WO2021205534A1 - 制御装置及び復帰処理方法 - Google Patents

制御装置及び復帰処理方法 Download PDF

Info

Publication number
WO2021205534A1
WO2021205534A1 PCT/JP2020/015642 JP2020015642W WO2021205534A1 WO 2021205534 A1 WO2021205534 A1 WO 2021205534A1 JP 2020015642 W JP2020015642 W JP 2020015642W WO 2021205534 A1 WO2021205534 A1 WO 2021205534A1
Authority
WO
WIPO (PCT)
Prior art keywords
value
measured value
control
control device
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/015642
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
知嘉 福永
智英 金井
敬吾 山口
昌士 島田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
RKC Instrument Inc
Original Assignee
RKC Instrument Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by RKC Instrument Inc filed Critical RKC Instrument Inc
Priority to JP2022513736A priority Critical patent/JP7421040B2/ja
Priority to PCT/JP2020/015642 priority patent/WO2021205534A1/ja
Publication of WO2021205534A1 publication Critical patent/WO2021205534A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D23/00—Control of temperature
    • G05D23/19—Control of temperature characterised by the use of electric means

Definitions

  • the present invention relates to a control device and a recovery processing method for switching between control processing under initial conditions and recovery processing under restart conditions when recovering from a power failure such as a power failure.
  • Patent Document 1 discloses a prior art relating to such a restoration process.
  • Patent Document 1 calculates the difference between the target temperature and the measured value when recovering from a power supply abnormality, and if the value is within a "constant threshold value", an integrated output setting program.
  • the initial integral output is input to the PID controller to perform control processing.
  • normal PID control with the initial integrated output set to zero is performed. That is, the control process under the initial condition and the return process under the restart condition (condition based on the integral output setting program) are used properly according to the difference between the target temperature and the measured value at the time of recovery from the power failure. Is.
  • Patent Document 1 is temperature control in an analyzer, and it is considered that the control target is determined. In such a case, it can be said that it is not necessary to change the reference value of the difference between the target value and the measured value, which is the “constant threshold value” for performing the above processing, at any time.
  • the present invention relates to setting a reference value for switching between control under initial conditions and control under restart conditions when recovering from a power failure such as a power failure, and changes conditions such as a control target. It is an object of the present invention to provide a control device or a return processing method capable of reducing the troublesomeness of setting each time accordingly.
  • a control device that controls the control target based on the measured value and the target value, and when the difference between the measured value and the target value at the time of recovery exceeds the operation switching reference value as the recovery process from a power failure such as a power failure.
  • a control device characterized in that the switching reference value is a value obtained by multiplying the measured value change rate of the controlled object by a reference time.
  • (Structure 2) The control device according to configuration 1, further comprising a measured value change rate acquisition unit that acquires the measured value change rate based on the amount of change of the measured value per unit time when the operation amount is changed.
  • the image when recovering from a power failure such as a power failure, the image is sensuous in setting a reference value for switching between control under the initial condition and control under the restart condition. Can be easily grasped.
  • Schematic diagram for explaining the operation during auto-tuning A flowchart showing an outline of the operation switching reference value S calculation process performed in association with the auto-tuning process operation in the embodiment.
  • FIG. 1 is a block diagram showing an outline of a configuration of a temperature control device (an example of a control device) according to an embodiment of the present invention.
  • the temperature control device 1 of the present embodiment is a device for controlling the temperature of the control target 2, and here, a device that controls the temperature of the temperature control target 22 heated by the heater 21 will be described as an example.
  • the temperature control device 1 controls the temperature of the control target 2 by PID control based on the deviation between the target value SV and the measured value PV of the control target.
  • the control process under the initial condition and the control process under the restart condition are switched according to the difference between the measured value and the target value.
  • the “measured value of the controlled object” is the temperature information of the temperature controlled object 22 measured by the temperature measuring unit 23.
  • the temperature control device 1 includes a calculation unit 11, a storage unit 12, and an input unit 13 as a rough configuration thereof.
  • the calculation unit 11 As a recovery process from a power failure such as a power failure, if the difference between the measured value at the time of recovery and the target value exceeds the operation switching reference value, control processing is performed under the initial conditions, and the measured value at the time of recovery and the target value When the difference is less than or equal to the operation switching reference value, the return processing unit 111 that performs the control processing under the restart condition, and the return processing unit 111.
  • the measured value change rate acquisition unit 112 that acquires the measured value change rate based on the amount of change of the measured value per unit time when the operation amount is changed, and the measured value change rate acquisition unit 112.
  • the PID calculation unit 113 that calculates the operation amount by the PID calculation based on the deviation between the target value SV and the measured value PV of the controlled object, and The auto-tuning unit 114 that calculates the PID constant for PID calculation, It has.
  • the arithmetic unit 11 publicizes PLC, MCU, microcomputer, and the like.
  • Each configuration may be implemented in software by being configured using the above devices. As described below, in this embodiment, each configuration is implemented by software as an example.
  • each configuration may be configured as hardware, for example, one configured by using FPGA or the like, one configured by ASIC or the like as dedicated hardware, or the like.
  • the storage unit 12 stores a reference time set by the user, an operation switching reference value and an upper limit value described below, a PID constant calculated by the auto-tuning unit 114, and the like. In addition, the control output used in each control cycle is temporarily stored.
  • the input unit 13 receives an input of a reference time set by the user, and is composed of, for example, an operation unit for performing the setting work by the user, a receiving unit for receiving data input from an external device, and the like.
  • the temperature control device 1 of the present embodiment performs the control process under the initial conditions and the restart condition according to the difference between the measured value and the target value at the time of recovery. It switches the control process of.
  • the temperature control device 1 of the present embodiment calculates the "operation switching reference value", which is the threshold value for the switching, by multiplying the measured value change rate automatically acquired by the device by the reference time set by the user. ing. That is, the user can set the "operation switching reference value" by setting the reference time.
  • the processing operation of the temperature control device 1 relating to the feature will be described with reference to the flowcharts of FIGS. 3 and 4. The processes of FIGS.
  • the arithmetic unit 11 is executed by the arithmetic unit 11 while reading and writing data to and from the storage unit 12 as needed. That is, here, as an example, the return processing unit 111, the measured value change rate acquisition unit 112, the PID calculation unit 113, and the auto-tuning unit 114 are implemented by software.
  • FIG. 3 is a flowchart showing an outline of the calculation process of the “operation switching reference value” performed in association with the auto-tuning process operation.
  • FIG. 2 is a schematic diagram for explaining the operation at the time of auto-tuning.
  • Auto-tuning is a process performed to calculate the PID constant, and as shown in FIG. 2, the operation amount MV is set to the maximum (100%) by using the time when the measured value PV reaches the target value SV as a trigger. The process of switching to the minimum (0%) and outputting is performed (limit cycle method).
  • limit cycle method For auto-tuning, any available auto-tuning can be used. Since the auto-tuning function itself is not directly related to the present invention, further description thereof will be omitted here.
  • ⁇ PVmax which is the maximum value of the absolute value of the slope of the waveform, is acquired (step 301).
  • ⁇ PVmax corresponds to "the maximum value of the change amount per unit time of the measured value when the operation amount is changed".
  • step 302 it is determined whether or not the value obtained by multiplying ⁇ PVmax by the reference time exceeds the upper limit value L.
  • the reference time is a value set by the user and is stored in the storage unit 12.
  • As the upper limit value L a value based on the proportional band of proportional control is used in the present embodiment, and the value of the proportional band / 10 is set as the upper limit value L in the present embodiment.
  • the upper limit value L is calculated by the calculation unit 11 by multiplying the proportional band, which is a set value for PID control, by a coefficient, and is stored in the storage unit 12.
  • the value obtained by multiplying ⁇ PVmax by the reference time is equal to or less than the upper limit value L
  • the value obtained by multiplying ⁇ PVmax by the reference time is stored in the storage unit 12 as the operation switching reference value S (step 302: No ⁇ step 303). .. That is, in the present embodiment, the value obtained by multiplying ⁇ PVmax, which is the “measured value change rate”, by the reference time is set as the operation switching reference value S.
  • ⁇ PVmax is the absolute value of the inclination of the measured value PV obtained when the manipulated variable MV is switched between the maximum and the minimum and output.
  • the upper limit value L is stored in the storage unit 12 as the operation switching reference value S (step 302: Yes ⁇ step 304). That is, the operation switching reference value S is set to an upper limit value obtained by multiplying the proportional band of proportional control by a coefficient. Since it is not appropriate that the operation switching reference value S becomes too large, an upper limit value is set. If the operation switching reference value S becomes too large, control will be performed under the restart condition even when it is not appropriate to use the restart condition, and this is prevented. By using a value obtained by multiplying the proportional band by a coefficient as the upper limit value L, it is possible to obtain an upper limit value that fluctuates according to the control target, which is preferable.
  • the operation switching reference value S is automatically calculated along with the auto-tuning processing operation.
  • step 401 it is determined whether or not the deviation between the target value SV and the measured value PV is equal to or less than the operation switching reference value S. If the deviation between the target value SV and the measured value PV is equal to or less than the operation switching reference value S, PID control is performed under the restart condition (step 401: Yes ⁇ step 402), and the target value SV and the measured value PV are measured. When the deviation exceeds the operation switching reference value S, PID control is performed under the initial conditions (step 401: No ⁇ step 403).
  • the "restart condition" is a control condition for stabilizing the control target at the target temperature more quickly, and for example, the integrated output in PI control or PID control is set to a predetermined value.
  • control output used in each control cycle is updated and retained (stored), and in step 402, the output is equivalent to the control output used at the time of the power failure (immediately before the power failure).
  • the integrated output is set to zero and the PID control is performed.
  • the control output is held (stored) as an example, but the integrated output may be held and the value may be set to a predetermined value.
  • FIG. 5 is an explanatory diagram for comparing the control under the initial condition and the control under the restart condition.
  • the control under the restart condition is controlled as in the present embodiment as compared with the case where the control is not switched under the restart condition. If there is a switch to, it can be seen that the stable state is restored within a short time. If the deviation between the target value SV and the measured value PV exceeds the range of the operation switching reference value S shown in FIG. 5, it is not appropriate to use the restart condition, so control under the initial condition is performed. It is done (step 401: No ⁇ step 403).
  • the appropriate operation switching reference value is automatically calculated each time by performing the auto tuning, so that the temperature control device 1 is set each time. It is also possible to eliminate the hassle. For example, even when the control target changes, an appropriate operation switching reference value is determined by the "measured value change rate" obtained during auto-tuning executed in response to the change in the control target and the set reference time. Is automatically calculated, so the user does not have to set it each time.
  • ⁇ PVmax which is the rate of change of the measured value
  • the measured value change rate is a value indicating how much the temperature change of the controlled object occurs per unit time.
  • the value obtained by multiplying this by the reference time is a value indicating how much the temperature change of the controlled object occurs in the reference time. That is, when the reference time is 30 seconds, the operation switching reference value S is an image corresponding to the temperature change caused by the controlled object when a power failure occurs for 30 seconds. Therefore, the user can easily grasp the image in the setting of the reference time (how much the power failure time is used as the reference).
  • the reference time setting does not need to be changed every time the control target changes (of course, it may be changed).
  • the acquisition of the measured value change rate is defined as "the amount of change in the measured value per unit time when the manipulated variable is maximized to the minimum” and “the measured value when the manipulated variable is maximized from the minimum”.
  • the present invention is not limited to this, and corresponds to the change amount of the measured value per unit time when the operation amount is changed. Any value can be used.
  • the above “change amount of the measured value per unit time when the operation amount is maximized to the minimum” and “change amount of the measured value per unit time when the operation amount is maximized” are acquired.
  • the average value of these absolute values is used as the measured value change rate, and "the amount of change in the measured value per unit time when the manipulated variable is minimized" and "the manipulated variable is set from the minimum to the maximum".
  • the average value of each maximum value of the "amount of change in the measured value per unit time" may be used as the measured value change rate.
  • the measured value change rate is acquired when auto-tuning is performed, but the present invention is not limited to this, and the measured value change rate is acquired at an arbitrary timing. May be.
  • the amount of change in the measured value PV per unit time may be acquired and set as the measured value change rate.
  • the amount of change in the measured value PV per unit time is acquired in the normal temperature control process.
  • the manipulated variable MV is minimized from the steady state with the end of the temperature control, the amount of change in the measured value PV per unit time is acquired. However, this may be set as the measured value change rate.
  • the operation switching reference value is set as the value obtained by multiplying the measured value change rate by the reference time, but the wasted time of the controlled object (from the time when the input changes to the time when the output changes due to it).
  • the operation switching reference value is set as the value obtained by multiplying the measured value change rate by the reference time minus the wasted time, so that the control takes into consideration the wasted time of the controlled object. It may be.
  • PID control is described as an example of control processing, but the present invention is not limited to this, for example, PI control and other control methods (control processing under initial conditions and restart conditions). It can be used for any control method) that can switch the return process.
  • the "restart condition" the integrated output of the PID control after the restart is started at the value used at the time of the power failure as an example, but the present invention is not limited to this.
  • the method disclosed in Patent Document 1 may be used.
  • the "restart condition" may be appropriately determined according to the difference in each control method and the like.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Temperature (AREA)
  • Feedback Control In General (AREA)
PCT/JP2020/015642 2020-04-07 2020-04-07 制御装置及び復帰処理方法 Ceased WO2021205534A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2022513736A JP7421040B2 (ja) 2020-04-07 2020-04-07 制御装置及び復帰処理方法
PCT/JP2020/015642 WO2021205534A1 (ja) 2020-04-07 2020-04-07 制御装置及び復帰処理方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/015642 WO2021205534A1 (ja) 2020-04-07 2020-04-07 制御装置及び復帰処理方法

Publications (1)

Publication Number Publication Date
WO2021205534A1 true WO2021205534A1 (ja) 2021-10-14

Family

ID=78023010

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/015642 Ceased WO2021205534A1 (ja) 2020-04-07 2020-04-07 制御装置及び復帰処理方法

Country Status (2)

Country Link
JP (1) JP7421040B2 (https=)
WO (1) WO2021205534A1 (https=)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0299411U (https=) * 1989-01-23 1990-08-08
JPH05341801A (ja) * 1992-06-09 1993-12-24 Yokogawa Electric Corp 調節計
US20070080235A1 (en) * 2005-10-07 2007-04-12 Ace Glass Incorporated Temperature controller backup device
JP2015090605A (ja) * 2013-11-06 2015-05-11 東ソー株式会社 温調可能な分析装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0359706A (ja) * 1989-07-28 1991-03-14 Kyocera Corp 被加熱体の温度制御方式
JP3275316B2 (ja) * 1991-03-18 2002-04-15 オムロン株式会社 制御システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0299411U (https=) * 1989-01-23 1990-08-08
JPH05341801A (ja) * 1992-06-09 1993-12-24 Yokogawa Electric Corp 調節計
US20070080235A1 (en) * 2005-10-07 2007-04-12 Ace Glass Incorporated Temperature controller backup device
JP2015090605A (ja) * 2013-11-06 2015-05-11 東ソー株式会社 温調可能な分析装置

Also Published As

Publication number Publication date
JP7421040B2 (ja) 2024-01-24
JPWO2021205534A1 (https=) 2021-10-14

Similar Documents

Publication Publication Date Title
JP3875112B2 (ja) Ｐｉｄ選択機能を備えた調節計
CN107196581B (zh) 用于微调伺服马达的控制装置、方法及计算机可读介质
US20140121853A1 (en) Feedback control method, feedback control apparatus, and feedback control program
KR102043327B1 (ko) Ｐｉｄ 제어 장치, ｐｉｄ 제어 방법 및 ｐｉｄ 제어 프로그램
WO2021205534A1 (ja) 制御装置及び復帰処理方法
JP4291002B2 (ja) リミットサイクルオートチューニング方法およびヒートクール制御装置
JP2004086858A (ja) 制御装置、温度調節器および熱処理装置
US20070185593A1 (en) Control device
JP2001050830A (ja) パワーステアリング用トルクセンサ
WO2018042389A1 (en) Techniques for limiting electrical current provided to a motor in an electric power steering system
JPH08110802A (ja) Ｐｉｄコントローラ
JP6974131B2 (ja) 推定装置および方法
JP6417175B2 (ja) 評価装置および評価方法
JP2004126733A (ja) 調節計
JP7388849B2 (ja) 制御パラメータ調整装置および方法
WO2017077565A1 (ja) Ｐｉｄ制御装置及びｐｉｄ制御方法
WO2005000608A2 (en) Temperature comfort device heater controller method and system
JPH07168604A (ja) Ｐｉｄパラメータのオートチューニング方式
JP2023181975A (ja) 制御装置、プログラム、及び制御方法
JP2017062542A (ja) 制御装置および制御方法
US20230405700A1 (en) Control device, non-transitory computer-readable storage medium, and control method
JP7807944B2 (ja) パラメータ推定装置および方法
JP7139221B2 (ja) 状態判定装置および状態判定方法
JP7388848B2 (ja) 制御パラメータ調整装置および方法
JP3120604B2 (ja) Ｎｃ工作機械の変位補正装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20930164

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022513736

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20930164

Country of ref document: EP

Kind code of ref document: A1