JP2005353017A - Klt identification value measuring technique for control object signal transmission characteristics - Google Patents
Klt identification value measuring technique for control object signal transmission characteristics Download PDFInfo
- Publication number
- JP2005353017A JP2005353017A JP2004198644A JP2004198644A JP2005353017A JP 2005353017 A JP2005353017 A JP 2005353017A JP 2004198644 A JP2004198644 A JP 2004198644A JP 2004198644 A JP2004198644 A JP 2004198644A JP 2005353017 A JP2005353017 A JP 2005353017A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- klt
- identification value
- value
- 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.)
- Granted
Links
Images
Landscapes
- Testing And Monitoring For Control Systems (AREA)
- Feedback Control In General (AREA)
Abstract
Description
本発明は自動制御の分野（特にプロセス計測制御）において、制御装置の制御パラメータ決定に必要な制御対象の信号伝達特性の計測（プロセス同定）に関する。
自動制御システム構成に制御対象信号伝達特性の計測手段（プロセス同定手段）が含まれる事は、次の特許文献等に記載されている如く公知の技術である。
［特許文献１］特開平８−７６８０５
［要約］図の同定機構および同定信号発生器
［特許文献２］特開２００１−３５０５０３
［要約］図のプロセス同定手段
本発明は制御対象信号伝達特性計測手段の具体的手法に関する発明である。The present invention relates to measurement (process identification) of a signal transfer characteristic of a control object necessary for determining a control parameter of a control device in the field of automatic control (particularly process measurement control).
It is a well-known technique as described in the following patent documents and the like that the automatic control system configuration includes a measurement means (process identification means) of a control target signal transfer characteristic.
[Patent Document 1] JP-A-8-76805
[Summary] Identification mechanism of figure and identification signal generator [Patent Document 2] JP 2001-350503 A
[Summary] Process identification means in the figure The present invention relates to a specific technique of a control object signal transfer characteristic measurement means.
フイードバック制御、フイードフォアード制御、干渉系の非干渉化制御等、単純な制御から複雑なアドバンスド制御にいたるまで、あらゆる制御において広く使用されている制御対象信号伝達特性（プロセスパラメータ）の計測はＫＬＴ同定値の計測である。
ここで、 Ｋはゲイン、
Ｌは等価むだ時間、
Ｔは等価時定数。
本発明は制御対象信号伝達特性のＫＬＴ同定値計測手法の一つである。
［背景技術］Measurement of control target signal transfer characteristics (process parameters) widely used in all types of control, from simple control to complex advanced control, such as feedback control, feedback control, and non-interference control of interference system It is the measurement of the identification value.
Where K is the gain,
L is the equivalent dead time,
T is the equivalent time constant.
The present invention is one of the KLT identification value measurement methods of the signal transmission characteristic to be controlled.
[Background technology]
現在広く使用されている制御対象信号伝達特性のＫＬＴ同定値計測手法は、次の非特許文献等に記載されているごとく、通常、ステップ応答法と言われているもので、ステップ応答の変曲点（最大傾斜点）接線手法である。
［非特許文献１］高山静：自動制御のための初歩数学、 Ｐ ２７２
日刊工業新聞（１９６４）東京
［非特許文献２］片山徹：フイードバック制御の基礎、 Ｐ １５８
朝倉書店 （１９８７）東京
［発明の開示］
［発明が解決しようとする課題］As described in the following non-patent literature, the KLT identification value measurement method for the signal transmission characteristic to be controlled that is widely used at present is usually called a step response method. This is a point (maximum tilt point) tangent method.
[Non-Patent Document 1] Shizuka Takayama: Basic Mathematics for Automatic Control, P 272
Nikkan Kogyo Shimbun (1964) Tokyo [Non Patent Literature 2] Toru Katayama: Fundamentals of Feedback Control, P 158
Asakura Shoten (1987) Tokyo [Disclosure of Invention]
[Problems to be solved by the invention]
上記汎用のステップ応答法、いわゆるステップ応答の変曲点接線手法とは、制御対象の入力信号（符号ＭＶ）から其の制御対象の出力信号（符号ＰＶ）までの信号伝達特性のＫＬＴ同定値を計測するために、図１に示すごとく、ＭＶ信号とＰＶ信号とがある値で整定している状態で、ＭＶ信号に対して適切な量の正または負の信号をステップで付加し、次の整定値に達するまでの操作を与える。
この操作で得られた時間（単位Ｓｅｃ）に対する，ＭＶ信号とＰＶ信号両者の計測値（単位％）より；
（１）ＰＶ初期整定値（符号ＰＶ０）とＰＶ最終整定値（符号ＰＶ１）、および、ＭＶ初期整定値（符号ＭＶ０）とＭＶ最終整定値（符号ＭＶ１）を求め、（ＰＶ１−ＰＶ０）／（ＭＶ１−ＭＶ０）でゲインＫを算出する。
（２）ＰＶ信号応答曲線図形の傾斜部位で、変曲点（最大傾斜点、符号ＩＰ）を特定し、さらに其の変曲点を通過する接線を特定する。
其の変曲点接線上で値がＰＶ０となる時刻と、ＭＶステップ信号付加時刻との差で等価むだ時間Ｌを算出する。
（３）其の変曲点接線上で値がＰＶ１となる時刻と、ＰＶ０となる時刻との差で等価時定数Ｔを算出する。
このＫＬＴ同定値計測手法が汎用のステップ応答法であるが、問題はＬおよびＴの算出精度、換言すれば、変曲点ＩＰの特定精度及び変曲点接線の特定精度である。一般に（とくにＰＶ信号が雑音を含む場合）変曲点および接線の特定が困難である。図４の上図がその一例で、どの点を変曲点とするか、変曲点接線をどのように引くか難しい問題で、結果として高精度のＬＴ同定値が得難い。The above-mentioned general-purpose step response method, the so-called step response inflection point tangent method, is the KLT identification value of the signal transfer characteristic from the control target input signal (symbol MV) to the control target output signal (symbol PV). In order to measure, as shown in FIG. 1, in a state where the MV signal and the PV signal are set at a certain value, an appropriate amount of positive or negative signal is added to the MV signal in steps. Gives an operation until the set value is reached.
From the measured values (unit%) of both the MV signal and the PV signal with respect to the time (unit Sec) obtained by this operation;
(1) PV initial set value (symbol PV0) and PV final set value (symbol PV1), and MV initial set value (symbol MV0) and MV final set value (symbol MV1) are obtained, and (PV1-PV0) / ( The gain K is calculated by MV1-MV0).
(2) An inflection point (maximum inclination point, symbol IP) is specified at the inclined portion of the PV signal response curve graphic, and a tangent line passing through the inflection point is specified.
The equivalent dead time L is calculated by the difference between the time when the value becomes PV0 on the inflection point tangent and the MV step signal addition time.
(3) The equivalent time constant T is calculated by the difference between the time when the value becomes PV1 on the inflection point tangent and the time when it becomes PV0.
Although this KLT identification value measurement method is a general-purpose step response method, the problem is the accuracy of calculating L and T, in other words, the accuracy of specifying the inflection point IP and the accuracy of specifying the inflection point tangent. In general, it is difficult to specify an inflection point and a tangent (especially when the PV signal includes noise). The upper diagram of FIG. 4 is an example, and it is difficult to determine which point is the inflection point and how to draw the inflection point tangent. As a result, it is difficult to obtain a highly accurate LT identification value.
ＫＬＴ同定値計測手法には上記ステップ応答法以外にインパルス応答法がある。通常のインパルス応答法は、図３に示すごとく、ＭＶ信号とＰＶ信号とがある値で整定している状態で、ＭＶ信号に対して、適切な量の正または負の信号をステップで付加し、適切な時間経過後元のＭＶ整定値にステップで戻す操作を与える。換言すれば、ＭＶ信号に矩形型の信号を付加する操作である。
この操作で得られた時間（単位Ｓｅｃ）に対する、ＭＶ信号とＰＶ信号両者の計測値（単位％）より；
（１）ＰＶ信号値からＰＶ整定値（符号ＰＶ０）を引き算した値の時間積分値（符号ＰＶＡ、単位％Ｓｅｃ）と、ＭＶ信号値からＭＶ整定値（符号ＭＶ０）を引き算した値の時間積分値（符号ＭＶＡ、単位％Ｓｅｃ）との比でゲインＫを算出する。
（２）ここで問題はＬおよびＴの算出方法であるが、ＰＶ信号応答曲線は、とくにＴが小なるときは、図３に示す様になり、上記変曲点接線手法によってＬとＴを算出することになる。結果としてステップ応答法と同様高精度のＬＴ同定値が得難い。
［課題を解決するための手段］In addition to the step response method, there is an impulse response method as the KLT identification value measurement method. In the normal impulse response method, as shown in FIG. 3, an appropriate amount of positive or negative signal is added to the MV signal in steps while the MV signal and the PV signal are set at a certain value. Then, an operation of returning to the original MV set value in a step after an appropriate time has passed is given. In other words, this is an operation of adding a rectangular signal to the MV signal.
From the measured value (unit%) of both the MV signal and the PV signal with respect to the time (unit Sec) obtained by this operation;
(1) Time integral value (sign PVA, unit% Sec) obtained by subtracting PV set value (sign PV0) from PV signal value and time integral value obtained by subtracting MV set value (sign MV0) from MV signal value The gain K is calculated by the ratio with the value (sign MVA, unit% Sec).
(2) The problem here is how to calculate L and T, but the PV signal response curve is as shown in FIG. 3, especially when T is small. Will be calculated. As a result, it is difficult to obtain a highly accurate LT identification value as in the step response method.
[Means for solving problems]
本発明は通常のインパルス応答法を改良し、変曲点接線手法に依らずにＬおよびＴを算出し、高精度のＫＬＴ同定値の計測を可能にする手法である。
本発明のインパルス応答法は、図２に示すごとく、ＭＶ信号とＰＶ信号とが共にある値で整定している状態で、ＭＶ信号に対して適切な時間、適切な傾斜で正または負のランプ信号を付加した後ステップで前記ＭＶ整定値に復帰せしめ、ＰＶ信号が再度整定に達するまでの操作を与える。換言すれば、ＭＶ信号に直角三角形型信号を付加する操作である。それによって、ＰＶ信号に山状または谷状の応答曲線を発生せしめる。
この操作で得られた時間（単位Ｓｅｃ）に対する、ＭＶ信号とＰＶ信号の計測値（単位％）より；
（１）ＰＶ信号値からＰＶ整定値（ＰＶ０）を引き算した値の時間積分値（符号ＰＶＡ、単位％Ｓｅｃ）とＭＶ信号値からＭＶ整定値（ＭＶ０）を引き算した値の時間積分値（符号ＭＶＡ、単位％Ｓｅｃ）との比でゲインＫを算出する。
図２において、ＰＶ信号とＭＶ信号両者図形の斜線部面積（単位％Ｓｅｃ）の比がゲインＫである。このゲインＫの算出手法は、図３に示す通常のインパルス応答法に於けるゲインＫの算出手法と同一で公知の手法である。The present invention is a technique that improves the ordinary impulse response method, calculates L and T without depending on the inflection point tangent method, and enables measurement of the KLT identification value with high accuracy.
As shown in FIG. 2, the impulse response method of the present invention is a positive or negative ramp with an appropriate time and an appropriate slope with respect to the MV signal in a state where both the MV signal and the PV signal are set at a certain value. After the signal is added, the operation returns to the MV set value in the step, and the operation until the PV signal reaches settling again is given. In other words, this is an operation of adding a right triangle signal to the MV signal. Thereby, a peak-like or valley-like response curve is generated in the PV signal.
From the measured values (unit%) of the MV signal and PV signal with respect to the time (unit Sec) obtained by this operation;
(1) Time integral value (sign PVA, unit% Sec) obtained by subtracting PV set value (PV0) from PV signal value, and time integral value (sign sign) obtained by subtracting MV set value (MV0) from MV signal value The gain K is calculated as a ratio to MVA, unit% Sec).
In FIG. 2, the ratio of the hatched area (unit% Sec) between the PV signal and the MV signal graphic is the gain K. This gain K calculation method is the same as the gain K calculation method in the normal impulse response method shown in FIG.
（２）発生するＰＶ信号応答曲線が山状になるか、谷状になるかは次の条件で定まる。
＊ Ｋ＞０、付加するランプ信号が正―――――――――山状
＊ Ｋ＜０、付加するランプ信号が負―――――――――山状
＊ Ｋ＞０、付加するランプ信号が負―――――――――谷状
＊ Ｋ＜０、付加するランプ信号が正―――――――――谷状
発生した山状または谷状のＰＶ信号応答曲線の尖端つまり山頂または谷底を尖端点（符号ＰＰ）と呼ぶことにする。この尖端点ＰＰの発生が本発明の特徴である。
尖端点ＰＰまでに発生するＰＶ応答曲線の最大傾斜が大なるほど尖端点ＰＰの特定が容易となる。其の最大傾斜は、ゲインＫと、ＭＶ信号に付加するランプ信号の時間と傾斜とで定まる。
＊ 適切なランプ信号付加時間は等価時定数Ｔである。
何となれば、付加時間＝等価時定数Ｔのとき、ＰＶ信号傾斜値は、達し得る最大傾斜値の６３．２％に達しておりほぼ充分と考えられる。
＊ 適切なランプ信号の傾斜は大きい程望ましいが、制御対象操業上の制約と、計測中ＭＶとＰＶ両信号がスケールアウトしない条件とで定まる。
本発明のインパルス応答は、図２に示すごとく、入力ＭＶ信号と出力ＰＶ信号両者に尖端点が発生する。ＭＶ信号尖端点発生時刻は其のステップ復帰時刻である。
ＭＶ信号尖端点が発生するまではＰＶ信号尖端点ＰＰは発生しない。
制御対象の等価むだ時間Ｌが零のときＭＶ，ＰＶ両者の尖端点発生時刻は一致する。
ＭＶ信号尖端点発生時刻に対するＰＶ信号尖端点ＰＰ発生時刻のおくれ（図２のＬ）が制御対象の等価むだ時間Ｌと考えられる。(2) Whether the generated PV signal response curve has a mountain shape or a valley shape is determined by the following conditions.
* K> 0, the ramp signal to be added is positive ------------------------- K <0, the ramp signal to be added is negative ------------- The ramp signal to be negative is ------------------------------------------------------------------ K <0, the added ramp signal is positive ------- The apex, that is, the summit or the valley bottom is referred to as the apex point (reference PP). The occurrence of the apex point PP is a feature of the present invention.
As the maximum slope of the PV response curve generated up to the apex point PP increases, the apex point PP can be identified more easily. The maximum slope is determined by the gain K and the time and slope of the ramp signal added to the MV signal.
* The appropriate ramp signal addition time is the equivalent time constant T.
In any case, when the additional time = equivalent time constant T, the PV signal slope value reaches 63.2% of the maximum slope value that can be reached, which is considered to be almost sufficient.
* Although it is desirable that the slope of the appropriate ramp signal is large, it is determined by the restrictions on the operation of the controlled object and the condition that both the MV and PV signals do not scale out during measurement.
In the impulse response of the present invention, as shown in FIG. 2, the apex point is generated in both the input MV signal and the output PV signal. The MV signal peak point occurrence time is the step return time.
The PV signal peak point PP is not generated until the MV signal peak point is generated.
When the equivalent dead time L of the controlled object is zero, the cusp point generation times of both MV and PV coincide.
A delay (L in FIG. 2) of the PV signal peak point PP generation time with respect to the MV signal peak point generation time is considered as the equivalent dead time L of the control target.
（３）ＰＶ信号応答曲線の尖端点ＰＰ以降は、制御対象の等価時定数ＴによるＰＶ定常値（ＰＶ０）えの整定状態であると考えられる。
ＰＶ信号応答曲線の尖端点ＰＰ以降、整定に達するまでのＰＶ信号値とＰＶ定常値ＰＶ０との差の減衰特性から等価時定数Ｔを算出する。
ＰＶ信号応答曲線に雑音が無く、図２に示すごとき単調減衰のときは、時定数定義を応用して６３．２％の水平線を引き、ＰＶ信号応答曲線との交点時刻と、尖端点ＰＰ発生時刻との差を等価時定数Ｔとすることが出来る。
通常は電子計算機を用い、尖端点ＰＰ以降のＰＶ信号応答実測値と、推定時定数の場合の応答計算値との、自乗誤差の時間積分値または面積誤差を最小にする推定時定数を、逐次近似法により求め其れを等価時定数Ｔとする。
［発明の効果］(3) After the peak point PP of the PV signal response curve, it is considered that the PV steady-state value (PV0) is set by the equivalent time constant T to be controlled.
After the peak point PP of the PV signal response curve, an equivalent time constant T is calculated from the attenuation characteristic of the difference between the PV signal value and the PV steady value PV0 until the set point is reached.
When there is no noise in the PV signal response curve and the monotonic decay is as shown in FIG. 2, the time constant definition is applied to draw a horizontal line of 63.2%, the point of intersection with the PV signal response curve and the occurrence of the peak point PP The difference from the time can be set as an equivalent time constant T.
Usually, using an electronic computer, the estimated time constant that minimizes the time integral value or the area error of the square error between the PV signal response measured value after the apex point PP and the calculated response value in the case of the estimated time constant is sequentially determined. It is determined by an approximation method and is set as an equivalent time constant T.
[The invention's effect]
本発明の制御対象ＫＬＴ同定値計測手法は、制御対象の入力信号であるＭＶ信号に直角三角形型のインパルス信号を付加することが特徴で、得られる制御対象出力信号応答曲線は、常に、山状または谷状となり、其の尖端点は従来の変曲点に比し特定し易い。
図４が其の一例である。図４は制御対象の入力信号であるＭＶ信号に、ステップ信号を付加した場合（図４の上の図）、と本発明のインパルス信号を付加した場合（図４の下の図）、の出力信号応答曲線である。変曲点および其の接線の特定に比し、尖端点の特定が容易である事が分かる。
［産業上の利用可能性］The control target KLT identification value measurement method of the present invention is characterized in that a right triangle-shaped impulse signal is added to the MV signal that is the control target input signal, and the control target output signal response curve obtained is always mountain-shaped. Or it becomes a trough shape, and the tip point is easy to specify compared with the conventional inflection point.
FIG. 4 is an example. FIG. 4 shows the output when a step signal is added to the MV signal that is the input signal to be controlled (upper diagram in FIG. 4) and when the impulse signal of the present invention is added (lower diagram in FIG. 4). It is a signal response curve. It can be seen that it is easier to specify the apex point than to specify the inflection point and its tangent.
[Industrial applicability]
自動制御の分野において制御装置の制御パラメータ最適設定には、通常、制御対象の入力信号から出力信号までの信号伝達特性のＫＬＴ同定値を使用する。制御形態が多変数非干渉化を含むフイードバック制御の場合は、制御対象入力信号である複数の操作量から出力信号である複数の制御量までのマトリックス信号伝達特性のＫＬＴ同定値を使用し、制御形態がフイードフォアード制御の場合は更に、入力信号である外乱量から出力信号である制御量までの信号伝達特性のＫＬＴ同定値を使用する。
あらゆる制御形態において制御パラメータのより確実な最適設定には、より高精度のＫＬＴ同定値の計測が必要となる。
本発明の制御対象信号伝達特性ＫＬＴ同定値計測手法は、より高精度を目的とするもので、自動制御の分野での利用可能性は高い。In the field of automatic control, the control parameter optimal setting of the control device usually uses the KLT identification value of the signal transfer characteristic from the input signal to the output signal to be controlled. In the case of feedback control including multivariable non-interference, the control form is controlled by using KLT identification values of matrix signal transfer characteristics from a plurality of manipulated variables that are control target input signals to a plurality of controlled variables that are output signals. When the form is the feedforward control, the KLT identification value of the signal transfer characteristic from the disturbance amount as the input signal to the control amount as the output signal is further used.
More reliable measurement of the KLT identification value is required for more reliable optimal setting of control parameters in all control modes.
The control target signal transfer characteristic KLT identification value measurement method of the present invention aims at higher accuracy and has high applicability in the field of automatic control.
ＭＶ 制御対象の入力信号
ＰＶ 制御対象の出力信号
ＭＶ０ 入力信号の初期整定値
ＭＶ１ 入力信号の最終整定値
ＰＶ０ 出力信号の初期整定値
ＰＶ１ 出力信号の中間または最終整定値
％ 信号の計測値単位、パーセント
Ｓｅｃ 信号の計測時間単位、秒
ＭＶＡ 入力信号付加値の時間積分値、単位％Ｓｅｃ
ＰＶＡ 出力信号付加値の時間積分値、単位％Ｓｅｃ
Ｋ 信号伝達特性のゲイン、 単位なし
Ｌ 信号伝達特性の等価むだ時間 単位Ｓｅｃ
Ｔ 信号伝達特性の等価時定数 単位Ｓｅｃ
ＩＰ 変曲点（最大傾斜の点）
ＰＰ 尖端点（山頂または谷底の点）MV Input signal to be controlled PV Output signal to be controlled MV0 Initial setting value MV1 of input signal Final setting value PV0 of input signal Initial setting value PV1 of output signal PV1 Intermediate value or final setting value of output signal% Signal measurement unit, percent Sec signal measurement time unit, second MVA input signal additional value time integral value, unit% Sec
Time integral of PVA output signal additional value, unit% Sec
K Signal transfer characteristic gain, no unit L Signal transfer characteristic equivalent dead time Unit Sec
T Equivalent time constant of signal transfer characteristics Unit Sec
IP inflection point (maximum slope point)
PP point (point of summit or valley bottom)
Claims (1)
発生した山状または谷状出力信号応答曲線の山頂点または谷底点発生時刻と上記入力信号ステップ復帰時刻との差で、等価むだ時間Ｌを算出する事を特徴とする制御対象信号伝達特性のＫＬＴ同定値計測手法。In the measurement of the KLT identification value (K is gain, L is equivalent dead time, and T is equivalent time constant) of the signal transfer characteristics from the input signal to the output signal to be controlled, both the input signal and the output signal are settled at a certain value. In such a state, after adding a positive or negative ramp signal of an appropriate magnitude to the input signal for an appropriate time, an operation for returning to the input signal set value in the step is given, and the output signal is crested. Or a valley-like response curve is generated.
The control target signal transfer characteristic KLT is characterized in that an equivalent dead time L is calculated by the difference between the peak or valley point generation time of the generated peak or valley output signal response curve and the input signal step return time. Identification value measurement technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004198644A JP4228351B2 (en) | 2004-06-09 | 2004-06-09 | KLT identification value measurement method for control signal transmission characteristics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004198644A JP4228351B2 (en) | 2004-06-09 | 2004-06-09 | KLT identification value measurement method for control signal transmission characteristics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2005353017A true JP2005353017A (en) | 2005-12-22 |
| JP4228351B2 JP4228351B2 (en) | 2009-02-25 |
Family
ID=35587426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2004198644A Expired - Fee Related JP4228351B2 (en) | 2004-06-09 | 2004-06-09 | KLT identification value measurement method for control signal transmission characteristics |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4228351B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020155065A (en) * | 2019-03-22 | 2020-09-24 | 三菱電機株式会社 | Liquid pressure system control device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63231601A (en) * | 1987-03-20 | 1988-09-27 | Yokogawa Electric Corp | Self-tuning controller |
| JPH0210402A (en) * | 1988-06-29 | 1990-01-16 | Yokogawa Electric Corp | Process identifying device |
| JPH0619506A (en) * | 1992-06-29 | 1994-01-28 | Omron Corp | Identifying device |
-
2004
- 2004-06-09 JP JP2004198644A patent/JP4228351B2/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63231601A (en) * | 1987-03-20 | 1988-09-27 | Yokogawa Electric Corp | Self-tuning controller |
| JPH0210402A (en) * | 1988-06-29 | 1990-01-16 | Yokogawa Electric Corp | Process identifying device |
| JPH0619506A (en) * | 1992-06-29 | 1994-01-28 | Omron Corp | Identifying device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020155065A (en) * | 2019-03-22 | 2020-09-24 | 三菱電機株式会社 | Liquid pressure system control device |
| JP7122994B2 (en) | 2019-03-22 | 2022-08-22 | 三菱電機株式会社 | hydraulic system controller |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4228351B2 (en) | 2009-02-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110908364B (en) | Fault detection method based on robust interval estimation | |
| US6711531B1 (en) | Temperature control simulation method and apparatus | |
| JP2018181331A5 (en) | Extreme value search control system, method and extreme value search controller with constraint handling | |
| US20150309486A1 (en) | Engineering Tool and Method for Parameterizing a Model-Based Predictive Controller | |
| JP6203449B2 (en) | System stability estimation apparatus and system stability estimation method | |
| KR20080043941A (en) | Integrals of relay feedback responses for extracting process information | |
| JP4228351B2 (en) | KLT identification value measurement method for control signal transmission characteristics | |
| US10120349B2 (en) | Control device and control method | |
| CN104750086B (en) | Fault and state estimation method and fault and state estimation device | |
| JP7287166B2 (en) | Valve controller and vacuum valve | |
| WO2023019854A1 (en) | Time-to-digital conversion device and time-to-digital conversion method therefor | |
| CN114185270B (en) | Model predictive motion control method and system for precision motion platform | |
| JP2008052529A (en) | Simulation apparatus, simulation method, and simulation program | |
| JP2006280140A (en) | Inverter simulator and motor simulator | |
| Alanqar et al. | Practice-oriented system identification strategies for MPC of building thermal and HVAC dynamics | |
| JPH11312003A (en) | Method for identifying object to be controlled | |
| JP2004279338A (en) | Method for measuring temperature reactivity coefficient of nuclear reactor | |
| CN114118307B (en) | Intelligent data fusion processing method and device for magneto-optical encoder for inhibiting temperature effect | |
| KR20160019938A (en) | On-product derivation and adjustment of exposure parameters in a directed self-assembly process | |
| CN110456780B (en) | Control quality adjusting method and device for automatic control system and readable storage medium | |
| JP2009049305A (en) | Oxide film thickness estimating method and device, and program | |
| JP2009159700A (en) | Output control device and control method of generator | |
| CN117130401A (en) | Temperature control method and device for water content measuring instrument | |
| Mataušek | Closed-loop PID controller design and performance | |
| JPH11353007A (en) | Simulation testing method for control equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20060330 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20081030 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20081111 |
|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20081120 |
|
| R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20111212 Year of fee payment: 3 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20111212 Year of fee payment: 3 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20111212 Year of fee payment: 3 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20121212 Year of fee payment: 4 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20131212 Year of fee payment: 5 |
|
| LAPS | Cancellation because of no payment of annual fees |