WO2020183852A1 - Control device - Google Patents

Control device Download PDF

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Publication number
WO2020183852A1
WO2020183852A1 PCT/JP2019/049994 JP2019049994W WO2020183852A1 WO 2020183852 A1 WO2020183852 A1 WO 2020183852A1 JP 2019049994 W JP2019049994 W JP 2019049994W WO 2020183852 A1 WO2020183852 A1 WO 2020183852A1
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Prior art keywords
gain value
pid
value
range
control device
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PCT/JP2019/049994
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French (fr)
Japanese (ja)
Inventor
中川　慎二
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株式会社日立製作所
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Publication of WO2020183852A1 publication Critical patent/WO2020183852A1/en

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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
    • 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

Definitions

  • the present invention relates to a control device, and more particularly to a technique for adjusting parameters of the control device.
  • the determination unit is a reference PID value which is a PID value for a preset number of times, and a determination unit for determining the number of times.
  • the control device describes that the subsequent current PID value is acquired and the abnormality of the PID control or the abnormality of the target device is determined based on the change of the current PID value with respect to the reference PID value. Has been done.
  • Japanese Unexamined Patent Publication No. 2018-11254 does not define the permissible range (absolute value) of the PID gain value calculated by auto-tuning, but defines the corresponding processing when the PID gain value is abnormal. It's not something to do.
  • a typical example of the invention disclosed in the present application is as follows. That is, in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, it is permitted to use the gain value as the gain value of the PID controller. When the newly calculated gain value is in the second range, it is characterized by including a permission unit for prohibiting the use of the gain value as the gain value of the PID controller.
  • an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Issues, configurations and effects other than those mentioned above will be clarified by the description of the following examples.
  • FIG. 1-7 It is a figure which shows the core function of the control device in Examples 1-7. It is a system block diagram of the control apparatus in Examples 1-7. It is a figure which shows the control apparatus and the control object in Examples 1 and 3. It is a figure which shows the processing of the desired output value calculation part in Examples 1 to 4. It is a figure which shows the process of the PID controller gain value adjustment part in Examples 1 to 4. It is a figure which shows the process of the PID gain value application permission part in Examples 1, 5 to 7. It is a figure which shows the control apparatus and the control object in Example 2. FIG. It is a figure which shows the process of the PID gain value application permission part in Example 2. FIG. It is a figure which shows the process of the PID gain value application permission part in Example 3. FIG.
  • FIG. It is a figure which shows the control apparatus and the control object in Example 4.
  • FIG. It is a figure which shows the process of the PID gain value application permission part in Example 4.
  • FIG. It is a figure which shows the control apparatus and the control object in Example 5.
  • FIG. It is a figure which shows the processing of the desired output value calculation part in Example 5.
  • Example 1 in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller.
  • a control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
  • control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target.
  • a gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
  • the second range is outside the first range.
  • control device is a device that controls the plant.
  • FIG. 1 is a diagram showing a central function of the control device 1.
  • the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines whether or not the newly calculated PID gain value is used as the PID gain value. When it is determined that the value is used as the PID gain value, the PID gain value (provisional value) must be applied to the PID controller 5 as the latest PID gain value, and the newly calculated PID gain value must be used as the PID gain value. If determined, the current PID gain value is maintained.
  • FIG. 2 is a system configuration diagram of the control device 1.
  • the control device 1 has a storage device 11, a CPU 12, a ROM 13, a RAM 14, a data bus 15, an input circuit 16, an input / output port 17, and an output circuit 18 as hardware.
  • the input circuit 16 processes a signal input from the outside.
  • the signal input from the outside is, for example, a signal from a sensor installed or connected to the control device 1.
  • the signal input from the outside becomes an input signal via the input circuit 16 and is sent to the input / output port 17.
  • Each input information sent to the input / output port 17 is stored in the RAM 14 or the storage device 11 via the data bus 15.
  • At least one of the ROM 13 and the storage device 11 stores a program for executing a process described later, and the program is executed by the CPU 12.
  • the value stored in at least one of the RAM 14 and the storage device 11 is appropriately used to perform the calculation.
  • the information (value) to be sent to the outside among the calculation results is sent to the input / output port 17 via the data bus 15 and sent to the output circuit 18 as an output signal.
  • the output circuit 18 outputs an output signal to the outside.
  • the output signal output to the outside is an actuator drive signal or the like for causing the controlled object to move as desired.
  • a part of the processing performed by the CPU 12 by executing the program may be executed by another arithmetic unit (for example, hardware such as FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit)).
  • FPGA Field Programmable Gate Array
  • ASIC Application Specific Integrated Circuit
  • FIG. 3 is a diagram showing a control device 1 and a plant 6 controlled by the control device 1.
  • the PID controller 5 calculates an operation amount for controlling the temperature of the plant 6 (for example, a target valve opening degree for adjusting the steam temperature).
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (temperature of the plant 6) based on the control target. The details of each process will be described below.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the temperature of the plant 6) based on the control target. Specifically, as shown in FIG. 4, the profile of the desired plant temperature De_Tdeg is calculated for the target plant temperature Tg_Tdeg, which is the control target, by using, for example, a transfer function. Control targets include, for example, step signals, ramp signals, and the like. The transfer function may be determined in advance, but the characteristics may be changed according to the operating state of the plant 6.
  • the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, as shown in FIG. 5, when the PID gain value adjustment processing permission flag f_op is 1, the following processing is executed.
  • the gain value of the PID controller 5 is determined so that the difference between the profile of the plant temperature Tdeg and the profile of the desired plant temperature De_Tdeg is the smallest.
  • the provisional values of the P gain value, the I gain value, and the D gain value of the obtained PID controller 5 are Kp_new, Ki_new, and Kd_new, respectively.
  • or the L1 of J1
  • the PID gain value that minimizes J1 and J2 may be determined by, for example, data-driven control such as IFT (Iterative Feedback Tuning) and FRET (Fictitious Feedback Tuning), and the determination of the PID gain value results in an optimization problem. To do. There are various methods for optimization such as Newton's method and Gauss-Newton's method, and there are many references, so they are not described in detail here.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller as the latest PID gain value, and if it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, the process shown in FIG. 6 is executed. -If the following condition a) is satisfied, the PID gain value is updated as follows.
  • the gain value is set in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set.
  • the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value.
  • the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target.
  • the control device is a device that controls the plant 6.
  • the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Further, when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the operating efficiency and production efficiency of the plant 6 can be improved.
  • Example 2 in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller.
  • a control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
  • control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target.
  • a gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
  • the second range is outside the first range.
  • control device is a device that controls the plant.
  • the gain value is used as the gain value of the PID controller. Ban.
  • FIG. 1 shows the central function of the control device 1 of the second embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 2 shows the system configuration of the control device 1 of the second embodiment, which is the same as that of the first embodiment, and will not be described in detail.
  • FIG. 7 is a diagram showing a control device 1 and a plant 6 controlled by the control device 1.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and adds the PID gain value to the PID gain value. Outputs the control target error flag. Other than that, it is the same as that of the first embodiment, and will not be described in detail.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the temperature of the plant 6) based on the control target. Specifically, it is the same as that of the first embodiment shown in FIG. 4, and will not be described in detail.
  • the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, since it is the same as that of the first embodiment shown in FIG. 5, it will not be described in detail.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, the process shown in FIG. 8 is executed. -If the following condition a) is satisfied, the PID gain value is updated as follows.
  • Kd_new Kd_new_tmp
  • K_Kp_L1 ⁇ Kp_new_tmp ⁇ K_Kp_H1 K_Ki_L1 ⁇ Ki_new_tmp ⁇ K_Ki_H1 K_Kd_L1 ⁇ Kd_new_tmp ⁇ K_Kd_H1 -If the condition a) is not satisfied, the PID gain value is not updated and the current value is maintained. Also, set the control target error flag f_ano_plant 1.
  • the gain value is set in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set.
  • the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value.
  • the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target.
  • the control device is a device that controls the plant 6.
  • the newly calculated gain value is in the second range, it is determined that the operating state of the controlled object is abnormal, and it is prohibited to use the gain value as the gain value of the PID controller 5. To do.
  • the PID gain value of the PID controller 5 Since the gain value of the PID controller 5 is adjusted so that the difference between the desired output value of the control target and the output value of the control target becomes small, the PID gain value changes according to the characteristic change of the control target.
  • the PID gain value is considered to have information on the characteristics of the controlled object. When the characteristics of the controlled object change to the extent that it is considered to have some adverse effect on the system performance, the PID gain value also changes accordingly. From the PID gain value, it is possible to determine an abnormality in the operating state of the controlled object.
  • the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small, and an inappropriate PID can be detected.
  • the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the operating efficiency and production efficiency of the plant 6 can be improved.
  • Example 3 in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller.
  • a control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
  • control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target.
  • a gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
  • the second range is outside the first range.
  • control device is a device that controls the plant.
  • the gain value is used as the gain value of the PID controller. Prohibit that.
  • the third range is outside the second range.
  • FIG. 1 shows the central function of the control device 1 of the third embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 2 shows the system configuration of the control device 1 of the third embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 3 shows the control device 1 of the third embodiment and the plant 6 controlled by the control device 1, which is the same as that of the first embodiment and is not described in detail.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the temperature of the plant 6) based on the control target. Specifically, it is the same as that of the first embodiment shown in FIG. 4, and will not be described in detail.
  • the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, it is the same as that of Example 1 shown in FIG. 5, and will not be described in detail.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, the process shown in FIG. 9 is executed. -If the following condition a) is satisfied, the PID gain value is updated as follows.
  • Kp_new Kp_new_tmp
  • Ki_new_tmp Ki_new_tmp
  • Kd_new Kd_new_tmp
  • the gain value is set in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set.
  • the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value.
  • the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target.
  • the control device is a device that controls the plant 6.
  • the third range (condition a) and condition b) in which the newly calculated gain value is different from both the first range and the second range are not satisfied, and the condition c) is satisfied. If it is in the range), it is prohibited to use the gain value as the gain value of the PID controller 5. Further, the third range is outside the second range.
  • the gain value of the PID controller 5 is adjusted so that the difference between the desired output value of the control target and the output value of the control target becomes small. As mentioned above, determining the PID gain results in an optimization problem. There are various solution methods for optimization, but depending on the solution method, a local solution may be calculated. In this case, the obtained PID gain value may not be sufficiently small in difference between the desired output value of the control target and the output value of the control target, or may be an unrealizable value. If the PID gain value is considerably large, it is possible that the result is obtained. This range is defined as the third range, and when the PID gain provisional value is in the range, it is determined that the PID gain provisional value is abnormal.
  • the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small, and an inappropriate PID gain is further specified.
  • the abnormality of the control target is determined, the abnormality of the calculated PID gain provisional value is determined, and the use of the gain value is prohibited. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the operating efficiency and production efficiency of the plant 6 can be improved.
  • Example 4 in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller.
  • a control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
  • control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target.
  • a gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
  • the newly calculated gain value is in the second range, it is determined that the operating state of the controlled object is abnormal, and it is prohibited to use the gain value as the gain value of the PID controller. To do.
  • the second range is outside the first range.
  • control device is a device that controls the plant.
  • the newly calculated gain value is in the third range different from both the first range and the second range, it is determined that the gain value is abnormal and the gain is determined. It is prohibited to use the value as the gain value of the PID controller.
  • the third range is outside the second range.
  • FIG. 1 shows the central function of the control device 1 of the fourth embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 2 shows the system configuration of the control device 1 of the fourth embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 10 is a diagram showing a control device 1 and a plant 6 controlled by the control device 1.
  • the PID gain value application permission unit 3 newly calculates the PID gain value (provisional) by the PID controller gain value adjustment unit 2 based on the control target in addition to the output information from the control target and the input information to the control target. (Value) is determined whether or not to be used as the PID gain value, and in addition to the PID gain value, the control target abnormality flag and the PID gain provisional value abnormality flag are output. Other than that, it is the same as that of the first embodiment, and will not be described in detail.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the temperature of the plant 6) based on the control target. Specifically, it is the same as that of the first embodiment shown in FIG. 4, and will not be described in detail.
  • the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, it is the same as that of Example 1 shown in FIG. 5, and will not be described in detail.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, the process shown in FIG. 11 is executed. -If the following condition a) is satisfied, the PID gain value is updated as follows.
  • Kp_new Kp_new_tmp
  • Ki_new_tmp Ki_new_tmp
  • Kd_new Kd_new_tmp
  • the gain value is set in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set.
  • the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value.
  • the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target.
  • the control device is a device that controls the plant 6.
  • the third range (condition a) and condition b) in which the newly calculated gain value is different from both the first range and the second range are not satisfied, and the condition c) is satisfied. If it is in the range), it is determined that the gain value is abnormal, and it is prohibited to use the gain value as the gain value of the PID controller 5. Further, the third range is outside the second range.
  • the gain value of the PID controller 5 is adjusted so that the difference between the desired output value of the control target and the output value of the control target becomes small. As mentioned above, determining the PID gain value results in an optimization problem. There are various solution methods for optimization, but depending on the solution method, a local solution may be calculated. In this case, the obtained PID gain value may not be sufficiently small in difference between the desired output value of the control target and the output value of the control target, or may be an unrealizable value. If the PID gain value is considerably large, it is possible that the result is obtained. This range is defined as the third range, and when the PID gain provisional value is in the range, it is determined that the PID gain provisional value is abnormal.
  • the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small, and an inappropriate PID gain is further specified.
  • the abnormality of the control target is determined, the abnormality of the calculated PID gain provisional value is determined, and the use of the gain value is prohibited. Therefore, the PID control gain value can be stably adjusted, the PID controller 5 gain value can be adjusted with high reliability and accuracy, and the operating efficiency and production efficiency of the plant 6 can be improved.
  • Example 5 in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller. Is shown, and when the newly calculated gain value is in the second range, a control device including a permission unit for prohibiting the use of the gain value as a gain value of the PID controller is shown.
  • control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target.
  • a gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
  • the second range is outside the first range.
  • control device is a device that controls an autonomous vehicle.
  • FIG. 1 shows the central function of the control device 1 of the fifth embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 2 shows the system configuration of the control device 1 of the fifth embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 12 is a diagram showing a control device 1 and an autonomous driving vehicle 7 controlled by the control device 1.
  • the PID controller 5 calculates an operation amount (for example, a target speed and a target rotation angular velocity) for controlling the movement of the autonomous driving vehicle 7.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (speed of the autonomous driving vehicle 7, rotation angular velocity, etc.) based on the control target.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the speed of the autonomous driving vehicle 7) based on the control target. Specifically, as shown in FIG. 13, the profile of the desired speed De_VSP is calculated for the target speed Tg_VSP, which is the control target, by using, for example, a transfer function. Control targets include, for example, step signals, ramp signals, and the like. The transfer function may be determined in advance, but the characteristics may be changed according to the operating state of the autonomous driving vehicle 7.
  • the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, as shown in FIG. 14, the adjusted PID gain provisional value is determined so that the difference between the profile of the velocity VSP and the profile of the desired velocity De_VSP is minimized.
  • the provisional values of the P gain value, the I gain value, and the D gain value of the obtained PID controller 5 are Kp_new_tmp, Ki_new_tpm, and Kd_new_tpm, respectively.
  • , or the L1 norm of J1
  • the PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRET (Fictitious Feedback Tuning), and the determination of the PID gain value is an optimization problem. Get back. There are various methods for optimization such as Newton's method and Gauss-Newton's method, and there are many references, so they are not described in detail here.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, since it is the same as that of the first embodiment shown in FIG. 6, it will not be described in detail.
  • the gain value is set in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set.
  • the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value.
  • the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target.
  • the control device is a device that controls the autonomous driving vehicle 7.
  • the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Further, when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the safety and reliability of the autonomous driving vehicle 7 can be improved.
  • Example 6 in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller.
  • a control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
  • control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. It includes a gain value adjusting unit that adjusts the gain value of the PID controller so that the difference from the value (time series signal or the like) becomes small.
  • the second range is outside the first range.
  • control device is a device that controls the robot.
  • FIG. 1 shows the central function of the control device 1 of the sixth embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 2 shows the system configuration of the control device 1 of the sixth embodiment, which is the same as that of the first embodiment, and will not be described in detail.
  • FIG. 15 is a diagram showing a control device 1 and a robot 8 controlled by the control device 1.
  • the PID controller 5 calculates the amount of operation (for example, angle, speed, torque) for controlling the movement of the robot 8.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (such as the arm position of the robot 8) based on the control target.
  • the desired output value calculation unit 4 calculates a desired profile of the output (position of the robot 8) to be controlled based on the control target. Specifically, as shown in FIG. 16, the profile of the desired position De_POS is calculated for the target position Tg_POS, which is the control target, by using, for example, a transfer function. Control targets include, for example, step signals, ramp signals, and the like. The transfer function may be determined in advance, but the characteristics may be changed according to the operating state of the robot 8.
  • the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, as shown in FIG. 17, the adjusted PID gain provisional value is determined so that the difference between the profile of the position POS and the profile of the desired velocity De_POS is minimized.
  • the provisional values of the P gain value, the I gain value, and the D gain value of the obtained PID controller 5 are Kp_new_tmp, Ki_new_tpm, and Kd_new_tpm, respectively.
  • , or the L1 norm of J1
  • the PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRET (Fictitious Feedback Tuning), and the determination of the PID gain value is an optimization problem. Get back. There are various methods for optimization such as Newton's method and Gauss-Newton's method, and there are many references, so they are not described in detail here.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, since it is the same as that of the first embodiment shown in FIG. 6, it will not be described in detail.
  • the gain value is set in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set.
  • the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value.
  • the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target.
  • the control device is a device that controls the robot 8.
  • the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Further, when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller 5 gain value can be adjusted with high reliability and accuracy, and the safety and reliability of the robot 8 can be improved.
  • Example 7 in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller.
  • a control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
  • control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. It is composed of a gain value adjusting unit that adjusts the PID controller gain value so that the difference from the value (time series signal or the like) becomes small.
  • the second range is outside the first range.
  • control device is a device that controls an air vehicle such as a drone.
  • FIG. 1 shows the central function of the control device 1 of the seventh embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 2 shows the system configuration of the control device 1 of the seventh embodiment, which is the same as that of the first embodiment, and is not described in detail.
  • FIG. 18 is a diagram showing a control device 1 and a drone 9 controlled by the control device 1.
  • the PID controller 5 calculates an operation amount (for example, the rotation speed of each rotor) for controlling the movement of the drone 9.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (such as the flight speed of the drone 9) based on the control target.
  • the desired output value calculation unit 4 calculates a desired profile of the output to be controlled (flying speed of the drone 9) based on the control target. Specifically, as shown in FIG. 19, the profile of the desired flight speed De_FSP is calculated for the target flight speed Tg_FSP, which is the control target, by using, for example, a transfer function. Control targets include, for example, step signals, ramp signals, and the like. The transfer function may be determined in advance, but the characteristics may be changed according to the operating state of the drone 9.
  • the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, as shown in FIG. 20, the adjusted PID gain provisional value is determined so that the difference between the profile of the flight speed FSP and the profile of the desired flight speed De_FSP is minimized.
  • the provisional values of the P gain value, the I gain value, and the D gain value of the obtained PID controller 5 are Kp_new_tmp, Ki_new_tpm, and Kd_new_tpm, respectively.
  • or the L1 of J1
  • the PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRET (Fictitious Feedback Tuning), and the determination of the PID gain value is an optimization problem. Get back. There are various methods for optimization such as Newton's method and Gauss-Newton's method, and there are many references, so they are not described in detail here.
  • the PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, since it is the same as that of the first embodiment shown in FIG. 6, it will not be described in detail.
  • the gain value is set in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set.
  • the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value.
  • the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target.
  • the control device is a device that controls the drone 9.
  • the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Further, when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the safety and reliability of the drone 9 can be improved.
  • the first range for example, condition a
  • the gain value is allowed to be used as the gain value of the PID controller 5
  • the newly calculated gain value is in the second range (for example, the range in which the condition a) is not satisfied).
  • the PID gain value application permission unit 3 for prohibiting the use of the gain value as the gain value of the PID controller 5 is provided, the PID is specified according to the newly calculated allowable range (absolute value) of the PID gain value.
  • the PID control gain value can be adjusted stably, and the PID controller gain value can be adjusted with high reliability and accuracy.
  • the PID controller 5 is set so that the difference between the desired output value calculation unit 4 for calculating the desired output value of the control target 6 and the calculated desired output value and the output value of the control target 6 is small. Since the PID controller gain value adjusting unit 2 for adjusting the gain value is provided, the controlled object can be operated under desired conditions.
  • the PID gain value application permission unit 3 determines that the operating state of the controlled object is abnormal and controls the gain value by PID. Since it is prohibited to use it as the gain value of the device 5, the controlled object can be operated stably, and an abnormality of the controlled object can be determined.
  • the PID gain value application permission unit 3 has a third range (for example, condition a) and condition b) in which the newly calculated gain value is different from both the first range and the second range. If the condition c) is not satisfied and the condition c) is satisfied, the use of the gain value as the gain value of the PID controller 5 is prohibited, so that the abnormality of the PID gain value can be determined.
  • the PID gain value application permission unit 3 determines that the gain value is abnormal and determines the gain value of the PID controller 5. Since it is prohibited to use it as a gain value, the controlled object can be operated stably, and an abnormality of the PID gain value can be determined.
  • the second range is outside the first range, the abnormality of the controlled object can be accurately determined.
  • the third range is outside the second range, the abnormality of the PID gain value can be accurately determined.
  • the present invention is not limited to the above-described embodiment, but includes various modifications and equivalent configurations within the scope of the attached claims.
  • the above-described examples have been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the described configurations.
  • a part of the configuration of one embodiment may be replaced with the configuration of another embodiment.
  • the configuration of another embodiment may be added to the configuration of one embodiment.
  • other configurations may be added / deleted / replaced with respect to a part of the configurations of each embodiment.
  • each of the above-described configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.
  • Information such as programs, tables, and files that realize each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
  • SSD Solid State Drive
  • a recording medium such as an IC card, an SD card, or a DVD.
  • control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines that are necessary for implementation. In practice, it can be considered that almost all configurations are interconnected.

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Abstract

This control device, which adjusts a gain value of a PID controller, is characterized by comprising a permission part that, when a newly calculated gain value is in a first range, permits the gain value to be used as the gain value of the PID controller, and when the newly calculated gain value is in a second range, prohibits the use of the gain value as the gain value of the PID controller.

Description

制御装置Control device 参照による取り込みCapture by reference
　本出願は、平成３１年（２０１９年）３月１２日に出願された日本出願である特願２０１９－４４４６５の優先権を主張し、その内容を参照することにより、本出願に取り込む。 This application claims the priority of Japanese Patent Application No. 2019-44465, which is a Japanese application filed on March 12, 2019, and incorporates it into this application by referring to its contents.
　本発明は、制御装置に関し、特に、制御装置のパラメータを調節する技術に関する。 The present invention relates to a control device, and more particularly to a technique for adjusting parameters of the control device.
　本技術分野の背景技術として、特開２０１８－１１２９５４号公報がある。この文献には、「オートチューニングによってＰＩＤ値を算出するＰＩＤ算出部と、前記ＰＩＤ値を用いてＰＩＤ制御を実行するＰＩＤ制御部と、前記ＰＩＤ値を用いて前記ＰＩＤ制御異常または対象装置の異常を判定する判定部と、を備える、制御装置。」（請求項１参照）と、「前記判定部は、予め設定した回数目のＰＩＤ値である基準ＰＩＤ値、および、前記所定回数目よりも後の現在のＰＩＤ値を取得し、前記基準ＰＩＤ値に対する現在のＰＩＤ値の変化に基づいて前記ＰＩＤ制御の異常または前記対象装置の異常を判定する、」制御装置（請求項２参照）が記載されている。 As a background technology in this technical field, there is Japanese Patent Application Laid-Open No. 2018-11254. In this document, "a PID calculation unit that calculates a PID value by auto-tuning, a PID control unit that executes PID control using the PID value, and the PID control abnormality or an abnormality of the target device using the PID value are described. (See claim 1) and "The determination unit is a reference PID value which is a PID value for a preset number of times, and a determination unit for determining the number of times." The control device (see claim 2) describes that the subsequent current PID value is acquired and the abnormality of the PID control or the abnormality of the target device is determined based on the change of the current PID value with respect to the reference PID value. Has been done.
　しかしながら、前述した先行技術（特開２０１８－１１２９５４号公報）は、オートチューニングによって算出されたＰＩＤゲイン値の許容範囲（絶対値）を規定するものではなく、ＰＩＤゲイン値異常時の対応処理を規定するものでもない。 However, the above-mentioned prior art (Japanese Unexamined Patent Publication No. 2018-11254) does not define the permissible range (absolute value) of the PID gain value calculated by auto-tuning, but defines the corresponding processing when the PID gain value is abnormal. It's not something to do.
　本願において開示される発明の代表的な一例を示せば以下の通りである。すなわち、ＰＩＤ制御器のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備えることを特徴とする。 A typical example of the invention disclosed in the present application is as follows. That is, in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, it is permitted to use the gain value as the gain value of the PID controller. When the newly calculated gain value is in the second range, it is characterized by including a permission unit for prohibiting the use of the gain value as the gain value of the PID controller.
　本発明の一態様によれば、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出できる。前述した以外の課題、構成及び効果は、以下の実施例の説明によって明らかにされる。 According to one aspect of the present invention, an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Issues, configurations and effects other than those mentioned above will be clarified by the description of the following examples.
実施例１～７における制御装置の中心機能を示す図である。It is a figure which shows the core function of the control device in Examples 1-7. 実施例１～７における制御装置のシステム構成図である。It is a system block diagram of the control apparatus in Examples 1-7. 実施例１、３における制御装置と制御対象を示す図である。It is a figure which shows the control apparatus and the control object in Examples 1 and 3. 実施例１～４における所望の出力値演算部の処理を示す図である。It is a figure which shows the processing of the desired output value calculation part in Examples 1 to 4. 実施例１～４におけるＰＩＤ制御器ゲイン値調整部の処理を示す図である。It is a figure which shows the process of the PID controller gain value adjustment part in Examples 1 to 4. 実施例１、５～７におけるＰＩＤゲイン値適用許可部の処理を示す図である。It is a figure which shows the process of the PID gain value application permission part in Examples 1, 5 to 7. 実施例２における制御装置と制御対象を示す図である。It is a figure which shows the control apparatus and the control object in Example 2. FIG. 実施例２におけるＰＩＤゲイン値適用許可部の処理を示す図である。It is a figure which shows the process of the PID gain value application permission part in Example 2. FIG. 実施例３におけるＰＩＤゲイン値適用許可部の処理を示す図である。It is a figure which shows the process of the PID gain value application permission part in Example 3. FIG. 実施例４における制御装置と制御対象を示す図である。It is a figure which shows the control apparatus and the control object in Example 4. FIG. 実施例４におけるＰＩＤゲイン値適用許可部の処理を示す図である。It is a figure which shows the process of the PID gain value application permission part in Example 4. FIG. 実施例５における制御装置と制御対象を示す図である。It is a figure which shows the control apparatus and the control object in Example 5. FIG. 実施例５における所望の出力値演算部の処理を示す図である。It is a figure which shows the processing of the desired output value calculation part in Example 5. 実施例５におけるＰＩＤ制御器ゲイン値調整部の処理を示す図である。It is a figure which shows the process of the PID controller gain value adjustment part in Example 5. 実施例６における制御装置と制御対象を示す図である。It is a figure which shows the control apparatus and the control object in Example 6. 実施例６における所望の出力値演算部の処理を示す図である。It is a figure which shows the processing of the desired output value calculation part in Example 6. 実施例６におけるＰＩＤ制御器ゲイン値調整部の処理を示す図である。It is a figure which shows the process of the PID controller gain value adjustment part in Example 6. 実施例７における制御装置と制御対象を示す図である。It is a figure which shows the control apparatus and the control object in Example 7. 実施例７における所望の出力値演算部の処理を示す図である。It is a figure which shows the processing of the desired output value calculation part in Example 7. 実施例７におけるＰＩＤ制御器ゲイン値調整部の処理を示す図である。It is a figure which shows the process of the PID controller gain value adjustment part in Example 7.
　以下、本発明の実施例を図面を用いて説明する。 Hereinafter, examples of the present invention will be described with reference to the drawings.
　［実施例１］
　本実施例においては、ＰＩＤ制御器のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備える制御装置について示す。 [Example 1]
In this embodiment, in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller. A control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
　また、ＰＩＤ制御器のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、前記ＰＩＤ制御器のゲイン値を調整するゲイン値調整部とを備える。 Further, the control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. A gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
　また、前記第二の範囲は、前記第一の範囲の外側にある。 Further, the second range is outside the first range.
　また、制御装置は、プラントを制御する装置である。 Also, the control device is a device that controls the plant.
　図１は、制御装置１の中心機能を示す図である。 FIG. 1 is a diagram showing a central function of the control device 1.
　制御装置１において、ＰＩＤ制御器ゲイン値調整部２は、ＰＩＤ制御器５のゲイン値を調整する。ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、新たに演算されたＰＩＤゲイン値をＰＩＤゲイン値として用いると判定した場合、ＰＩＤゲイン値（暫定値）を最新のＰＩＤゲイン値としてＰＩＤ制御器５に適用し、新たに演算されたＰＩＤゲイン値をＰＩＤゲイン値として用いないと判定した場合、現状のＰＩＤゲイン値を維持する。 In the control device 1, the PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines whether or not the newly calculated PID gain value is used as the PID gain value. When it is determined that the value is used as the PID gain value, the PID gain value (provisional value) must be applied to the PID controller 5 as the latest PID gain value, and the newly calculated PID gain value must be used as the PID gain value. If determined, the current PID gain value is maintained.
　図２は、制御装置１のシステム構成図である。 FIG. 2 is a system configuration diagram of the control device 1.
　制御装置１は、ハードウェアとして、記憶装置１１、ＣＰＵ１２、ＲＯＭ１３、ＲＡＭ１４、データバス１５、入力回路１６、入出力ポート１７及び出力回路１８を有する。入力回路１６は、外部から入力された信号を処理する。外部から入力される信号は、例えば、制御装置１に設置又は接続されているセンサからの信号などである。外部から入力される信号は、入力回路１６を経て、入力信号となり入出力ポート１７へ送られる。入出力ポート１７に送られた各入力情報は、データバス１５を経て、ＲＡＭ１４又は記憶装置１１に格納される。ＲＯＭ１３及び記憶装置１１の少なくとも一方は、後述する処理を実行するためのプログラムを格納しており、該プログラムはＣＰＵ１２で実行される。その際、ＲＡＭ１４及び記憶装置１１の少なくとも一方に格納された値を、適宜、使用して演算を行う。演算結果のうち外部へ送り出す情報（値）は、データバス１５を経て入出力ポート１７に送られ、出力信号として出力回路１８に送られる。出力回路１８は、出力信号を外部に出力する。外部へ出力される出力信号は、制御対象を所望の動きをさせるためのアクチュエータ駆動信号などである。 The control device 1 has a storage device 11, a CPU 12, a ROM 13, a RAM 14, a data bus 15, an input circuit 16, an input / output port 17, and an output circuit 18 as hardware. The input circuit 16 processes a signal input from the outside. The signal input from the outside is, for example, a signal from a sensor installed or connected to the control device 1. The signal input from the outside becomes an input signal via the input circuit 16 and is sent to the input / output port 17. Each input information sent to the input / output port 17 is stored in the RAM 14 or the storage device 11 via the data bus 15. At least one of the ROM 13 and the storage device 11 stores a program for executing a process described later, and the program is executed by the CPU 12. At that time, the value stored in at least one of the RAM 14 and the storage device 11 is appropriately used to perform the calculation. The information (value) to be sent to the outside among the calculation results is sent to the input / output port 17 via the data bus 15 and sent to the output circuit 18 as an output signal. The output circuit 18 outputs an output signal to the outside. The output signal output to the outside is an actuator drive signal or the like for causing the controlled object to move as desired.
　なお、ＣＰＵ１２がプログラムを実行して行う処理の一部を、他の演算装置（例えば、ＦＰＧＡ（Field Programable Gate Array）やＡＳＩＣ（Application Specific Integrated Circuit）などのハードウェア）で実行してもよい。 Note that a part of the processing performed by the CPU 12 by executing the program may be executed by another arithmetic unit (for example, hardware such as FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit)).
　図３は、制御装置１と、制御装置１に制御されるプラント６とを示す図である。 FIG. 3 is a diagram showing a control device 1 and a plant 6 controlled by the control device 1.
　ＰＩＤ制御器５は、プラント６の温度を制御するための操作量（例えば、蒸気温度を調節するための目標バルブ開度）を演算する。所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（プラント６の温度）の所望のプロフィールを演算する。
　以下、各処理の詳細を説明する。 The PID controller 5 calculates an operation amount for controlling the temperature of the plant 6 (for example, a target valve opening degree for adjusting the steam temperature). The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (temperature of the plant 6) based on the control target.
The details of each process will be described below.
　＜所望の出力値演算部（図４）＞
　所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（例えばプラント６の温度）の所望のプロフィールを演算する。具体的には、図４に示すように、制御目標である目標プラント温度Ｔｇ＿Ｔｄｅｇに対して、例えば伝達関数などを用いて、所望のプラント温度Ｄｅ＿Ｔｄｅｇのプロフィールを演算する。制御目標には、例えばステップ信号、ランプ信号などがある。伝達関数は、予め決めておくとよいが、プラント６の動作状態に応じて特性を変化させてもよい。 <Desired output value calculation unit (Fig. 4)>
The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the temperature of the plant 6) based on the control target. Specifically, as shown in FIG. 4, the profile of the desired plant temperature De_Tdeg is calculated for the target plant temperature Tg_Tdeg, which is the control target, by using, for example, a transfer function. Control targets include, for example, step signals, ramp signals, and the like. The transfer function may be determined in advance, but the characteristics may be changed according to the operating state of the plant 6.
　＜ＰＩＤ制御器ゲイン値調整部（図５）＞
　ＰＩＤ制御器ゲイン値調整部２は、ＰＩＤ制御器５のゲイン値を調整する。具体的には、図５に示すように、ＰＩＤゲイン値調整処理許可フラグｆ＿ｏｐが１の場合、以下の処理を実行する。 <PID controller gain value adjustment unit (Fig. 5)>
The PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, as shown in FIG. 5, when the PID gain value adjustment processing permission flag f_op is 1, the following processing is executed.
　例えば、プラント温度Ｔｄｅｇのプロフィールと所望のプラント温度Ｄｅ＿Ｔｄｅｇのプロフィールの差が最も小さくなるように、ＰＩＤ制御器５のゲイン値を決める。得られたＰＩＤ制御器５のＰゲイン値、Ｉゲイン値、Ｄゲイン値の暫定値をそれぞれＫｐ＿ｎｅｗ，Ｋｉ＿ｎｅｗ，Ｋｄ＿ｎｅｗとする。ｆ＿ｏｐ＝０の場合、調整処理を実行せず現状のＰＩＤゲイン値を維持する。 For example, the gain value of the PID controller 5 is determined so that the difference between the profile of the plant temperature Tdeg and the profile of the desired plant temperature De_Tdeg is the smallest. The provisional values of the P gain value, the I gain value, and the D gain value of the obtained PID controller 5 are Kp_new, Ki_new, and Kd_new, respectively. When f_op = 0, the adjustment process is not executed and the current PID gain value is maintained.
　プラント温度Ｔｄｅｇのプロフィールと所望のプラント温度Ｄｅ＿Ｔｄｅｇのプロフィールの差を評価する評価関数は、例えば、Ｊ２＝｜｜Ｔｄｅｇ－Ｄｅ＿Ｔｄｅｇ｜｜であるＬ２ノルム、又は、Ｊ１＝｜Ｔｄｅｇ－Ｄｅ＿Ｔｄｅｇ｜であるＬ１ノルムなどがある。Ｊ１やＪ２を最小化するＰＩＤゲイン値は、例えば、ＩＦＴ（Ｉｔｅｒａｔｉｖｅ　Ｆｅｅｄｂａｃｋ　Ｔｕｎｉｎｇ）、ＦＲＩＴ（Ｆｉｃｔｉｔｉｏｕｓ　Ｒｅｆｅｒｅｎｃｅ　Ｉｔｅｒａｔｉｖｅ　Ｔｕｎｉｎｇ）などのデータ駆動制御で決定すればよく、ＰＩＤゲイン値の決定は最適化問題に帰着する。最適化のための解法は、ニュートン法、ガウス＝ニュートン法などの様々な方法があり、多くの参考文献があるので、ここでは詳述しない。 The evaluation function for evaluating the difference between the profile of the plant temperature Tdeg and the profile of the desired plant temperature De_Tdeg is, for example, the L2 norm of J2 = || Tdeg-De_Tdeg || or the L1 of J1 = | Tdeg-De_Tdeg | There is a norm and so on. The PID gain value that minimizes J1 and J2 may be determined by, for example, data-driven control such as IFT (Iterative Feedback Tuning) and FRET (Fictitious Feedback Tuning), and the determination of the PID gain value results in an optimization problem. To do. There are various methods for optimization such as Newton's method and Gauss-Newton's method, and there are many references, so they are not described in detail here.
　なお、本最適化処理は、オフライン、オンラインのどちらで実行してもよい。 Note that this optimization process may be executed either offline or online.
　＜ＰＩＤゲイン値適用許可部（図６）＞
　ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値として用いると判定した場合、ＰＩＤゲイン値（暫定値）を最新のＰＩＤゲイン値としてＰＩＤ制御器に適用し、ＰＩＤゲイン値として用いないと判定した場合、現状のＰＩＤゲイン値を維持する。具体的には、図６に示す処理を実行する。
・下記の条件ａ）が成立する場合、以下のとおりＰＩＤゲイン値を更新する。
  Kp_new=Kp_new_tmp
  Ki_new=Ki_new_tmp
  Kd_new=Kd_new_tmp
条件ａ）
　K_Kp_L1≦Kp_new_tmp≦K_Kp_H1
　K_Ki_L1≦Ki_new_tmp≦K_Ki_H1
　K_Kd_L1≦Kd_new_tmp≦K_Kd_H1
・条件ａ）が成立しない場合、ＰＩＤゲイン値を更新せず、現状の値を維持する。 <PID gain value application permission unit (Fig. 6)>
The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller as the latest PID gain value, and if it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, the process shown in FIG. 6 is executed.
-If the following condition a) is satisfied, the PID gain value is updated as follows.
Kp_new = Kp_new_tmp
Ki_new = Ki_new_tmp
Kd_new = Kd_new_tmp
Condition a)
K_Kp_L1 ≤ Kp_new_tmp ≤ K_Kp_H1
K_Ki_L1 ≤ Ki_new_tmp ≤ K_Ki_H1
K_Kd_L1 ≤ Kd_new_tmp ≤ K_Kd_H1
-If the condition a) is not satisfied, the PID gain value is not updated and the current value is maintained.
　なお、一般的に、K_Kp_L1=0, K_Ki_L1=0, K_Kd_L1=0とするが、０より大きい値としてもよい、 Generally, K_Kp_L1 = 0, K_Ki_L1 = 0, K_Kd_L1 = 0, but it may be larger than 0.
　本実施例によれば、ＰＩＤ制御器５のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲（条件ａ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲（条件ａ）が成立しない範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する許可部を備える。また、ＰＩＤ制御器５のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、ＰＩＤ制御器５のゲイン値を調整するゲイン値調整部とを備える。また、前記第二の範囲は、前記第一の範囲より外側にある。また、制御装置は、プラント６を制御する装置である。 According to the present embodiment, in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set. When it is permitted to be used as the gain value of the PID controller 5 and the newly calculated gain value is in the range where the second range (condition a) is not satisfied, the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value. Further, the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target. It is provided with a gain value adjusting unit for adjusting the gain value of the PID controller 5 so that the difference from the output value (time series signal or the like) becomes small. Further, the second range is outside the first range. The control device is a device that controls the plant 6.
　これにより、新たに演算されたＰＩＤゲイン値の許容範囲（絶対値）を規定するので、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出できる。また、不適切なＰＩＤゲイン値と判定された場合、当該ゲイン値を用いることを禁止できる。従って、ＰＩＤ制御ゲイン値を安定して調整でき、信頼性及び精度が高いＰＩＤ制御器ゲイン値調整が実現でき、プラント６の運転効率や生産効率を向上できる。 As a result, the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Further, when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the operating efficiency and production efficiency of the plant 6 can be improved.
　［実施例２］
　本実施例においては、ＰＩＤ制御器のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備える制御装置について示す。 [Example 2]
In this embodiment, in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller. A control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
　また、ＰＩＤ制御器のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、前記ＰＩＤ制御器のゲイン値を調整するゲイン値調整部とを備える。 Further, the control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. A gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
　また、前記第二の範囲は、前記第一の範囲より外側にある。 Further, the second range is outside the first range.
　また、制御装置は、プラントを制御する装置である。 Also, the control device is a device that controls the plant.
　特に、前記新たに演算されたゲイン値が前記第二の範囲にある場合、前記制御対象の動作状態が異常であると判定するとともに、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する。 In particular, when the newly calculated gain value is in the second range, it is determined that the operating state of the controlled object is abnormal, and the gain value is used as the gain value of the PID controller. Ban.
　図１は、実施例２の制御装置１の中心機能を示しており、実施例１と同じであるので、詳述しない。図２は、実施例２の制御装置１のシステム構成を示しており、実施例１と同じであるので、詳述しない。 FIG. 1 shows the central function of the control device 1 of the second embodiment, which is the same as that of the first embodiment, and is not described in detail. FIG. 2 shows the system configuration of the control device 1 of the second embodiment, which is the same as that of the first embodiment, and will not be described in detail.
　図７は、制御装置１と、制御装置１に制御されるプラント６とを示す図である。 FIG. 7 is a diagram showing a control device 1 and a plant 6 controlled by the control device 1.
　ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値に加えて、制御対象異常フラグを出力する。それ以外は、実施例１と同じであるので、詳述しない。 The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and adds the PID gain value to the PID gain value. Outputs the control target error flag. Other than that, it is the same as that of the first embodiment, and will not be described in detail.
　以下、各処理の詳細を説明する。 The details of each process will be described below.
　＜所望の出力値演算部（図４）＞
　所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（例えばプラント６の温度）の所望のプロフィールを演算する。具体的には、図４に示す実施例１と同じであるので、詳述しない。 <Desired output value calculation unit (Fig. 4)>
The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the temperature of the plant 6) based on the control target. Specifically, it is the same as that of the first embodiment shown in FIG. 4, and will not be described in detail.
　＜ＰＩＤ制御器ゲイン値調整部（図５）＞
　ＰＩＤ制御器ゲイン値調整部２は、ＰＩＤ制御器５のゲイン値を調整する。具体的には、図５に示す実施例１と同じであるので、詳述しない。 <PID controller gain value adjustment unit (Fig. 5)>
The PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, since it is the same as that of the first embodiment shown in FIG. 5, it will not be described in detail.
　＜ＰＩＤゲイン値適用許可部（図８）＞
　ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値として用いると判定した場合、ＰＩＤゲイン値（暫定値）を最新のＰＩＤゲイン値としてＰＩＤ制御器５に適用し、ＰＩＤゲイン値として用いないと判定した場合、現状のＰＩＤゲイン値を維持する。具体的には、図８に示す処理を実行する。
・下記の条件ａ）が成立する場合、以下のとおりＰＩＤゲイン値を更新する。
  Kp_new=Kp_new_tmp
  Ki_new=Ki_new_tmp
  Kd_new=Kd_new_tmp
条件ａ）
　K_Kp_L1≦Kp_new_tmp≦K_Kp_H1
　K_Ki_L1≦Ki_new_tmp≦K_Ki_H1
　K_Kd_L1≦Kd_new_tmp≦K_Kd_H1
・条件ａ）が成立しない場合、ＰＩＤゲイン値を更新せず、現状の値を維持する。また、制御対象異常フラグf_ano_plant=1とする。 <PID gain value application permission unit (Fig. 8)>
The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, the process shown in FIG. 8 is executed.
-If the following condition a) is satisfied, the PID gain value is updated as follows.
Kp_new = Kp_new_tmp
Ki_new = Ki_new_tmp
Kd_new = Kd_new_tmp
Condition a)
K_Kp_L1 ≤ Kp_new_tmp ≤ K_Kp_H1
K_Ki_L1 ≤ Ki_new_tmp ≤ K_Ki_H1
K_Kd_L1 ≤ Kd_new_tmp ≤ K_Kd_H1
-If the condition a) is not satisfied, the PID gain value is not updated and the current value is maintained. Also, set the control target error flag f_ano_plant = 1.
　なお、一般に、K_Kp_L1=0, K_Ki_L1=0, K_Kd_L1=0とするが、０より大きい値としてもよい、 Generally, K_Kp_L1 = 0, K_Ki_L1 = 0, K_Kd_L1 = 0, but it may be larger than 0.
　本実施例によれば、ＰＩＤ制御器５のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲（条件ａ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲（条件ａ）が成立しない範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する許可部を備える。また、ＰＩＤ制御器５のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、ＰＩＤ制御器５のゲイン値を調整するゲイン値調整部とを備える。また、前記第二の範囲は、前記第一の範囲より外側にある。また、制御装置は、プラント６を制御する装置である。 According to the present embodiment, in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set. When it is permitted to be used as the gain value of the PID controller 5 and the newly calculated gain value is in the range where the second range (condition a) is not satisfied, the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value. Further, the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target. It is provided with a gain value adjusting unit for adjusting the gain value of the PID controller 5 so that the difference from the output value (time series signal or the like) becomes small. Further, the second range is outside the first range. The control device is a device that controls the plant 6.
　特に、前記新たに演算されたゲイン値が前記第二の範囲にある場合、制御対象の動作状態が異常であると判定するとともに、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する。 In particular, when the newly calculated gain value is in the second range, it is determined that the operating state of the controlled object is abnormal, and it is prohibited to use the gain value as the gain value of the PID controller 5. To do.
　ＰＩＤ制御器５のゲイン値は、制御対象の所望の出力値と制御対象の出力値との差が小さくなるように調整されるので、制御対象の特性変化に応じて、ＰＩＤゲイン値が変わる。ＰＩＤゲイン値は、制御対象の特性の情報を有していると考えられる。制御対象の特性が、システム性能上の何らかの悪影響を及ぼすと考えられる程度まで変化した場合、応分、ＰＩＤゲイン値も変化する。当該ＰＩＤゲイン値から、制御対象の動作状態の異常の判定が可能である。 Since the gain value of the PID controller 5 is adjusted so that the difference between the desired output value of the control target and the output value of the control target becomes small, the PID gain value changes according to the characteristic change of the control target. The PID gain value is considered to have information on the characteristics of the controlled object. When the characteristics of the controlled object change to the extent that it is considered to have some adverse effect on the system performance, the PID gain value also changes accordingly. From the PID gain value, it is possible to determine an abnormality in the operating state of the controlled object.
　これにより、新たに演算されたＰＩＤゲイン値の許容範囲（絶対値）を規定するので、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出可能であり、不適切なＰＩＤゲイン値と判定された場合、制御対象を異常であると判定して、当該ゲイン値を用いることを禁止できる。従って、ＰＩＤ制御ゲイン値を安定して調整でき、信頼性及び精度が高いＰＩＤ制御器ゲイン値調整が実現でき、プラント６の運転効率や生産効率を向上できる。 As a result, the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small, and an inappropriate PID can be detected. When it is determined to be a gain value, it is possible to determine that the control target is abnormal and prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the operating efficiency and production efficiency of the plant 6 can be improved.
　［実施例３］
　本実施例においては、ＰＩＤ制御器のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備える制御装置について示す。 [Example 3]
In this embodiment, in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller. A control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
　また、ＰＩＤ制御器のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、前記ＰＩＤ制御器のゲイン値を調整するゲイン値調整部とを備える。 Further, the control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. A gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
　また、前記第二の範囲は、前記第一の範囲より外側にある。 Further, the second range is outside the first range.
　また、制御装置は、プラントを制御する装置である。 Also, the control device is a device that controls the plant.
　特に、前記新たに演算されたゲイン値が、（前記第一の範囲及び前記第二の範囲のいずれとも異なる）第三の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する。 In particular, when the newly calculated gain value is in the third range (which is different from both the first range and the second range), the gain value is used as the gain value of the PID controller. Prohibit that.
　特に、前記第三の範囲は、前記第二の範囲より外側にある。 In particular, the third range is outside the second range.
　図１は、実施例３の制御装置１の中心機能を示しており、実施例１と同じであるので、詳述しない。図２は、実施例３の制御装置１のシステム構成を示しており、実施例１と同じであるので、詳述しない。図３は、実施例３の制御装置１と、制御装置１に制御されるプラント６を示しており、実施例１と同じであるので、詳述しない。 FIG. 1 shows the central function of the control device 1 of the third embodiment, which is the same as that of the first embodiment, and is not described in detail. FIG. 2 shows the system configuration of the control device 1 of the third embodiment, which is the same as that of the first embodiment, and is not described in detail. FIG. 3 shows the control device 1 of the third embodiment and the plant 6 controlled by the control device 1, which is the same as that of the first embodiment and is not described in detail.
　以下、各処理の詳細を説明する。 The details of each process will be described below.
　＜所望の出力値演算部（図４）＞
　所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（例えばプラント６の温度）の所望のプロフィールを演算する。具体的には、図４に示す実施例１と同じであるので、詳述しない。 <Desired output value calculation unit (Fig. 4)>
The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the temperature of the plant 6) based on the control target. Specifically, it is the same as that of the first embodiment shown in FIG. 4, and will not be described in detail.
　＜ＰＩＤ制御器ゲイン値調整部（図５）＞
　ＰＩＤ制御器ゲイン値調整部２は、ＰＩＤ制御器５のゲイン値を調整する。具体的には、図５に示す実施例１と同じであるので、詳述しない。 <PID controller gain value adjustment unit (Fig. 5)>
The PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, it is the same as that of Example 1 shown in FIG. 5, and will not be described in detail.
　＜ＰＩＤゲイン値適用許可部（図９）＞
　ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値として用いると判定した場合、ＰＩＤゲイン値（暫定値）を最新のＰＩＤゲイン値としてＰＩＤ制御器５に適用し、ＰＩＤゲイン値として用いないと判定した場合、現状のＰＩＤゲイン値を維持する。具体的には、図９に示す処理を実行する。
・下記の条件ａ）が成立する場合、以下のとおりＰＩＤゲイン値を更新する。
  Kp_new=Kp_new_tmp
  Ki_new=Ki_new_tmp
  Kd_new=Kd_new_tmp
条件ａ）
　K_Kp_L1≦Kp_new_tmp≦K_Kp_H1
　K_Ki_L1≦Ki_new_tmp≦K_Ki_H1
　K_Kd_L1≦Kd_new_tmp≦K_Kd_H1
・下記の条件ｂ）又は条件ｃ）が成立する場合、ＰＩＤゲイン値を更新せず、現状の値を維持する。
条件ｂ）
　K_Kp_L2≦Kp_new_tmp≦K_Kp_H2
　K_Ki_L2≦Ki_new_tmp≦K_Ki_H2
　K_Kd_L2≦Kd_new_tmp≦K_Kd_H2
条件ｃ）
　K_Kp_L3≦Kp_new_tmp≦K_Kp_H3
　K_Ki_L3≦Ki_new_tmp≦K_Ki_H3
　K_Kd_L3≦Kd_new_tmp≦K_Kd_H3 <PID gain value application permission unit (Fig. 9)>
The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, the process shown in FIG. 9 is executed.
-If the following condition a) is satisfied, the PID gain value is updated as follows.
Kp_new = Kp_new_tmp
Ki_new = Ki_new_tmp
Kd_new = Kd_new_tmp
Condition a)
K_Kp_L1 ≤ Kp_new_tmp ≤ K_Kp_H1
K_Ki_L1 ≤ Ki_new_tmp ≤ K_Ki_H1
K_Kd_L1 ≤ Kd_new_tmp ≤ K_Kd_H1
-If the following condition b) or condition c) is satisfied, the PID gain value is not updated and the current value is maintained.
Condition b)
K_Kp_L2 ≤ Kp_new_tmp ≤ K_Kp_H2
K_Ki_L2 ≤ Ki_new_tmp ≤ K_Ki_H2
K_Kd_L2 ≤ Kd_new_tmp ≤ K_Kd_H2
Condition c)
K_Kp_L3 ≤ Kp_new_tmp ≤ K_Kp_H3
K_Ki_L3 ≤ Ki_new_tmp ≤ K_Ki_H3
K_Kd_L3 ≤ Kd_new_tmp ≤ K_Kd_H3
　なお、一般に、K_Kp_L1=0, K_Ki_L1=0, K_Kd_L1=0とするが、０より大きい値としてもよい、 Generally, K_Kp_L1 = 0, K_Ki_L1 = 0, K_Kd_L1 = 0, but it may be larger than 0.
　また、下記の式が成立する。
　K_Kp_H1≦K_Kp_L2
　K_Ki_H1≦K_Ki_L2
　K_Kd_H1≦K_Kd_L2
 
　K_Kp_H2≦K_Kp_L3
　K_Ki_H2≦K_Ki_L3
　K_Kd_H2≦K_Kd_L3
このため、Ｋｐ、Ｋｉ、Ｋｄを表す空間において、条件ｂ）が成立する範囲は条件ａ）が成立する範囲の外側にあり、条件ｃ）が成立する範囲は条件ｂ）が成立する範囲の外側にある。すなわち、条件ｃ）が成立する場合、単にＰＩＤゲイン値を不採用とすべきだけでなく、ＰＩＤゲイン値の演算に失敗して（例えば、局所解となって）いることが考えられる。このため、条件ｂ）と条件ｃ）とを別に設けて演算されたＰＩＤゲイン値を不採用と判定している。 In addition, the following equation holds.
K_Kp_H1 ≤ K_Kp_L2
K_Ki_H1 ≤ K_Ki_L2
K_Kd_H1 ≤ K_Kd_L2

K_Kp_H2 ≤ K_Kp_L3
K_Ki_H2 ≤ K_Ki_L3
K_Kd_H2 ≤ K_Kd_L3
Therefore, in the space representing Kp, Ki, and Kd, the range in which the condition b) is satisfied is outside the range in which the condition a) is satisfied, and the range in which the condition c) is satisfied is outside the range in which the condition b) is satisfied. It is in. That is, when the condition c) is satisfied, it is conceivable that not only the PID gain value should not be adopted, but also the calculation of the PID gain value fails (for example, it becomes a local solution). Therefore, it is determined that the PID gain value calculated by separately providing the condition b) and the condition c) is not adopted.
　本実施例によれば、ＰＩＤ制御器５のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲（条件ａ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲（条件ａ）が成立しない範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する許可部を備える。また、ＰＩＤ制御器５のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、ＰＩＤ制御器５のゲイン値を調整するゲイン値調整部とを備える。また、前記第二の範囲は、前記第一の範囲より外側にある。また、制御装置は、プラント６を制御する装置である。 According to the present embodiment, in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set. When it is permitted to be used as the gain value of the PID controller 5 and the newly calculated gain value is in the range where the second range (condition a) is not satisfied, the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value. Further, the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target. It is provided with a gain value adjusting unit for adjusting the gain value of the PID controller 5 so that the difference from the output value (time series signal or the like) becomes small. Further, the second range is outside the first range. The control device is a device that controls the plant 6.
　特に、前記新たに演算されたゲイン値が、前記第一の範囲及び前記第二の範囲のいずれとも異なる第三の範囲（条件ａ）及び条件ｂ）が成立せず、条件ｃ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する。また、前記第三の範囲は、前記第二の範囲より外側にある。 In particular, the third range (condition a) and condition b) in which the newly calculated gain value is different from both the first range and the second range are not satisfied, and the condition c) is satisfied. If it is in the range), it is prohibited to use the gain value as the gain value of the PID controller 5. Further, the third range is outside the second range.
　ＰＩＤ制御器５のゲイン値は、制御対象の所望の出力値と制御対象の出力値との差が小さくなるように調整される。前述したように、ＰＩＤゲインの決定は最適化問題に帰着する。最適化のための解法はさまざまな手法があるが、解法によっては、局所解を算出することがある。この場合、得られたＰＩＤゲイン値は、制御対象の所望の出力値と制御対象の出力値との差を十分に小さくできていない、又は、実現不可能な値になる可能性がある。ＰＩＤゲイン値が、相当程度大きい場合、当該結果になっている可能性がある。この範囲を第三の範囲として規定し、ＰＩＤゲイン暫定値が当該範囲にある場合、ＰＩＤゲイン暫定値が異常であると判定する。 The gain value of the PID controller 5 is adjusted so that the difference between the desired output value of the control target and the output value of the control target becomes small. As mentioned above, determining the PID gain results in an optimization problem. There are various solution methods for optimization, but depending on the solution method, a local solution may be calculated. In this case, the obtained PID gain value may not be sufficiently small in difference between the desired output value of the control target and the output value of the control target, or may be an unrealizable value. If the PID gain value is considerably large, it is possible that the result is obtained. This range is defined as the third range, and when the PID gain provisional value is in the range, it is determined that the PID gain provisional value is abnormal.
　これにより、新たに演算されたＰＩＤゲイン値の許容範囲（絶対値）を規定するので、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出でき、さらに不適切なＰＩＤゲイン値が検出された場合、制御対象の異常を判定し、算出されたＰＩＤゲイン暫定値の異常を判定すると共に、当該ゲイン値を用いることを禁止する。従って、ＰＩＤ制御ゲイン値を安定して調整でき、信頼性及び精度が高いＰＩＤ制御器ゲイン値調整が実現でき、プラント６の運転効率や生産効率を向上できる。 As a result, the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small, and an inappropriate PID gain is further specified. When a value is detected, the abnormality of the control target is determined, the abnormality of the calculated PID gain provisional value is determined, and the use of the gain value is prohibited. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the operating efficiency and production efficiency of the plant 6 can be improved.
　［実施例４］
　本実施例においては、ＰＩＤ制御器のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備える制御装置について示す。 [Example 4]
In this embodiment, in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller. A control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
　また、ＰＩＤ制御器のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、前記ＰＩＤ制御器のゲイン値を調整するゲイン値調整部とを備える。 Further, the control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. A gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
　また、前記新たに演算されたゲイン値が前記第二の範囲にある場合、制御対象の動作状態が異常であると判定するとともに、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する。 Further, when the newly calculated gain value is in the second range, it is determined that the operating state of the controlled object is abnormal, and it is prohibited to use the gain value as the gain value of the PID controller. To do.
　また、前記第二の範囲は、前記第一の範囲より外側にある。 Further, the second range is outside the first range.
　また、制御装置は、プラントを制御する装置である。 Also, the control device is a device that controls the plant.
　特に、前記新たに演算されたゲイン値が、前記第一の範囲及び前記第二の範囲のいずれとも異なる前記第三の範囲にある場合、前記ゲイン値が異常であると判定するとともに、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する。 In particular, when the newly calculated gain value is in the third range different from both the first range and the second range, it is determined that the gain value is abnormal and the gain is determined. It is prohibited to use the value as the gain value of the PID controller.
　また、前記第三の範囲は、前記第二の範囲より外側にある。 Further, the third range is outside the second range.
　図１は、実施例４の制御装置１の中心機能を示しており、実施例１と同じであるので、詳述しない。図２は、実施例４の制御装置１のシステム構成を示しており、実施例１と同じであるので、詳述しない。 FIG. 1 shows the central function of the control device 1 of the fourth embodiment, which is the same as that of the first embodiment, and is not described in detail. FIG. 2 shows the system configuration of the control device 1 of the fourth embodiment, which is the same as that of the first embodiment, and is not described in detail.
　図１０は、制御装置１と、制御装置１に制御されるプラント６を示す図である。 FIG. 10 is a diagram showing a control device 1 and a plant 6 controlled by the control device 1.
　ＰＩＤゲイン値適用許可部３は、制御対象からの出力情報と制御対象への入力情報に加えて制御目標に基づいて、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値に加えて、制御対象異常フラグ及びＰＩＤゲイン暫定値異常フラグを出力する。それ以外は、実施例１と同じであるので、詳述しない。 The PID gain value application permission unit 3 newly calculates the PID gain value (provisional) by the PID controller gain value adjustment unit 2 based on the control target in addition to the output information from the control target and the input information to the control target. (Value) is determined whether or not to be used as the PID gain value, and in addition to the PID gain value, the control target abnormality flag and the PID gain provisional value abnormality flag are output. Other than that, it is the same as that of the first embodiment, and will not be described in detail.
　以下、各処理の詳細を説明する。 The details of each process will be described below.
　＜所望の出力値演算部（図４）＞
　所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（例えばプラント６の温度）の所望のプロフィールを演算する。具体的には、図４に示す実施例１と同じであるので、詳述しない。 <Desired output value calculation unit (Fig. 4)>
The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the temperature of the plant 6) based on the control target. Specifically, it is the same as that of the first embodiment shown in FIG. 4, and will not be described in detail.
　＜ＰＩＤ制御器ゲイン値調整部（図５）＞
　ＰＩＤ制御器ゲイン値調整部２は、ＰＩＤ制御器５のゲイン値を調整する。具体的には、図５に示す実施例１と同じであるので、詳述しない。 <PID controller gain value adjustment unit (Fig. 5)>
The PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, it is the same as that of Example 1 shown in FIG. 5, and will not be described in detail.
　＜ＰＩＤゲイン値適用許可部（図１１）＞
　ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値として用いると判定した場合、ＰＩＤゲイン値（暫定値）を最新のＰＩＤゲイン値としてＰＩＤ制御器５に適用し、ＰＩＤゲイン値として用いないと判定した場合、現状のＰＩＤゲイン値を維持する。具体的には、図１１に示す処理を実行する。
・下記の条件ａ）が成立する場合、以下のとおりＰＩＤゲイン値を更新する。
  Kp_new=Kp_new_tmp
  Ki_new=Ki_new_tmp
  Kd_new=Kd_new_tmp
条件ａ）
　K_Kp_L1≦Kp_new_tmp≦K_Kp_H1
　K_Ki_L1≦Ki_new_tmp≦K_Ki_H1
　K_Kd_L1≦Kd_new_tmp≦K_Kd_H1
・下記の条件ｂ）又は条件ｃ）が成立する場合、ＰＩＤゲイン値を更新せず、現状の値を維持する。
条件ｂ)
　K_Kp_L2≦Kp_new_tmp≦K_Kp_H2
　K_Ki_L2≦Ki_new_tmp≦K_Ki_H2
　K_Kd_L2≦Kd_new_tmp≦K_Kd_H2
条件ｃ）
　K_Kp_L3≦Kp_new_tmp≦K_Kp_H3
　K_Ki_L3≦Ki_new_tmp≦K_Ki_H3
　K_Kd_L3≦Kd_new_tmp≦K_Kd_H3
また、条件ｂ）の成立時に、制御対象異常フラグf_ano_plant=1とする。
また、条件ｃ）の成立時、ＰＩＤゲイン暫定値異常フラグf_ano_gain_tmp=1とする。 <PID gain value application permission unit (Fig. 11)>
The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, the process shown in FIG. 11 is executed.
-If the following condition a) is satisfied, the PID gain value is updated as follows.
Kp_new = Kp_new_tmp
Ki_new = Ki_new_tmp
Kd_new = Kd_new_tmp
Condition a)
K_Kp_L1 ≤ Kp_new_tmp ≤ K_Kp_H1
K_Ki_L1 ≤ Ki_new_tmp ≤ K_Ki_H1
K_Kd_L1 ≤ Kd_new_tmp ≤ K_Kd_H1
-If the following condition b) or condition c) is satisfied, the PID gain value is not updated and the current value is maintained.
Condition b)
K_Kp_L2 ≤ Kp_new_tmp ≤ K_Kp_H2
K_Ki_L2 ≤ Ki_new_tmp ≤ K_Ki_H2
K_Kd_L2 ≤ Kd_new_tmp ≤ K_Kd_H2
Condition c)
K_Kp_L3 ≤ Kp_new_tmp ≤ K_Kp_H3
K_Ki_L3 ≤ Ki_new_tmp ≤ K_Ki_H3
K_Kd_L3 ≤ Kd_new_tmp ≤ K_Kd_H3
Further, when the condition b) is satisfied, the control target abnormality flag f_ano_plant = 1 is set.
Further, when the condition c) is satisfied, the PID gain provisional value abnormality flag f_ano_gain_tmp = 1 is set.
　なお、一般に、K_Kp_L1=0, K_Ki_L1=0, K_Kd_L1=0とするが、０より大きい値としてもよい、 Generally, K_Kp_L1 = 0, K_Ki_L1 = 0, K_Kd_L1 = 0, but it may be larger than 0.
　また、下式が成立する。
　K_Kp_H1≦K_Kp_L2
　K_Ki_H1≦K_Ki_L2
　K_Kd_H1≦K_Kd_L2
 
　K_Kp_H2≦K_Kp_L3
　K_Ki_H2≦K_Ki_L3
　K_Kd_H2≦K_Kd_L3
このため、Ｋｐ、Ｋｉ、Ｋｄを表す空間において、条件ｂ）が成立する範囲は条件ａ）が成立する範囲の外側にあり、条件ｃ）が成立する範囲は条件ｂ）が成立する範囲の外側にある。すなわち、条件ｃ）が成立する場合、単にＰＩＤゲイン値を不採用とすべきだけでなく、ＰＩＤゲイン値の演算に失敗して（例えば、局所解となって）いることが考えられる。このため、条件ｂ）と条件ｃ）とを別に設けて演算されたＰＩＤゲイン値を不採用と判定している。 In addition, the following equation holds.
K_Kp_H1 ≤ K_Kp_L2
K_Ki_H1 ≤ K_Ki_L2
K_Kd_H1 ≤ K_Kd_L2

K_Kp_H2 ≤ K_Kp_L3
K_Ki_H2 ≤ K_Ki_L3
K_Kd_H2 ≤ K_Kd_L3
Therefore, in the space representing Kp, Ki, and Kd, the range in which the condition b) is satisfied is outside the range in which the condition a) is satisfied, and the range in which the condition c) is satisfied is outside the range in which the condition b) is satisfied. It is in. That is, when the condition c) is satisfied, it is conceivable that not only the PID gain value should not be adopted, but also the calculation of the PID gain value fails (for example, it becomes a local solution). Therefore, it is determined that the PID gain value calculated by separately providing the condition b) and the condition c) is not adopted.
　本実施例によれば、ＰＩＤ制御器５のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲（条件ａ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲（条件ａ）が成立しない範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する許可部を備える。また、ＰＩＤ制御器５のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、ＰＩＤ制御器５のゲイン値を調整するゲイン値調整部とを備える。また、前記新たに演算されたゲイン値が前記第二の範囲にある場合、制御対象の動作状態が異常であると判定するとともに、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する。また、前記第二の範囲は、前記第一の範囲より外側にある。また、制御装置は、プラント６を制御する装置である。 According to the present embodiment, in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set. When it is permitted to be used as the gain value of the PID controller 5 and the newly calculated gain value is in the range where the second range (condition a) is not satisfied, the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value. Further, the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target. It is provided with a gain value adjusting unit for adjusting the gain value of the PID controller 5 so that the difference from the output value (time series signal or the like) becomes small. Further, when the newly calculated gain value is in the second range, it is determined that the operating state of the controlled object is abnormal, and it is prohibited to use the gain value as the gain value of the PID controller 5. To do. Further, the second range is outside the first range. The control device is a device that controls the plant 6.
　特に、前記新たに演算されたゲイン値が、前記第一の範囲及び前記第二の範囲のいずれとも異なる第三の範囲（条件ａ）及び条件ｂ）が成立せず、条件ｃ）が成立する範囲）にある場合、前記ゲイン値が異常であると判定するとともに、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する。また、前記第三の範囲は、第二の範囲より外側にある。 In particular, the third range (condition a) and condition b) in which the newly calculated gain value is different from both the first range and the second range are not satisfied, and the condition c) is satisfied. If it is in the range), it is determined that the gain value is abnormal, and it is prohibited to use the gain value as the gain value of the PID controller 5. Further, the third range is outside the second range.
　ＰＩＤ制御器５のゲイン値は、制御対象の所望の出力値と制御対象の出力値との差が小さくなるように調整される。前述したように、ＰＩＤゲイン値の決定は最適化問題に帰着する。最適化のための解法はさまざまな手法があるが、解法によっては、局所解を算出することがある。この場合、得られたＰＩＤゲイン値は、制御対象の所望の出力値と制御対象の出力値との差を十分に小さくできていない、又は、実現不可能な値になる可能性がある。ＰＩＤゲイン値が、相当程度大きい場合、当該結果になっている可能性がある。この範囲を第三の範囲として規定し、ＰＩＤゲイン暫定値が当該範囲にある場合、ＰＩＤゲイン暫定値が異常であると判定する。 The gain value of the PID controller 5 is adjusted so that the difference between the desired output value of the control target and the output value of the control target becomes small. As mentioned above, determining the PID gain value results in an optimization problem. There are various solution methods for optimization, but depending on the solution method, a local solution may be calculated. In this case, the obtained PID gain value may not be sufficiently small in difference between the desired output value of the control target and the output value of the control target, or may be an unrealizable value. If the PID gain value is considerably large, it is possible that the result is obtained. This range is defined as the third range, and when the PID gain provisional value is in the range, it is determined that the PID gain provisional value is abnormal.
　これにより、新たに演算されたＰＩＤゲイン値の許容範囲（絶対値）を規定するので、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出でき、さらに不適切なＰＩＤゲイン値と判定された場合、制御対象の異常を判定し、算出されたＰＩＤゲイン暫定値の異常を判定すると共に、当該ゲイン値を用いることを禁止する。従って、ＰＩＤ制御ゲイン値を安定して調整でき、信頼性及び精度が高いＰＩＤ制御器５ゲイン値調整が実現でき、プラント６の運転効率や生産効率を向上できる。 As a result, the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small, and an inappropriate PID gain is further specified. When it is determined to be a value, the abnormality of the control target is determined, the abnormality of the calculated PID gain provisional value is determined, and the use of the gain value is prohibited. Therefore, the PID control gain value can be stably adjusted, the PID controller 5 gain value can be adjusted with high reliability and accuracy, and the operating efficiency and production efficiency of the plant 6 can be improved.
　［実施例５］
　本実施例においては、ＰＩＤ制御器５のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備える制御装置について示す。 [Example 5]
In this embodiment, in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller. Is shown, and when the newly calculated gain value is in the second range, a control device including a permission unit for prohibiting the use of the gain value as a gain value of the PID controller is shown.
　また、ＰＩＤ制御器のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、前記ＰＩＤ制御器のゲイン値を調整するゲイン値調整部とを備える。 Further, the control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. A gain value adjusting unit for adjusting the gain value of the PID controller is provided so that the difference from the value (time series signal or the like) becomes small.
　また、前記第二の範囲は、前記第一の範囲より外側にある。 Further, the second range is outside the first range.
　特に、制御装置は、自動運転車を制御する装置である。 In particular, the control device is a device that controls an autonomous vehicle.
　図１は、実施例５の制御装置１の中心機能を示しており、実施例１と同じであるので、詳述しない。図２は、実施例５の制御装置１のシステム構成を示しており、実施例１と同じであるので、詳述しない。 FIG. 1 shows the central function of the control device 1 of the fifth embodiment, which is the same as that of the first embodiment, and is not described in detail. FIG. 2 shows the system configuration of the control device 1 of the fifth embodiment, which is the same as that of the first embodiment, and is not described in detail.
　図１２は、制御装置１と、制御装置１に制御される自動運転車７を示す図である。 FIG. 12 is a diagram showing a control device 1 and an autonomous driving vehicle 7 controlled by the control device 1.
　ＰＩＤ制御器５は、自動運転車７の運動を制御するための操作量（例えば、目標速度、目標回転角速度）を演算する。所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（自動運転車７の速度、回転角速度など）の所望のプロフィールを演算する。 The PID controller 5 calculates an operation amount (for example, a target speed and a target rotation angular velocity) for controlling the movement of the autonomous driving vehicle 7. The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (speed of the autonomous driving vehicle 7, rotation angular velocity, etc.) based on the control target.
　以下、各処理の詳細を説明する。 The details of each process will be described below.
　＜所望の出力値演算部（図１３）＞
　所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（例えば自動運転車７の速度）の所望のプロフィールを演算する。具体的には、図１３に示すように、制御目標である目標速度Ｔｇ＿ＶＳＰに対して、例えば伝達関数などを用いて、所望の速度Ｄｅ＿ＶＳＰのプロフィールを演算する。制御目標には、例えばステップ信号、ランプ信号などがある。伝達関数は、予め決めておくとよいが、自動運転車７の動作状態に応じて特性を変化させてもよい。 <Desired output value calculation unit (FIG. 13)>
The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (for example, the speed of the autonomous driving vehicle 7) based on the control target. Specifically, as shown in FIG. 13, the profile of the desired speed De_VSP is calculated for the target speed Tg_VSP, which is the control target, by using, for example, a transfer function. Control targets include, for example, step signals, ramp signals, and the like. The transfer function may be determined in advance, but the characteristics may be changed according to the operating state of the autonomous driving vehicle 7.
　＜ＰＩＤ制御器ゲイン値調整部（図１４）＞
　ＰＩＤ制御器ゲイン値調整部２は、ＰＩＤ制御器５のゲイン値を調整する。具体的には、図１４に示すように、速度ＶＳＰのプロフィールと所望の速度Ｄｅ＿ＶＳＰのプロフィールの差が最も小さくなるように、調整後ＰＩＤゲイン暫定値を決める。得られたＰＩＤ制御器５のＰゲイン値、Ｉゲイン値、Ｄゲイン値の暫定値をそれぞれＫｐ＿ｎｅｗ＿ｔｍｐ，Ｋｉ＿ｎｅｗ＿ｔｍｐ，Ｋｄ＿ｎｅｗ＿ｔｍｐとする。 <PID controller gain value adjustment unit (Fig. 14)>
The PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, as shown in FIG. 14, the adjusted PID gain provisional value is determined so that the difference between the profile of the velocity VSP and the profile of the desired velocity De_VSP is minimized. The provisional values of the P gain value, the I gain value, and the D gain value of the obtained PID controller 5 are Kp_new_tmp, Ki_new_tpm, and Kd_new_tpm, respectively.
　速度ＶＳＰのプロフィールと所望の速度Ｄｅ＿ＶＳＰのプロフィールの差を評価する評価関数は、例えば、Ｊ２＝｜｜ＶＳＰ－Ｄｅ＿ＶＳＰ｜｜であるＬ２ノルム、又は、Ｊ１＝｜ＶＳＰ－Ｄｅ＿ＶＳＰ｜であるＬ１ノルムなどがある。Ｊ１やＪ２を最小化するＰＩＤゲイン値は、例えば、ＩＦＴ（Ｉｔｅｒａｔｉｖｅ　Ｆｅｅｄｂａｃｋ　Ｔｕｎｉｎｇ）、ＦＲＩＴ（Ｆｉｃｔｉｔｉｏｕｓ　Ｒｅｆｅｒｅｎｃｅ　Ｉｔｅｒａｔｉｖｅ　Ｔｕｎｉｎｇ）などのデータ駆動制御で決定すればよく、ＰＩＤゲイン値の決定は、最適化問題に帰着する。最適化のための解法は、ニュートン法、ガウス＝ニュートン法などの様々な方法があり、多くの参考文献があるので、ここでは詳述しない。 The evaluation function for evaluating the difference between the profile of the velocity VSP and the profile of the desired velocity De_VSP is, for example, the L2 norm of J2 = || VSP-De_VSP ||, or the L1 norm of J1 = | VSP-De_VSP |. There is. The PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRET (Fictitious Feedback Tuning), and the determination of the PID gain value is an optimization problem. Get back. There are various methods for optimization such as Newton's method and Gauss-Newton's method, and there are many references, so they are not described in detail here.
　なお、本最適化処理は、オフライン、オンラインのどちらで行ってもよい。 Note that this optimization process may be performed either offline or online.
　＜ＰＩＤゲイン値適用許可部（図６）＞
　ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値として用いると判定した場合、ＰＩＤゲイン値（暫定値）を最新のＰＩＤゲイン値としてＰＩＤ制御器５に適用し、ＰＩＤゲイン値として用いないと判定した場合、現状のＰＩＤゲイン値を維持する。具体的には、図６に示す実施例１と同じであるので、詳述しない。 <PID gain value application permission unit (Fig. 6)>
The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, since it is the same as that of the first embodiment shown in FIG. 6, it will not be described in detail.
　本実施例によれば、ＰＩＤ制御器５のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲（条件ａ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲（条件ａ）が成立しない範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する許可部を備える。また、ＰＩＤ制御器５のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、ＰＩＤ制御器５のゲイン値を調整するゲイン値調整部とを備える。また、前記第二の範囲は、前記第一の範囲より外側にある。また、制御装置は、自動運転車７を制御する装置である。 According to the present embodiment, in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set. When it is permitted to be used as the gain value of the PID controller 5 and the newly calculated gain value is in the range where the second range (condition a) is not satisfied, the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value. Further, the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target. It is provided with a gain value adjusting unit for adjusting the gain value of the PID controller 5 so that the difference from the output value (time series signal or the like) becomes small. Further, the second range is outside the first range. The control device is a device that controls the autonomous driving vehicle 7.
　これにより、新たに演算されたＰＩＤゲイン値の許容範囲（絶対値）を規定するので、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出できる。また、不適切なＰＩＤゲイン値と判定された場合、当該ゲイン値を用いることを禁止できる。従って、ＰＩＤ制御ゲイン値を安定して調整でき、信頼性及び精度が高いＰＩＤ制御器ゲイン値調整が実現でき、自動運転車７の安全性や信頼性を向上できる。 As a result, the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Further, when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the safety and reliability of the autonomous driving vehicle 7 can be improved.
　［実施例６］
　本実施例においては、ＰＩＤ制御器のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備える制御装置について示す。 [Example 6]
In this embodiment, in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller. A control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
　また、ＰＩＤ制御器のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、前記ＰＩＤ制御器のゲイン値を調整するゲイン値調整部とからなる。 Further, the control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. It includes a gain value adjusting unit that adjusts the gain value of the PID controller so that the difference from the value (time series signal or the like) becomes small.
　また、前記第二の範囲は、前記第一の範囲より外側にある。 Further, the second range is outside the first range.
　特に、制御装置は、ロボットを制御する装置である。 In particular, the control device is a device that controls the robot.
　図１は、実施例６の制御装置１の中心機能を示しており、実施例１と同じであるので、詳述しない。図２は、実施例６の制御装置１のシステム構成を示しており、実施例１と同じであるので、詳述しない。 FIG. 1 shows the central function of the control device 1 of the sixth embodiment, which is the same as that of the first embodiment, and is not described in detail. FIG. 2 shows the system configuration of the control device 1 of the sixth embodiment, which is the same as that of the first embodiment, and will not be described in detail.
　図１５は、制御装置１と、制御装置１に制御されるロボット８を示す図である。 FIG. 15 is a diagram showing a control device 1 and a robot 8 controlled by the control device 1.
　ＰＩＤ制御器５は、ロボット８の運動を制御するための操作量（例えば、角度、速度、トルク）を演算する。所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（ロボット８のアーム位置など）の所望のプロフィールを演算する。 The PID controller 5 calculates the amount of operation (for example, angle, speed, torque) for controlling the movement of the robot 8. The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (such as the arm position of the robot 8) based on the control target.
　以下、各処理の詳細を説明する。 The details of each process will be described below.
　＜所望の出力値演算部（図１６）＞
　所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（ロボット８の位置）の所望のプロフィールを演算する。具体的には、図１６に示すように、制御目標である目標位置Ｔｇ＿ＰＯＳに対して、例えば伝達関数などを用いて、所望の位置Ｄｅ＿ＰＯＳのプロフィールを演算する。制御目標には、例えばステップ信号、ランプ信号などがある。伝達関数は、予め決めておくとよいが、ロボット８の動作状態に応じて特性を変化させてもよい。 <Desired output value calculation unit (FIG. 16)>
The desired output value calculation unit 4 calculates a desired profile of the output (position of the robot 8) to be controlled based on the control target. Specifically, as shown in FIG. 16, the profile of the desired position De_POS is calculated for the target position Tg_POS, which is the control target, by using, for example, a transfer function. Control targets include, for example, step signals, ramp signals, and the like. The transfer function may be determined in advance, but the characteristics may be changed according to the operating state of the robot 8.
　＜ＰＩＤ制御器ゲイン値調整部（図１７）＞
　ＰＩＤ制御器ゲイン値調整部２は、ＰＩＤ制御器５のゲイン値を調整する。具体的には、図１７に示すように、位置ＰＯＳのプロフィールと所望の速度Ｄｅ＿ＰＯＳのプロフィールの差が最も小さくなるように、調整後ＰＩＤゲイン暫定値を決める。得られたＰＩＤ制御器５のＰゲイン値、Ｉゲイン値、Ｄゲイン値の暫定値をそれぞれＫｐ＿ｎｅｗ＿ｔｍｐ，Ｋｉ＿ｎｅｗ＿ｔｍｐ，Ｋｄ＿ｎｅｗ＿ｔｍｐとする。 <PID controller gain value adjustment unit (Fig. 17)>
The PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, as shown in FIG. 17, the adjusted PID gain provisional value is determined so that the difference between the profile of the position POS and the profile of the desired velocity De_POS is minimized. The provisional values of the P gain value, the I gain value, and the D gain value of the obtained PID controller 5 are Kp_new_tmp, Ki_new_tpm, and Kd_new_tpm, respectively.
　位置ＰＯＳのプロフィールと所望の位置Ｄｅ＿ＰＯＳのプロフィールの差を評価する評価関数は、例えば、Ｊ２＝｜｜ＰＯＳ－Ｄｅ＿ＰＯＳ｜｜であるＬ２ノルム、又は、Ｊ１＝｜ＰＯＳ－Ｄｅ＿ＰＯＳ｜であるＬ１ノルムなどがある。Ｊ１やＪ２を最小化するＰＩＤゲイン値は、例えば、ＩＦＴ（Ｉｔｅｒａｔｉｖｅ　Ｆｅｅｄｂａｃｋ　Ｔｕｎｉｎｇ）、ＦＲＩＴ（Ｆｉｃｔｉｔｉｏｕｓ　Ｒｅｆｅｒｅｎｃｅ　Ｉｔｅｒａｔｉｖｅ　Ｔｕｎｉｎｇ）などのデータ駆動制御で決定すればよく、ＰＩＤゲイン値の決定は、最適化問題に帰着する。最適化のための解法は、ニュートン法、ガウス＝ニュートン法などの様々な方法があり、多くの参考文献があるので、ここでは詳述しない。 The evaluation function for evaluating the difference between the profile of the position POS and the profile of the desired position De_POS is, for example, the L2 norm of J2 = || POS-De_POS ||, or the L1 norm of J1 = | POS-De_POS |. There is. The PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRET (Fictitious Feedback Tuning), and the determination of the PID gain value is an optimization problem. Get back. There are various methods for optimization such as Newton's method and Gauss-Newton's method, and there are many references, so they are not described in detail here.
　なお、本最適化処理は、オフライン、オンラインのどちらで行ってもよい。 Note that this optimization process may be performed either offline or online.
　＜ＰＩＤゲイン値適用許可部（図６）＞
　ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値として用いると判定した場合、ＰＩＤゲイン値（暫定値）を最新のＰＩＤゲイン値としてＰＩＤ制御器５に適用し、ＰＩＤゲイン値として用いないと判定した場合、現状のＰＩＤゲイン値を維持する。具体的には、図６に示す実施例１と同じであるので、詳述しない。 <PID gain value application permission unit (Fig. 6)>
The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, since it is the same as that of the first embodiment shown in FIG. 6, it will not be described in detail.
　本実施例によれば、ＰＩＤ制御器５のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲（条件ａ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲（条件ａ）が成立しない範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する許可部を備える。また、ＰＩＤ制御器５のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、ＰＩＤ制御器５のゲイン値を調整するゲイン値調整部とを備える。また、前記第二の範囲は、前記第一の範囲より外側にある。また、制御装置は、ロボット８を制御する装置である。 According to the present embodiment, in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set. When it is permitted to be used as the gain value of the PID controller 5 and the newly calculated gain value is in the range where the second range (condition a) is not satisfied, the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value. Further, the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target. It is provided with a gain value adjusting unit for adjusting the gain value of the PID controller 5 so that the difference from the output value (time series signal or the like) becomes small. Further, the second range is outside the first range. The control device is a device that controls the robot 8.
　これにより、新たに演算されたＰＩＤゲイン値の許容範囲（絶対値）を規定するので、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出できる。また、不適切なＰＩＤゲイン値と判定された場合、当該ゲイン値を用いることを禁止できる。従って、ＰＩＤ制御ゲイン値を安定して調整でき、信頼性及び精度が高いＰＩＤ制御器５ゲイン値調整が実現でき、ロボット８の安全性や信頼性を向上できる。 As a result, the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Further, when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller 5 gain value can be adjusted with high reliability and accuracy, and the safety and reliability of the robot 8 can be improved.
　［実施例７］
　本実施例においては、ＰＩＤ制御器のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備える制御装置について示す。 [Example 7]
In this embodiment, in the control device that adjusts the gain value of the PID controller, when the newly calculated gain value is in the first range, the gain value is used as the gain value of the PID controller. A control device including a permission unit for permitting and prohibiting the use of the newly calculated gain value as a gain value of the PID controller when the newly calculated gain value is in the second range is shown.
　また、ＰＩＤ制御器のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、前記ＰＩＤ制御器ゲイン値を調整するゲイン値調整部とからなる。 Further, the control device for adjusting the gain value of the PID controller includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and an output of the control target. It is composed of a gain value adjusting unit that adjusts the PID controller gain value so that the difference from the value (time series signal or the like) becomes small.
　また、前記第二の範囲は、前記第一の範囲より外側にある。 Further, the second range is outside the first range.
　特に、制御装置は、ドローンなど飛行体を制御する装置である。 In particular, the control device is a device that controls an air vehicle such as a drone.
　図１は、実施例７の制御装置１の中心機能を示しており、実施例１と同じであるので、詳述しない。図２は、実施例７の制御装置１のシステム構成を示しており、実施例１と同じであるので、詳述しない。 FIG. 1 shows the central function of the control device 1 of the seventh embodiment, which is the same as that of the first embodiment, and is not described in detail. FIG. 2 shows the system configuration of the control device 1 of the seventh embodiment, which is the same as that of the first embodiment, and is not described in detail.
　図１８は、制御装置１と、制御装置１に制御されるドローン９を示す図である。 FIG. 18 is a diagram showing a control device 1 and a drone 9 controlled by the control device 1.
　ＰＩＤ制御器５は、ドローン９の運動を制御するための操作量（例えば、各ロータの回転速度）を演算する。所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（ドローン９の飛行速度など）の所望のプロフィールを演算する。 The PID controller 5 calculates an operation amount (for example, the rotation speed of each rotor) for controlling the movement of the drone 9. The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (such as the flight speed of the drone 9) based on the control target.
　以下、各処理の詳細を説明する。 The details of each process will be described below.
　＜所望の出力値演算部（図１９）＞
　所望の出力値演算部４は、制御目標に基づいて、制御対象の出力（ドローン９の飛行速度）の所望のプロフィールを演算する。具体的には、図１９に示すように、制御目標である目標飛行速度Ｔｇ＿ＦＳＰに対して、例えば伝達関数などを用いて、所望の飛行速度Ｄｅ＿ＦＳＰのプロフィールを演算する。制御目標には、例えばステップ信号、ランプ信号などがある。伝達関数は、予め決めておくとよいが、ドローン９の動作状態に応じて特性を変化させてもよい。 <Desired output value calculation unit (FIG. 19)>
The desired output value calculation unit 4 calculates a desired profile of the output to be controlled (flying speed of the drone 9) based on the control target. Specifically, as shown in FIG. 19, the profile of the desired flight speed De_FSP is calculated for the target flight speed Tg_FSP, which is the control target, by using, for example, a transfer function. Control targets include, for example, step signals, ramp signals, and the like. The transfer function may be determined in advance, but the characteristics may be changed according to the operating state of the drone 9.
　＜ＰＩＤ制御器ゲイン値調整部（図２０）＞
　ＰＩＤ制御器ゲイン値調整部２は、ＰＩＤ制御器５のゲイン値を調整する。具体的には、図２０に示すように、飛行速度ＦＳＰのプロフィールと所望の飛行速度Ｄｅ＿ＦＳＰのプロフィールの差が最も小さくなるように、調整後ＰＩＤゲイン暫定値を決める。得られたＰＩＤ制御器５のＰゲイン値、Ｉゲイン値、Ｄゲイン値の暫定値をそれぞれＫｐ＿ｎｅｗ＿ｔｍｐ，Ｋｉ＿ｎｅｗ＿ｔｍｐ，Ｋｄ＿ｎｅｗ＿ｔｍｐとする。 <PID controller gain value adjustment unit (Fig. 20)>
The PID controller gain value adjusting unit 2 adjusts the gain value of the PID controller 5. Specifically, as shown in FIG. 20, the adjusted PID gain provisional value is determined so that the difference between the profile of the flight speed FSP and the profile of the desired flight speed De_FSP is minimized. The provisional values of the P gain value, the I gain value, and the D gain value of the obtained PID controller 5 are Kp_new_tmp, Ki_new_tpm, and Kd_new_tpm, respectively.
　飛行速度ＦＳＰのプロフィールと所望の飛行速度Ｄｅ＿ＦＳＰのプロフィールの差を評価する評価関数は、例えば、Ｊ２＝｜｜ＰＯＳ－Ｄｅ＿ＰＯＳ｜｜であるＬ２ノルム、又は、Ｊ１＝｜ＰＯＳ－Ｄｅ＿ＰＯＳ｜であるＬ１ノルムなどがある。Ｊ１やＪ２を最小化するＰＩＤゲイン値は、例えば、ＩＦＴ（Ｉｔｅｒａｔｉｖｅ　Ｆｅｅｄｂａｃｋ　Ｔｕｎｉｎｇ）、ＦＲＩＴ（Ｆｉｃｔｉｔｉｏｕｓ　Ｒｅｆｅｒｅｎｃｅ　Ｉｔｅｒａｔｉｖｅ　Ｔｕｎｉｎｇ）などのデータ駆動制御で決定すればよく、ＰＩＤゲイン値の決定は、最適化問題に帰着する。最適化のための解法は、ニュートン法、ガウス＝ニュートン法などの様々な方法があり、多くの参考文献があるので、ここでは詳述しない。 The evaluation function for evaluating the difference between the profile of the flight speed FSP and the profile of the desired flight speed De_FSP is, for example, the L2 norm of J2 = || POS-De_POS || or the L1 of J1 = | POS-De_POS | There is a norm and so on. The PID gain value that minimizes J1 and J2 may be determined by data-driven control such as IFT (Iterative Feedback Tuning) and FRET (Fictitious Feedback Tuning), and the determination of the PID gain value is an optimization problem. Get back. There are various methods for optimization such as Newton's method and Gauss-Newton's method, and there are many references, so they are not described in detail here.
　なお、本最適化処理は、オフライン、オンラインのどちらで行ってもよい。 Note that this optimization process may be performed either offline or online.
　＜ＰＩＤゲイン値適用許可部（図６）＞
　ＰＩＤゲイン値適用許可部３は、ＰＩＤ制御器ゲイン値調整部２で新たに演算されたＰＩＤゲイン値（暫定値）をＰＩＤゲイン値として用いるか否かを判定し、ＰＩＤゲイン値として用いると判定した場合、ＰＩＤゲイン値（暫定値）を最新のＰＩＤゲイン値としてＰＩＤ制御器５に適用し、ＰＩＤゲイン値として用いないと判定した場合、現状のＰＩＤゲイン値を維持する。具体的には、図６に示す実施例１と同じであるので、詳述しない。 <PID gain value application permission unit (Fig. 6)>
The PID gain value application permission unit 3 determines whether or not to use the PID gain value (provisional value) newly calculated by the PID controller gain value adjusting unit 2 as the PID gain value, and determines that the PID gain value is used as the PID gain value. If this is the case, the PID gain value (provisional value) is applied to the PID controller 5 as the latest PID gain value, and when it is determined that the PID gain value is not used, the current PID gain value is maintained. Specifically, since it is the same as that of the first embodiment shown in FIG. 6, it will not be described in detail.
　本実施例によれば、ＰＩＤ制御器５のゲイン値を調整する制御装置において、新たに演算されたゲイン値が第一の範囲（条件ａ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲（条件ａ）が成立しない範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止する許可部を備える。また、ＰＩＤ制御器５のゲイン値を調整する制御装置は、前記制御対象の所望の出力値を演算する演算部と、前記演算された所望の出力値（時系列信号など）と前記制御対象の出力値（時系列信号など）との差が小さくなるように、ＰＩＤ制御器５のゲイン値を調整するゲイン値調整部とを備える。また、前記第二の範囲は、前記第一の範囲より外側にある。また、制御装置は、ドローン９を制御する装置である。 According to the present embodiment, in the control device that adjusts the gain value of the PID controller 5, when the newly calculated gain value is in the first range (the range in which the condition a) is satisfied, the gain value is set. When it is permitted to be used as the gain value of the PID controller 5 and the newly calculated gain value is in the range where the second range (condition a) is not satisfied, the gain value is used as the gain of the PID controller 5. It has a permit unit that prohibits its use as a value. Further, the control device that adjusts the gain value of the PID controller 5 includes a calculation unit that calculates a desired output value of the control target, the calculated desired output value (time series signal, etc.), and the control target. It is provided with a gain value adjusting unit for adjusting the gain value of the PID controller 5 so that the difference from the output value (time series signal or the like) becomes small. Further, the second range is outside the first range. The control device is a device that controls the drone 9.
　これにより、新たに演算されたＰＩＤゲイン値の許容範囲（絶対値）を規定するので、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出できる。また、不適切なＰＩＤゲイン値と判定された場合、当該ゲイン値を用いることを禁止できる。従って、ＰＩＤ制御ゲイン値を安定して調整でき、信頼性及び精度が高いＰＩＤ制御器ゲイン値調整が実現でき、ドローン９の安全性や信頼性などを向上できる。 As a result, the allowable range (absolute value) of the newly calculated PID gain value is defined, so that an inappropriate PID gain value can be detected even if the amount of change in the PID gain value is small. Further, when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be stably adjusted, the PID controller gain value can be adjusted with high reliability and accuracy, and the safety and reliability of the drone 9 can be improved.
　以上に説明したように、本発明の実施例によると、ＰＩＤ制御器５のゲイン値を調整する制御装置１において、新たに演算されたゲイン値が第一の範囲（例えば、条件ａ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを許可し、新たに演算されたゲイン値が第二の範囲（例えば、条件ａ）が成立しない範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止するＰＩＤゲイン値適用許可部３を有するので、新たに演算されたＰＩＤゲイン値の許容範囲（絶対値）の規定によって、ＰＩＤゲイン値の変化量が小さくても、不適切なＰＩＤゲイン値を検出でき、不適切なＰＩＤゲイン値と判定された場合、当該ゲイン値を用いることを禁止できる。従って、ＰＩＤ制御ゲイン値を安定して調整でき、信頼性及び精度の高いＰＩＤ制御器ゲイン値調整が実現できる。 As described above, according to the embodiment of the present invention, in the control device 1 for adjusting the gain value of the PID controller 5, the first range (for example, condition a) of the newly calculated gain value is satisfied. If it is in the range), the gain value is allowed to be used as the gain value of the PID controller 5, and the newly calculated gain value is in the second range (for example, the range in which the condition a) is not satisfied). In this case, since the PID gain value application permission unit 3 for prohibiting the use of the gain value as the gain value of the PID controller 5 is provided, the PID is specified according to the newly calculated allowable range (absolute value) of the PID gain value. Even if the amount of change in the gain value is small, an inappropriate PID gain value can be detected, and when it is determined that the PID gain value is inappropriate, it is possible to prohibit the use of the gain value. Therefore, the PID control gain value can be adjusted stably, and the PID controller gain value can be adjusted with high reliability and accuracy.
　また、制御対象６の所望の出力値を演算する所望の出力値演算部４と、演算された所望の出力値と制御対象６の出力値との差が小さくなるように、ＰＩＤ制御器５のゲイン値を調整するＰＩＤ制御器ゲイン値調整部２とを備えるので、制御対象を所望の条件で運転できる。 Further, the PID controller 5 is set so that the difference between the desired output value calculation unit 4 for calculating the desired output value of the control target 6 and the calculated desired output value and the output value of the control target 6 is small. Since the PID controller gain value adjusting unit 2 for adjusting the gain value is provided, the controlled object can be operated under desired conditions.
　また、ＰＩＤゲイン値適用許可部３は、前記新たに演算されたゲイン値が前記第二の範囲にある場合、前記制御対象の動作状態が異常であると判定するとともに、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止するので、制御対象を安定して運転でき、さらに、制御対象の異常を判定できる。 Further, when the newly calculated gain value is in the second range, the PID gain value application permission unit 3 determines that the operating state of the controlled object is abnormal and controls the gain value by PID. Since it is prohibited to use it as the gain value of the device 5, the controlled object can be operated stably, and an abnormality of the controlled object can be determined.
　また、ＰＩＤゲイン値適用許可部３は、前記新たに演算されたゲイン値が前記第一の範囲及び前記第二の範囲のいずれとも異なる第三の範囲（例えば、条件ａ）及び条件ｂ）が成立せず、条件ｃ）が成立する範囲）にある場合、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止するので、ＰＩＤゲイン値の異常を判定できる。 Further, the PID gain value application permission unit 3 has a third range (for example, condition a) and condition b) in which the newly calculated gain value is different from both the first range and the second range. If the condition c) is not satisfied and the condition c) is satisfied, the use of the gain value as the gain value of the PID controller 5 is prohibited, so that the abnormality of the PID gain value can be determined.
　また、ＰＩＤゲイン値適用許可部３は、前記新たに演算されたゲイン値が前記第三の範囲にある場合、前記ゲイン値が異常であると判定するとともに、当該ゲイン値をＰＩＤ制御器５のゲイン値として用いることを禁止するので、制御対象を安定して運転でき、さらに、ＰＩＤゲイン値の異常を判定できる。 Further, when the newly calculated gain value is in the third range, the PID gain value application permission unit 3 determines that the gain value is abnormal and determines the gain value of the PID controller 5. Since it is prohibited to use it as a gain value, the controlled object can be operated stably, and an abnormality of the PID gain value can be determined.
　また、前記第二の範囲は、前記第一の範囲より外側にあるので、制御対象の異常を的確に判定できる。 Further, since the second range is outside the first range, the abnormality of the controlled object can be accurately determined.
　また、前記第三の範囲は、前記第二の範囲より外側にあるので、ＰＩＤゲイン値の異常を的確に判定できる。 Further, since the third range is outside the second range, the abnormality of the PID gain value can be accurately determined.
　なお、本発明は前述した実施例に限定されるものではなく、添付した特許請求の範囲の趣旨内における様々な変形例及び同等の構成が含まれる。例えば、前述した実施例は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに本発明は限定されない。また、ある実施例の構成の一部を他の実施例の構成に置き換えてもよい。また、ある実施例の構成に他の実施例の構成を加えてもよい。また、各実施例の構成の一部について、他の構成の追加・削除・置換をしてもよい。 It should be noted that the present invention is not limited to the above-described embodiment, but includes various modifications and equivalent configurations within the scope of the attached claims. For example, the above-described examples have been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the described configurations. Further, a part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Further, the configuration of another embodiment may be added to the configuration of one embodiment. In addition, other configurations may be added / deleted / replaced with respect to a part of the configurations of each embodiment.
　また、前述した各構成、機能、処理部、処理手段等は、それらの一部又は全部を、例えば集積回路で設計する等により、ハードウェアで実現してもよく、プロセッサがそれぞれの機能を実現するプログラムを解釈し実行することにより、ソフトウェアで実現してもよい。 Further, each of the above-described configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.
　各機能を実現するプログラム、テーブル、ファイル等の情報は、メモリ、ハードディスク、ＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）等の記憶装置、又は、ＩＣカード、ＳＤカード、ＤＶＤ等の記録媒体に格納することができる。 Information such as programs, tables, and files that realize each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
　また、制御線や情報線は説明上必要と考えられるものを示しており、実装上必要な全ての制御線や情報線を示しているとは限らない。実際には、ほとんど全ての構成が相互に接続されていると考えてよい。 In addition, the control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines that are necessary for implementation. In practice, it can be considered that almost all configurations are interconnected.

Claims (8)

  1. 　ＰＩＤ制御器のゲイン値を調整する制御装置において、
    　前記ＰＩＤ制御器のゲイン値を演算するゲイン値調整部と、
    　新たに演算されたゲイン値が第一の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを許可し、前記新たに演算されたゲイン値が第二の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止する許可部を備えることを特徴とする制御装置。     In the control device that adjusts the gain value of the PID controller
    A gain value adjusting unit that calculates the gain value of the PID controller, and
    When the newly calculated gain value is in the first range, the gain value is allowed to be used as the gain value of the PID controller, and the newly calculated gain value is in the second range. , A control device including a permit unit that prohibits the use of the gain value as a gain value of the PID controller.
  2. 　請求項１に記載の制御装置であって、
    　制御対象の所望の出力値を演算する演算部を備え、
    　前記ゲイン値調整部は、前記演算された所望の出力値と前記制御対象の出力値との差が小さくなるように、前記ＰＩＤ制御器のゲイン値を演算することを特徴とする制御装置。     The control device according to claim 1.
    It is equipped with an arithmetic unit that calculates the desired output value of the controlled object.
    The gain value adjusting unit is a control device that calculates the gain value of the PID controller so that the difference between the calculated desired output value and the output value of the controlled object becomes small.
  3. 　請求項１に記載の制御装置であって、
    　前記許可部は、前記新たに演算されたゲイン値が前記第二の範囲にある場合、制御対象の動作状態が異常であると判定するとともに、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止することを特徴とする制御装置。     The control device according to claim 1.
    When the newly calculated gain value is in the second range, the permission unit determines that the operating state of the controlled object is abnormal, and uses the gain value as the gain value of the PID controller. A control device characterized in that it is prohibited.
  4. 　請求項１に記載の制御装置であって、
    　前記許可部は、前記新たに演算されたゲイン値が前記第一の範囲及び前記第二の範囲のいずれとも異なる第三の範囲にある場合、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止することを特徴とする制御装置。     The control device according to claim 1.
    When the newly calculated gain value is in a third range different from both the first range and the second range, the permission unit uses the gain value as the gain value of the PID controller. A control device characterized in that it is prohibited.
  5. 　請求項４に記載の制御装置であって、
    　前記許可部は、前記新たに演算されたゲイン値が前記第三の範囲にある場合、前記ゲイン値が異常であると判定するとともに、当該ゲイン値を前記ＰＩＤ制御器のゲイン値として用いることを禁止することを特徴とする制御装置。     The control device according to claim 4.
    When the newly calculated gain value is in the third range, the permission unit determines that the gain value is abnormal and uses the gain value as the gain value of the PID controller. A control device characterized by being prohibited.
  6. 　請求項１に記載の制御装置であって、
    　前記第二の範囲は、前記第一の範囲より外側にあることを特徴とする制御装置。     The control device according to claim 1.
    The control device, wherein the second range is outside the first range.
  7. 　請求項４に記載の制御装置であって、
    　前記第二の範囲は、前記第一の範囲より外側にあり、
    　前記第三の範囲は、前記第二の範囲より外側にあることを特徴とする制御装置。     The control device according to claim 4.
    The second range is outside the first range and
    The control device, wherein the third range is outside the second range.
  8. 　請求項１に記載の制御装置であって、
    　少なくとも、プラントの温度を制御する装置、自動運転車を制御する装置、ロボットを制御する装置、及び飛行体を制御する装置のいずれかであることを特徴とする制御装置。     The control device according to claim 1.
    A control device, which is at least one of a device for controlling the temperature of a plant, a device for controlling an autonomous vehicle, a device for controlling a robot, and a device for controlling an air vehicle.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58207104A (en) * 1982-05-27 1983-12-02 Toshiba Corp Automatic tuning controller
JPH10143249A (en) * 1996-11-15 1998-05-29 Fujitsu Ltd Control system, acceleration pattern setting method, and parameter setting method therefor
JP2017192274A (en) * 2016-04-15 2017-10-19 ファナック株式会社 Digital control power supply device and production management system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58207104A (en) * 1982-05-27 1983-12-02 Toshiba Corp Automatic tuning controller
JPH10143249A (en) * 1996-11-15 1998-05-29 Fujitsu Ltd Control system, acceleration pattern setting method, and parameter setting method therefor
JP2017192274A (en) * 2016-04-15 2017-10-19 ファナック株式会社 Digital control power supply device and production management system

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