WO2020183852A1 - Dispositif de commande - Google Patents

Dispositif de commande 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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English (en)
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/fr

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

Abstract

Cette invention concerne un dispositif de commande, qui ajuste une valeur de gain d'un régulateur PID, caractérisé en ce qu'il comprend une partie d'autorisation laquelle, lorsqu'une valeur de gain nouvellement calculée se trouve dans une première plage, permet à la valeur de gain d'être utilisée comme valeur de gain du régulateur PID, et lorsque la valeur de gain nouvellement calculée se trouve dans une seconde plage, interdit l'utilisation de la valeur de gain en tant que valeur de gain du régulateur PID.
PCT/JP2019/049994 2019-03-12 2019-12-20 Dispositif de commande WO2020183852A1 (fr)

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JP2019044465A JP7288772B2 (ja) 2019-03-12 2019-03-12 制御装置

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58207104A (ja) * 1982-05-27 1983-12-02 Toshiba Corp オ−トチユ−ニング・コントロ−ラ
JPH10143249A (ja) * 1996-11-15 1998-05-29 Fujitsu Ltd 制御システムおよび制御システムにおける加速度パターンの設定方法およびパラメータ設定方法
JP2017192274A (ja) * 2016-04-15 2017-10-19 ファナック株式会社 ディジタル制御電源装置および生産管理システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58207104A (ja) * 1982-05-27 1983-12-02 Toshiba Corp オ−トチユ−ニング・コントロ−ラ
JPH10143249A (ja) * 1996-11-15 1998-05-29 Fujitsu Ltd 制御システムおよび制御システムにおける加速度パターンの設定方法およびパラメータ設定方法
JP2017192274A (ja) * 2016-04-15 2017-10-19 ファナック株式会社 ディジタル制御電源装置および生産管理システム

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