that acts to cancel the disturbance in response to the disturbance applied to the control system.
A disturbance manipulation amount application unit capable of applying the disturbance manipulation amount to the PID manipulation amount,
With respect to the control system, an adjustment process for adjusting the control parameters of the PID control unit is performed according to the time, and information representing the proportional band is acquired.
Information is acquired by the proportional band information acquisition unit at a first ratio band acquired by the proportional band information acquisition unit at a first time and at a second time after the first time. A system fluctuation rate determination unit that obtains the proportional band change rate between the second proportional band and determines the system fluctuation rate of the control system using the proportional band change rate.
A disturbance operation amount correction unit that creates a disturbance operation amount for the second time period by dividing the disturbance operation amount created by the disturbance operation amount prediction unit for the first time period by the system fluctuation rate. And
Disturbance suppressor.
The disturbance suppression device according to claim 1.
The proportional band information acquisition unit
The adjustment process is sequentially performed a plurality of times according to the timing, and the information representing the proportional band is sequentially acquired a plurality of times.
When n is an integer of 3 or more, the system fluctuation rate determination unit may be used.
The (n-1) proportional band whose information was acquired by the proportional band information acquisition unit during the (n-1) th time, and the nth time following the (n-1) time. At the time, the proportional band change rate between the nth proportional band information acquired by the proportional band information acquisition unit is obtained, and the system change rate is determined using the proportional band change rate.
The disturbance operation amount correction unit is
A disturbance operation amount for the n-th time is created using the disturbance operation amount created by the disturbance operation amount correction unit for the (n-1)-th time and the system fluctuation rate.
A disturbance suppression device characterized by this.
The disturbance suppression device according to claim 1.
The proportional band information acquisition unit
The adjustment process is sequentially performed a plurality of times depending on the time, and the information indicating the proportional band is sequentially obtained a plurality of times,
When n is an integer of 3 or more, the system fluctuation rate determination unit may be used.
The proportional band change rate between the first proportional band and the nth proportional band information acquired by the proportional band information acquisition unit at the n-th time is calculated, and the proportional band change rate is calculated. Use to determine the system volatility
The disturbance operation amount correction unit is
Using the system fluctuation rate and the disturbance manipulation amount created by the disturbance manipulation amount prediction unit, a disturbance manipulation amount for the nth time period is created.
A disturbance suppression device characterized by this.
The disturbance suppression device according to claim 1.
When the proportional band change rate exceeds a preset threshold value, a notification device for notifying that effect is further provided,
A disturbance suppression device characterized by this.
It is a disturbance suppression method that suppresses the disturbance applied to the control system.
The control system is
Control target,
It includes a PID control unit that outputs a PID operation amount to the control target so as to eliminate the deviation between the target value and the control amount.
The disturbance suppression method is
In the first period,
Corresponding to the disturbance applied to the control system, a disturbance operation amount that acts to cancel the disturbance is created by prediction, and the disturbance operation amount is applied to the PID operation amount,
The control system is subjected to an adjustment process for adjusting the control parameters of the PID control unit to acquire information representing the first proportional band as the proportional band.
In the second period after the first period,
The adjustment process is performed on the control system to acquire information representing a second proportional band as the proportional band.
A proportional band change rate between the first proportional band and the second proportional band is determined, and the system change rate of the control system is determined using the proportional band change rate,
A disturbance operation amount for the second time period is created by dividing the disturbance operation amount for the first time period by the system fluctuation rate,
The disturbance manipulation amount for the second period is applied to the PID manipulation amount.
Disturbance suppression method.
A program for causing a computer to execute the disturbance suppression method according to claim 5.