TWI711906B - Control device and control method - Google Patents
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Abstract
本發明提供一種控制裝置以及控制方法,無需物理現象的建模,防止在FF操作量的施加中持續輸出過剩的輸出端操作量。控制裝置包括:PID控制運算部,藉由PID控制運算來算出操作量;操作量限制器,將操作量限制為操作量下限值以上且操作量上限值以下的值;FF操作量生成部,根據在擾亂的施加時間點之前開始且在施加擾亂後結束的通知信號的輸入,輸出矩形波狀的操作量,以消除擾亂;操作量相加部,將輸出端操作量輸出,所述輸出端操作量為將由操作量限制器輸出的操作量與操作量相加的結果;上下限值變更部,根據操作量變更PID控制運算部的抗積分飽和功能的上下限值;以及上下限值變更部,根據操作量變更操作量限制器的上下限值。The present invention provides a control device and a control method, which do not require modeling of physical phenomena, and prevent continuous output of excessive output terminal operating variables during the application of FF operating variables. The control device includes: PID control calculation unit, which calculates the operation amount by PID control calculation; operation amount limiter, which limits the operation amount to a value above the lower limit of the operation amount and below the upper limit of the operation amount; FF operation amount generation unit , According to the input of the notification signal that started before the time point of the application of the disturbance and ended after the application of the disturbance, the operation amount in a rectangular wave shape is output to eliminate the disturbance; the operation amount adding unit outputs the operation amount of the output terminal, the output The end operation amount is the result of adding the operation amount output by the operation amount limiter and the operation amount; the upper and lower limit change section changes the upper and lower limits of the anti-integration saturation function of the PID control calculation section according to the operation amount; and the upper and lower limit changes Section to change the upper and lower limits of the operation limiter according to the operation amount.
Description
本發明是有關於一種並用回饋控制與前饋控制的控制裝置以及控制方法。The present invention relates to a control device and a control method that combine feedback control and feedforward control.
一直以來,為了抵消擾亂對控制量PV的影響,提出了將比例積分微分(Proportion Integration Differentiation,PID)控制所代表的回饋(Feedback,FB)控制與前饋(Feedforward,FF)控制並用的方法(參照專利文獻1)。
專利文獻1所公開的方法中,大致區分提出了以下的(I)、(II)兩種方法。
In order to offset the influence of disturbance on the control variable PV, a method of combining feedback (FB) control represented by proportional integral differentiation (PID) control and feedforward (FF) control has been proposed ( Refer to Patent Document 1).
Among the methods disclosed in
(I)基於試行時(僅PID控制下施加擾亂時)的控制量PV和PID控制的操作量MV的軌道、由事先的知識或分析所獲取的控制物件的物理模型式、以及由實驗資料所得的物理模型的參數鑒定結果,以邏輯方式求出FF控制的操作量的波形和量的方法。(I) Based on the trajectory of the controlled variable PV during the trial (only when disturbance is applied under PID control) and the manipulated variable MV of PID control, the physical model formula of the controlled object obtained by prior knowledge or analysis, and the experimental data Based on the result of the parameter identification of the physical model, the method to obtain the waveform and the amount of the FF control operation amount in a logical manner.
(II)根據試行時(僅PID控制下施加擾亂時)的控制量PV的軌道求出最大偏差、最大偏差的產生時間及擾亂恢復的到達時間等測量值,求出階梯狀等特定形狀的FF操作量的方法。(II) Calculate the maximum deviation, the maximum deviation generation time, and the arrival time of the disturbance recovery from the trajectory of the control variable PV during the trial (only when disturbance is applied under PID control), and obtain the FF of a specific shape such as a step Manipulation method.
(I)的方法中,需要由事先的知識或分析來獲取控制物件的物理模型式,還需要根據實驗資料來鑒定物理模型的參數,無論對於使用者還是製造控制器的廠商而言均存在難易度高的前提。In the method (I), it is necessary to obtain the physical model formula of the control object by prior knowledge or analysis, and it is also necessary to identify the parameters of the physical model based on experimental data. It is difficult and easy for the user or the manufacturer of the controller. The premise of high degrees.
當正輸出將擾亂對控制量PV的影響完全抵消的、最優的FF操作量時,FB操作量成為一定值。可認為,(I)的方法中的FF操作量的輸出中的FB操作量成為接近正輸出最優的FF操作量時的變動少的操作量。When the positive output completely cancels the influence of the disturbance on the control variable PV and the optimal FF operation amount, the FB operation amount becomes a constant value. It can be considered that the FB operation amount in the output of the FF operation amount in the method (I) becomes an operation amount with little fluctuation when the FF operation amount is close to the optimum FF operation amount for positive output.
另一方面,(II)的方法中,由於實際輸出的FF操作量的波形形狀與最優的FF操作量的波形形狀的偏離,FF操作量的輸出中的FB操作量成為變動的行為。因此,在給予由(II)的方法所得的FF操作量的期間中,FB操作量成為變動的行為。On the other hand, in the method (II), the FB operation amount in the output of the FF operation amount changes due to the deviation of the waveform shape of the actual output FF operation amount from the optimal FF operation amount. Therefore, during the period when the FF operation amount obtained by the method (II) is given, the FB operation amount becomes a fluctuating behavior.
在並用FB控制與FF控制的方法(FB控制+FF控制)中,對FB操作量加上FF操作量,因此將這些操作量相加所得的輸出端操作量無法成為FF操作量以下(其原因在於,對僅FB操作量的情況下輸出端可動域0%~100%的範圍加上FF操作量部分)。因此,(II)的方法中,有在FF操作量的施加時機錯開時、或未施加擾亂時等持續輸出過剩的輸出端操作量的可能性。In the method of combining FB control and FF control (FB control + FF control), the FF operation amount is added to the FB operation amount. Therefore, the output terminal operation amount obtained by adding these operation amounts cannot be less than the FF operation amount (the reason is In the case of only FB operation amount, the range of 0%~100% of the output terminal movable range plus FF operation amount). Therefore, in the method (II), there is a possibility that the excess output terminal operation amount may continue to be output when the timing of the application of the FF operation amount is staggered or when no disturbance is applied.
另外,(I)的方法中,最優的FF操作量的峰值也大多超過輸出端操作量的上限(其原因在於,因高通濾波器(high-pass filter)效果而變得明顯),此時也有下述可能性,即:因儀錶上的限制而產生實際輸出的FF操作量的波形形狀與最優的FF操作量的波形形狀的偏離,持續輸出過剩的輸出端操作量。 [現有技術文獻] [專利文獻] In addition, in the method (I), the peak value of the optimal FF operation amount mostly exceeds the upper limit of the output end operation amount (the reason is that it becomes obvious due to the high-pass filter effect). There is also the possibility that the waveform shape of the actual output FF operation amount deviates from the optimal FF operation amount due to the limitation of the meter, and the excess output terminal operation amount is continuously output. [Prior Art Literature] [Patent Literature]
專利文獻1:日本專利第3760682號公報Patent Document 1: Japanese Patent No. 3760682
[發明所欲解決之課題][The problem to be solved by the invention]
本發明是為了解決所述問題而成,其目的在於提供一種控制裝置以及控制方法,所述控制裝置以及控制方法無需對於使用者或廠商而言難易度高的物理現象的建模(modeling),能夠防止在FF操作量的施加中持續輸出過剩的輸出端操作量。 [解決課題之手段] The present invention is made to solve the above-mentioned problems, and its purpose is to provide a control device and a control method that do not require modeling of physical phenomena that are difficult for users or manufacturers, It is possible to prevent the excessive output terminal operation amount from being continuously output during the application of the FF operation amount. [Means to solve the problem]
本發明的控制裝置包括:控制運算部,構成為輸入設定值和控制量並藉由回饋控制運算來算出第一操作量;操作量生成部,構成為根據在擾亂的施加時間點之前開始且在施加所述擾亂後結束的通知信號的輸入,輸出矩形波狀的第二操作量,以消除所述擾亂;操作量限制器,構成為將所述第一操作量限制為操作量下限值以上且操作量上限值以下的值;操作量相加部,構成為將輸出端操作量輸出給控制物件,所述輸出端操作量為將由所述操作量限制器輸出的第一操作量與由所述操作量生成部輸出的第二操作量相加的結果;第一上下限值變更部,構成為基於由所述操作量生成部輸出的第二操作量來變更所述控制運算部的抗積分飽和功能的上下限值;以及第二上下限值變更部,構成為基於由所述操作量生成部輸出的第二操作量來變更所述操作量限制器的操作量上下限值。The control device of the present invention includes: a control calculation unit configured to input a setting value and a control amount and calculate the first operation amount by feedback control calculation; the operation amount generation unit is configured to start before and after the disturbance is applied. An input of a notification signal that ends after the disturbance is applied, and a second operation amount in a rectangular wave shape is output to eliminate the disturbance; an operation amount limiter configured to limit the first operation amount to a lower limit value of the operation amount And a value below the upper limit of the operation amount; the operation amount addition unit is configured to output the output terminal operation amount to the control object, and the output terminal operation amount is the first operation amount output by the operation amount limiter and The result of the addition of the second operation amount output by the operation amount generation unit; a first upper and lower limit change unit configured to change the resistance of the control calculation unit based on the second operation amount output by the operation amount generation unit The upper and lower limit values of the integral saturation function; and the second upper and lower limit changing unit configured to change the upper and lower limit values of the operation amount of the operation amount limiter based on the second operation amount output by the operation amount generation unit.
另外,本發明的控制裝置的一構成例中,所述操作量生成部在所述通知信號的輸入中,在包含施加所述擾亂的期間的第一期間中,輸出第一值的所述第二操作量,以消除所述擾亂,在從輸入所述通知信號時起到所述第一期間開始為止的第二期間中,以所述控制量穩定在所述設定值附近的方式輸出第二值的所述第二操作量,在從所述第一期間結束時起到所述通知信號的輸入結束為止的第三期間中,以所述控制量與所述設定值一致的方式輸出第三值的所述第二操作量,所述操作量相加部將所述第二期間中由所述操作量生成部輸出的第二操作量作為所述輸出端操作量而輸出。 另外,本發明的控制裝置的一構成例中,所述操作量生成部在所述第二期間與所述第一期間之間的第四期間中,比所述第一期間先行輸出第四值的所述第二操作量,以消除所述第一期間中施加的擾亂,所述操作量相加部將所述第四期間中由所述操作量生成部輸出的第二操作量作為所述輸出端操作量而輸出。 另外,本發明的控制裝置的一構成例還包括:期間決定部,構成為在擾亂施加試驗中的自動調整時使所述操作量生成部進行的第二操作量輸出停止,基於輸入所述通知信號後到所述設定值與所述控制量的控制偏差的絕對值超過規定的偏差閾值為止的期間,來決定所述第二期間的長度。 另外,本發明的控制裝置的一構成例中,所述期間決定部在所述自動調整時使所述操作量生成部進行的第二操作量輸出停止,基於從所述控制偏差的絕對值超過所述偏差閾值時起到檢測出施加擾亂後的所述控制量的波峰為止的期間,來決定所述第一期間的長度。 In addition, in a configuration example of the control device of the present invention, the operation amount generating unit outputs the first value of the first value in the first period including the period during which the disturbance is applied in the input of the notification signal The second operation amount is to eliminate the disturbance, and in the second period from when the notification signal is input to the start of the first period, the second operation amount is output so that the control amount stabilizes near the set value In the third period from the end of the first period to the end of the input of the notification signal, the second operation amount of the value is outputted so that the control amount coincides with the set value. Value of the second operation amount, the operation amount adding unit outputs the second operation amount output by the operation amount generating unit in the second period as the output terminal operation amount. In addition, in a configuration example of the control device of the present invention, the operation amount generating unit outputs a fourth value before the first period in the fourth period between the second period and the first period To eliminate the disturbance applied in the first period, and the operation amount adding unit uses the second operation amount output by the operation amount generating unit in the fourth period as the The output terminal manipulates the amount to output. In addition, an example of the configuration of the control device of the present invention further includes: a period determining unit configured to stop the output of the second operation amount by the operation amount generating unit at the time of automatic adjustment in the disturbance application test, based on the input of the notification The length of the second period is determined during the period after the signal is received until the absolute value of the control deviation between the set value and the control amount exceeds a predetermined deviation threshold. In addition, in a configuration example of the control device of the present invention, the period determination unit stops the output of the second operation amount by the operation amount generation unit during the automatic adjustment, and is based on an absolute value exceeding from the control deviation In the deviation threshold value, a period until the peak of the control amount after the disturbance is detected is detected, and the length of the first period is determined.
另外,本發明的控制裝置的一構成例還包括:操作量決定部,構成為在擾亂施加試驗中的自動調整時,以所述第一期間中的所述控制量成為所期望特性的方式決定所述第一值。 另外,本發明的控制裝置的一構成例中,所述操作量決定部在所述自動調整時,基於輸入所述通知信號時的所述第一操作量和所述通知信號的輸入結束時的所述第一操作量,來決定所述第三值。 另外,本發明的控制裝置的一構成例還包括:期間變更部,在通常的控制運行時,以所述第一期間中的所述控制量成為所期望特性的方式變更所述第一期間的長度;以及操作量變更部,在通常的控制運行時,以所述第一期間中的所述控制量成為所期望特性的方式變更所述第一值。 另外,本發明的控制裝置的一構成例還包括:期間變更部,在通常的控制運行時,以所述第一期間中的所述控制量成為所期望特性的方式變更所述第四期間的長度;以及操作量變更部,在通常的控制運行時,以所述第一期間中的所述控制量成為所期望特性的方式變更所述第四值。 In addition, an example of the configuration of the control device of the present invention further includes an operation amount determination unit configured to determine such that the control amount in the first period becomes a desired characteristic at the time of automatic adjustment in the disturbance application test The first value. In addition, in an example of the configuration of the control device of the present invention, the operation amount determination unit is based on the first operation amount when the notification signal is input and the time when the input of the notification signal is completed during the automatic adjustment. The first operation amount determines the third value. In addition, an example of the configuration of the control device of the present invention further includes a period changing unit that changes the period of the first period so that the control amount in the first period becomes a desired characteristic during normal control operation. Length; and the operation amount changing unit, during normal control operation, changes the first value so that the control amount in the first period becomes a desired characteristic. In addition, an example of the configuration of the control device of the present invention further includes a period changing unit that changes the period of the fourth period so that the control amount in the first period becomes a desired characteristic during normal control operation. Length; and the operation amount changing unit, during normal control operation, changes the fourth value so that the control amount in the first period becomes a desired characteristic.
另外,本發明的控制方法包括:第一步驟,輸入設定值和控制量並藉由回饋控制運算來算出第一操作量;第二步驟,根據在擾亂的施加時間點之前開始且在施加所述擾亂後結束的通知信號,輸出矩形波狀的第二操作量,以消除所述擾亂;第三步驟,進行操作量限制處理,所述操作量限制處理將所述第一操作量限制為操作量下限值以上且操作量上限值以下的值;第四步驟,將輸出端操作量輸出給控制物件,所述輸出端操作量為將所述操作量限制處理後的第一操作量與所述第二操作量相加的結果;第五步驟,基於所述第二操作量來變更控制運算部的抗積分飽和功能的上下限值,所述控制運算部進行所述回饋控制運算;以及第六步驟,基於所述第二操作量來變更所述操作量限制處理的操作量上下限值。 [發明的效果] In addition, the control method of the present invention includes: a first step, inputting a set value and a control amount, and calculating the first operation amount by feedback control calculation; the second step is based on starting before the application time point of the disturbance and before applying the The notification signal that ends after the disturbance is outputted with a rectangular wave-shaped second operation amount to eliminate the disturbance; the third step is to perform operation amount restriction processing, which limits the first operation amount to an operation amount A value above the lower limit value and below the upper limit value of the operating quantity; the fourth step, the output terminal operating quantity is output to the control object, and the output terminal operating quantity is the first operating quantity after the operating quantity limitation is processed and all The result of the addition of the second operation amount; the fifth step, based on the second operation amount, to change the upper and lower limit values of the anti-integration saturation function of the control calculation unit, and the control calculation unit performs the feedback control calculation; and In the sixth step, the upper and lower limits of the operation amount of the operation amount restriction process are changed based on the second operation amount. [Effects of the invention]
根據本發明,藉由僅將矩形波狀的操作量作為第二操作量進行處理,能夠無需難易度高的物理現象的建模。另外,本發明中,藉由設置第一上下限值變更部和第二上下限值變更部,能夠使第二操作量即時反映給抗積分飽和處理以及操作量限制處理的判定閾值,能夠防止在第二操作量的施加中持續輸出過剩的輸出端操作量,其中所述第一上下限值變更部基於第二操作量來變更控制運算部的抗積分飽和功能的上下限值,所述第二上下限值變更部基於第二操作量來變更操作量限制器的操作量上下限值。According to the present invention, by processing only the rectangular wave-shaped operation amount as the second operation amount, it is possible to eliminate the need for modeling of a highly difficult physical phenomenon. In addition, in the present invention, by providing the first upper and lower limit value changing unit and the second upper and lower limit value changing unit, the second operation amount can be reflected in the judgment threshold value of the anti-integral saturation process and the operation amount restriction process in real time, which can prevent During the application of the second operation amount, the excess output terminal operation amount is continuously output, wherein the first upper and lower limit changing unit changes the upper and lower limit values of the anti-integration saturation function of the control calculation unit based on the second operation amount, and the second The upper and lower limit value changing unit changes the upper and lower limit values of the operation amount of the operation amount limiter based on the second operation amount.
另外,本發明中,藉由設置第一期間、第二期間、第三期間,能夠主要在第一期間中抑制擾亂,在比第一期間更靠前的第二期間中,抑制在施加擾亂前由控制量與回饋控制無關而不規則地變化所導致的第一操作量的混亂,在比第一期間更靠後的第三期間中,抑制由施加擾亂後的靜態特性變化所導致的第一操作量的變化。In addition, in the present invention, by providing the first period, the second period, and the third period, the disturbance can be suppressed mainly in the first period, and the disturbance before the disturbance is suppressed in the second period before the first period The disturbance of the first operation amount caused by the irregular change of the control amount and the feedback control is suppressed in the third period that is later than the first period, which is caused by the change in static characteristics after the disturbance is applied. Changes in operating volume.
另外,本發明中,藉由在第二期間與第一期間之間的第四期間中,比第一期間先行輸出絕對值大於第二值的第四值的第二操作量,以消除第一期間中施加的擾亂,能夠進一步緩和擾亂施加對控制量的影響。In addition, in the present invention, in the fourth period between the second period and the first period, the second operation quantity whose absolute value is greater than the second value is output earlier than the first period to eliminate the first The disturbance imposed during the period can further alleviate the influence of disturbance exerted on the control amount.
另外,本發明中,藉由設置期間決定部,能夠在擾亂施加試驗中自動調整第二期間的長度和第一期間的長度。In addition, in the present invention, by providing the period determining unit, the length of the second period and the length of the first period can be automatically adjusted in the disturbance application test.
另外,本發明中,藉由設置操作量決定部,能夠在擾亂施加試驗中自動調整第二操作量的第一值和第三值。In addition, in the present invention, by providing the operation amount determination unit, the first value and the third value of the second operation amount can be automatically adjusted in the disturbance application test.
另外,本發明中,藉由設置期間變更部,能夠在通常的控制運行時變更第一期間的長度和第四期間的長度,藉由設置操作量變更部,能夠在通常的控制運行時變更第二操作量的第一值和第四值。In addition, in the present invention, the length of the first period and the length of the fourth period can be changed during normal control operation by installing the period changing unit, and the first period can be changed during normal control operation by providing the operation amount changing unit. 2. The first value and the fourth value of the manipulated variable.
[發明的原理] 本發明中,僅將矩形波狀的操作量作為FF操作量進行處理,以使得無需所述(I)的方法那樣的難易度高的物理現象的建模。 [Principle of Invention] In the present invention, only the rectangular wave-shaped operation amount is treated as the FF operation amount, so that the modeling of a physical phenomenon with high difficulty such as the method (I) is unnecessary.
另外,本發明中,為了避免如(II)的方法那樣對輸出端操作量的可動域產生限制,而使FF操作量部分即時反映給對FB控制運算的過程中產生的值進行的處理(例如速度型數位PID運算的抗積分飽和處理)、以及對FB控制運算結果進行的操作量限制處理的判定閾值,由此在FF操作量施加中也在輸出端操作量的整個可動域能夠回應。In addition, in the present invention, in order to avoid the limitation of the movable range of the output terminal operation amount as in the method (II), the FF operation amount is reflected in the process of the value generated during the FB control operation (for example, The anti-integration saturation processing of the speed-type digital PID operation) and the judgment threshold value of the operation amount restriction processing of the FB control operation result, so that the entire movable range of the output terminal operation amount can be responded to when the FF operation amount is applied.
具體而言,將由閾值減去所適用的FF操作量部分而得的FB操作量的上下限閾值適用於抗積分飽和處理和操作量限制處理。另外,本發明中,一概不進行專利文獻1那樣的操作量的時間積分。Specifically, the upper and lower limit thresholds of the FB operation amount obtained by subtracting the applied FF operation amount portion from the threshold are applied to the anti-saturation process and the operation amount restriction process. In addition, in the present invention, the time integration of the operation amount as in
另外,本發明中,作為最優的FF操作量的峰值超過輸出端可動域的下限/上限的狀況下的、擾亂施加對控制量PV的影響的改善,設想欲在施加擾亂前先行施加FF操作量等要求,因此設置對FF操作量的施加時機賦予靈活性的參數。In addition, in the present invention, as an improvement of the influence of disturbance application on the control variable PV in a situation where the peak value of the optimal FF operation amount exceeds the lower limit/upper limit of the output end movable range, it is assumed that the FF operation is applied before the disturbance is applied. Therefore, it is necessary to set parameters that give flexibility to the timing of the FF operation amount.
[第一實施例]
以下,參照圖式對本發明的實施例進行說明。圖1為表示本發明第一實施例的控制裝置的構成的流程圖。控制裝置包括:PID控制運算部1,輸入設定值SP和控制量PV並藉由回饋控制運算(本實施例中為PID控制運算)來算出操作量MV(第一操作量);操作量限制器2,將操作量MV限制為操作量下限值以上且操作量上限值以下的值;FF操作量生成部3,根據在施加擾亂的時間點之前開始且在施加擾亂後結束的通知信號的輸入,輸出矩形波狀的操作量FF_P(第二操作量),以消除擾亂;操作量相加部4,將輸出端操作量MV_O輸出給控制物件10,所述輸出端操作量MV_O為將由操作量限制器2輸出的操作量MV_L與由FF操作量生成部3輸出的操作量FF_P相加的結果;上下限值變更部5(第一上下限值變更部),根據由FF操作量生成部3輸出的操作量FF_P來變更PID控制運算部1的抗積分飽和功能的上下限值;上下限值變更部6(第二上下限值變更部),根據由FF操作量生成部3輸出的操作量FF_P來變更操作量限制器2的上下限值;以及控制運算初始化部7,使PID控制運算部1的PID控制運算初始化。
[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a flowchart showing the configuration of a control device according to a first embodiment of the present invention. The control device includes: PID
圖2~圖4為對本實施例的控制裝置的運行進行說明的流程圖。控制量PV(例如溫度測量值)是由未圖示的測量器(例如測量被加熱物的溫度的溫度感測器)所測量,並輸入至PID控制運算部1(圖2步驟S101)。2 to 4 are flowcharts for explaining the operation of the control device of this embodiment. The control variable PV (for example, temperature measurement value) is measured by a measuring device (for example, a temperature sensor that measures the temperature of the object to be heated) not shown, and is input to the PID control computing unit 1 (step S101 in FIG. 2 ).
PID控制運算部1輸入由控制裝置的使用者等所設定的設定值SP(例如溫度設定值)和控制量PV,以控制量PV與設定值SP一致的方式進行例如式(1)所示的傳遞函數式那樣的PID控制運算,算出操作量MV(圖2步驟S102)。
MV=KgΔEr+(Tz/Ti)Er+(Td/Tz)Δ2Er+MV_old…(1)
The PID control
此處,舉出速度型PID控制運算為例來進行說明。式(1)中,MV_old為一控制週期前的操作量,Er為控制偏差,為設定值SP與控制量PV的差SP-PV。另外,ΔEr為控制偏差Er的變化量,Δ2Er為控制偏差Er的變化量的變化量,Kg為PID參數中的比例增益,Ti為PID參數中的積分時間,Td為PID參數中的微分時間,Tz為控制週期。Here, take the speed-type PID control calculation as an example for description. In formula (1), MV_old is the operation quantity before a control cycle, Er is the control deviation, and is the difference SP-PV between the set value SP and the control quantity PV. In addition, ΔEr is the amount of change in the control deviation Er, Δ2Er is the amount of change in the control deviation Er, Kg is the proportional gain in the PID parameters, Ti is the integral time in the PID parameters, and Td is the derivative time in the PID parameters. Tz is the control period.
操作量限制器2輸出操作量MV_L,此操作量MV_L是將由PID控制運算部1所算出的操作量MV限制為操作量下限值OL以上且操作量上限值OH以下的值而得(圖2步驟S103)。也就是說,操作量限制器2在操作量MV小於操作量下限值OL時(MV<OL),設為操作量MV_L=OL,在操作量MV大於操作量上限值OH時(MV>OH),設為操作量MV_L=OH,在操作量MV大於操作量下限值OL且小於操作量上限值OH時(OL<MV<OH),設為操作量MV_L=MV。The manipulated
操作量相加部4將輸出端操作量MV_O輸出給控制物件10,所述輸出端操作量MV_O為MV_O=MV_L+FF_P,也就是將由操作量限制器2輸出的操作量MV_L與由FF操作量生成部3輸出的操作量FF_P相加的結果(圖2步驟S104)。但是,此處未輸入通知應施加操作量FF_P的通知信號,未從FF操作量生成部3輸出操作量FF_P,因此FF_P=0,MV_O=MV_L。The operation
另外,操作量相加部4將輸出端操作量MV_O限制為規定的輸出端操作量下限值OL_O以上且輸出端操作量上限值OH_O以下的值並輸出。也就是說,操作量相加部4在輸出端操作量MV_O小於輸出端操作量下限值OL_O時(MV_O<OL_O),設為輸出端操作量MV_O=OL_O,在輸出端操作量MV_O大於輸出端操作量上限值OH_O時(MV_O>OH_O),設為輸出端操作量MV_O=OH_O,在輸出端操作量MV_O大於輸出端操作量下限值OL_O且小於輸出端操作量上限值OH_O時(OL_O<MV_O<OH_O),將輸出端操作量MV_O直接輸出。In addition, the operation
當未輸入通知應施加操作量FF_P的通知信號時(圖2步驟S100中為否(NO)),在每個控制週期重複執行以上那樣的步驟S101~步驟S104的處理,直到根據例如來自使用者的指令而控制結束為止(圖2步驟S105中為是(YES))。When the notification signal to notify that the operation amount FF_P should be applied is not input (NO in step S100 in FIG. 2), the above-mentioned steps S101 to S104 are repeatedly executed in each control cycle until, for example, from the user Until the end of the control (YES in step S105 in FIG. 2).
另一方面,FF操作量生成部3在從外部設備輸入了通知應施加操作量FF_P的通知信號時(步驟S100中為是),如以下那樣輸出操作量FF_P。
例如在藥品的製造裝置中,存在因藥品製造的爐的門打開而導致爐內的溫度變動等狀況。此時,控制爐的溫度的控制裝置(外部設備)能夠在爐門打開的時機對本實施例的控制裝置發送通知信號(接通(ON))。
On the other hand, when the FF operation
同樣地,在設定值SP(溫度設定值)一定的回流爐中,存在因定期投入成為焊接物件的印刷基板而導致溫度變動等狀況。此時,控制印刷基板的搬送的控制裝置(外部設備)能夠在向回流爐投入印刷基板的時機對本實施例的控制裝置發送通知信號(接通)。Similarly, in a reflow furnace with a constant set value SP (temperature set value), there are situations such as temperature fluctuations caused by periodic input of a printed circuit board used as a soldering object. At this time, the control device (external device) that controls the transportation of the printed circuit board can transmit a notification signal (turn on) to the control device of the present embodiment at the timing of putting the printed circuit board into the reflow furnace.
另外,外部設備從擾亂的施加結束的時間點起在規定時間後將通知信號設為斷開(OFF)。In addition, the external device turns off the notification signal after a predetermined time from the time when the application of the disturbance ends.
另外,這些狀況下,產生溫度(PV)低於設定值SP的擾亂,因此外部設備在爐門打開的時機或向回流爐投入印刷基板的時機,輸出表示控制量PV的擾亂成為向下凸的波形的擾亂的、擾亂極性信號。另外,外部設備在產生控制量PV高於設定值SP的擾亂時,輸出表示控制量PV的擾亂成為向上凸的波形的擾亂的、擾亂極性信號。In addition, under these conditions, a disturbance occurs where the temperature (PV) is lower than the set value SP. Therefore, when the furnace door is opened or when the printed circuit board is put into the reflow furnace, the output of the external device indicates that the disturbance of the control variable PV becomes convex downward. Disturbing and disturbing polarity signals of the waveform. In addition, when a disturbance in which the control variable PV is higher than the set value SP occurs, the external device outputs a disturbance polarity signal indicating that the disturbance in the control variable PV becomes a disturbance with a convex waveform.
圖5為對FF操作量生成部3的運行進行說明的波形圖。圖5的示例中,對逆運行(加熱控制)中擾亂為向下凸的波形的擾亂時進行說明。FF操作量生成部3在從外部輸入通知信號(圖5的“接通”)時(步驟S100中為是),判定是否為操作量施加待機期間T1(圖3步驟S106)。FIG. 5 is a waveform diagram explaining the operation of the FF operation
由於存在施加擾亂前控制量PV與FB控制無關而不規則地變化從而導致FB操作量MV混亂的可能性,因此操作量施加待機期間T1(第二期間)是為了穩定地維持再現性(以控制量PV在設定值SP附近穩定的方式)將輸出端操作量MV_O固定化的期間。 此外,圖5的示例中,表示存在操作量施加待機期間T1的示例,但在施加擾亂前控制量PV與FB控制無關而不規則地變化的可能性少時,藉由預先將操作量施加待機期間T1的長度設定為0,從而能夠跳過(skip)操作量施加待機期間T1。 Since there is a possibility that the control variable PV before disturbance is applied irregularly regardless of the FB control, and the FB operation variable MV may be disturbed, the operation variable application standby period T1 (the second period) is to stably maintain reproducibility (to control The way that the quantity PV is stable near the set value SP) The period during which the output terminal manipulated quantity MV_O is fixed. In addition, the example in FIG. 5 shows an example in which there is a standby period T1 for applying the manipulated variable. However, when the control variable PV is less likely to change irregularly regardless of the FB control before the disturbance is applied, the manipulated variable is applied in advance on standby. The length of the period T1 is set to 0, so that the operation amount application standby period T1 can be skipped.
瞬態變動取消先行期間T2(第四期間)是為了緩和無法完全避免的擾亂施加對控制量PV的影響,在施加擾亂前先行將輸出端操作量MV_O固定化以使控制量PV上升(降溫擾亂時)或下降(升溫擾亂時)的期間。The transient change cancellation advance period T2 (fourth period) is to alleviate the influence of the inevitable disturbance on the control variable PV. Before the disturbance is applied, the output terminal operating variable MV_O is fixed to increase the control variable PV (cooling disturbance) Time) or falling (when the temperature is disturbed).
此外,圖5的示例中,表示存在瞬態變動取消先行期間T2的示例,但在無需預先使控制量PV上升或下降時,藉由預先將瞬態變動取消先行期間T2的長度設定為0,能夠跳過瞬態變動取消先行期間T2。In addition, the example in FIG. 5 shows an example in which there is a transient change cancellation precedent period T2, but when there is no need to increase or decrease the control variable PV in advance, by setting the length of the transient fluctuation cancellation precedent period T2 to 0 in advance, It is possible to skip the transient change and cancel the advance period T2.
在瞬態變動取消先行期間T2中,將輸出端操作量MV_O固定化,因此FB控制不發揮功能,無法獲得由FB控制所得的控制量PV的穩定性,因而需要對應包含本實施例的控制裝置和控制物件10的控制系統的特性來適當設定瞬態變動取消先行期間T2的長度。In the transient change cancellation advance period T2, the output terminal manipulated variable MV_O is fixed, so the FB control does not function, and the stability of the controlled variable PV obtained by the FB control cannot be obtained. Therefore, the control device including this embodiment is required. In accordance with the characteristics of the control system of the
瞬態變動取消期間T3(第一期間)是用來抑制施加擾亂後的控制量PV的瞬態變動的期間(用來使控制量PV與設定值SP一致的期間)。所述瞬態變動取消期間T3中輸出的操作量FF_P越大,擾亂的抑制效果越提高。The transient change cancellation period T3 (first period) is a period for suppressing the transient change of the control variable PV after the disturbance is applied (a period for making the control variable PV coincide with the set value SP). The larger the operation amount FF_P output in the transient change cancellation period T3 is, the more the disturbance suppression effect is improved.
穩態變動取消期間T4(第三期間)是用來抑制由施加擾亂後的靜態特性變化所導致的FB操作量MV的變動的期間。穩態變動取消期間T4成為從瞬態變動取消期間T3的結束時起到通知信號成為斷開為止的期間。
FF操作量生成部3將通知信號成為接通的最初判定為操作量施加待機期間T1(第二期間)(步驟S106中為是)。但是,當設定為T1=0時,進入圖3的步驟S115。
The steady-state fluctuation cancellation period T4 (third period) is a period for suppressing the fluctuation of the FB operation amount MV caused by the static characteristic change after the disturbance is applied. The steady-state fluctuation cancellation period T4 is a period from the end of the transient fluctuation cancellation period T3 until the notification signal becomes off.
The FF operation
FF操作量生成部3在判定為操作量施加待機期間T1時,輸出FF_P=V1、也就是規定的值V1(第二值)的操作量FF_P(圖3步驟S107)。When the FF operation
接著,上下限值變更部5基於由FF操作量生成部3輸出的操作量FF_P來變更PID控制運算部1的抗積分飽和(reset windup)功能的上下限值(圖3步驟S108)。Next, the upper and lower limit change unit 5 changes the upper and lower limit values of the anti-integration windup (reset windup) function of the PID
所謂抗積分飽和功能,是在PID控制運算部1算出的操作量MV達到上限值ARWH或下限值ARWL時,使超過上限值ARWH或下限值ARWL的方向的積分運行停止的功能。由此,能夠抑制操作量MV的飽和,使操作量MV快速從飽和恢復,抑制控制的整定的延遲。The anti-integral windup function is a function of stopping the integral operation in the direction exceeding the upper limit ARWH or the lower limit ARWL when the manipulated variable MV calculated by the PID
上下限值變更部5在輸入通知信號的同時輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,從PID控制運算部1的抗積分飽和功能的上限值ARWH減去操作量FF_P,變更上限值ARWH。同時,上下限值變更部5從PID控制運算部1的抗積分飽和功能的下限值ARWL減去操作量FF_P,變更下限值ARWL。The upper and lower limit value changing unit 5 inputs a disturbance polarity signal indicating that the disturbance is a downwardly convex waveform at the same time as the notification signal is input and when it is in reverse operation (heating control), or inputs a disturbance polarity indicating that the disturbance is a disturbance of the upwardly convex waveform When the signal is in operation (cooling control), the operation variable FF_P is subtracted from the upper limit value ARWH of the anti-integral saturation function of the PID
另外,上下限值變更部5在輸入通知信號的同時輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,從PID控制運算部1的抗積分飽和功能的下限值ARWL減去操作量FF_P,變更下限值ARWL。同時,上下限值變更部5從PID控制運算部1的抗積分飽和功能的上限值ARWH減去操作量FF_P,變更上限值ARWH。In addition, the upper and lower limit change unit 5 inputs a disturbance polarity signal indicating that the disturbance is an upwardly convex waveform at the same time as the notification signal is input and when the reverse operation (heating control) is performed, or inputs a disturbance indicating that the disturbance is a downwardly convex waveform. When the polarity signal is disturbed and it is running (cooling control), the lower limit value ARWL of the anti-integral windup function of the PID
上下限值變更部6基於由FF操作量生成部3輸出的操作量FF_P來變更操作量限制器2的上下限值(圖3步驟S109)。
具體而言,上下限值變更部6在輸入通知信號的同時輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,從操作量限制器2的操作量上限值OH減去操作量FF_P,變更操作量上限值OH。同時,上下限值變更部6從操作量限制器2的操作量下限值OL減去操作量FF_P,變更操作量下限值OL。
The upper and lower limit
另外,上下限值變更部6在輸入通知信號的同時輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,從操作量限制器2的操作量下限值OL減去操作量FF_P,變更操作量下限值OL。同時,上下限值變更部6從操作量限制器2的操作量上限值OH減去操作量FF_P,變更操作量上限值OH。In addition, the upper and lower
圖3的步驟S110~步驟S112的處理與圖2的步驟S101~步驟S103相同。
FF操作量生成部3在判定為操作量施加待機期間T1時,使MV_O=FF_P=V1,也就是規定的值V1(第二值)的操作量FF_P直接作為輸出端操作量MV_O從操作量相加部4輸出(圖3步驟S113)。
The processing of step S110 to step S112 in FIG. 3 is the same as step S101 to step S103 in FIG. 2.
When the FF manipulated
操作量施加待機期間T1中,將輸出端操作量MV_O固定化,因此FB控制不發揮功能,無法獲得由FB控制所得的控制量PV的穩定性,因而需要對應本實施例的控制系統的特性來適當設定操作量施加待機期間T1的長度和輸出端操作量MV_O=FF_P=V1的大小。During the standby period T1 for applying the manipulated variable, the manipulated variable MV_O of the output terminal is fixed. Therefore, the FB control does not function, and the stability of the controlled variable PV obtained by the FB control cannot be obtained. Therefore, it is necessary to correspond to the characteristics of the control system of this embodiment. Appropriately set the length of the operation amount application standby period T1 and the output end operation amount MV_O=FF_P=V1.
為了決定操作量施加待機期間T1的長度,只要使用包含本實施例的控制裝置和控制物件10的控制系統事先進行擾亂施加試驗,將通知信號接通後到控制偏差Er=SP-PV的絕對值|Er|超過規定的偏差閾值TH1為止的期間t1(等效死區時間)事先決定為操作量施加待機期間T1即可。所述擾亂施加試驗中,使FF控制停止,僅設為FB控制。也就是說,設為FF操作量FF_P=0。In order to determine the length of the operation amount application standby period T1, it is only necessary to use the control system including the control device of this embodiment and the
實際上由控制物件10的特性導致存在與等效死區時間的偏離,因此既可設為T1=t1,也可設為T1=t1×α1(α1為規定的調整比率),或也可設為T1=t1+β1(β1為規定的調整量)。In fact, due to the characteristics of the
另外,輸出端操作量MV_O=FF_P=V1的大小只要設為後述的第二實施例那樣的擾亂施加試驗的操作量施加待機期間T1的變動的FB操作量MV的最大值、最小值、平均值或中間值即可。另外,也可如第三實施例那樣,在實際運轉中以控制量PV進入某範圍的方式逐漸變更與極性對應的量。 操作量施加待機期間T1時(圖3步驟S106中為是),在每個控制週期重複執行步驟S107~步驟S113的處理。 In addition, the output terminal operation amount MV_O=FF_P=V1 should be set as the maximum, minimum, and average value of the FB operation amount MV of the fluctuation in the operation amount of the disturbance application test during the standby period T1 as in the second embodiment described later. Or the middle value is fine. In addition, as in the third embodiment, in actual operation, the amount corresponding to the polarity may be gradually changed so that the control amount PV enters a certain range. During the operation amount application standby period T1 (YES in step S106 in FIG. 3), the processing of step S107 to step S113 is repeatedly executed every control cycle.
接下來,FF操作量生成部3在通知信號成為接通的最初T1=0時,判定為瞬態變動取消先行期間T2,或者在通知信號接通後經過操作量施加待機期間T1所規定的時間而操作量施加待機期間T1結束時,判定為瞬態變動取消先行期間T2(T2>0)(圖3步驟S106中為否,步驟S115中為是)。但是,當設定為T2=0時,如下述那樣判定為瞬態變動取消期間T3。Next, the FF operation
FF操作量生成部3在判定為瞬態變動取消先行期間T2(T2>0)時(步驟S115中為是),輸出FF_P=V2,也就是規定的值V2(第四值)的操作量FF_P(圖3步驟S116)。When the FF operation
為了決定瞬態變動取消先行期間T2的長度和輸出端操作量MV_O=FF_P=V2的大小,只要在後述的瞬態變動取消期間T3的長度和操作量FF_P=V3已決定的階段中,使用包含本實施例的控制裝置和控制物件10的控制系統事先進行擾亂施加試驗,以在瞬態變動取消期間T3中輸出操作量FF_P=V3作為前提條件,以例如施加擾亂時的控制偏差Er的絕對值|Er|的最大值(控制量PV的波峰時的控制偏差的絕對值)成為規定的最大偏差閾值TH2以下(TH2>TH1)的方式,事先決定瞬態變動取消先行期間T2的長度和輸出端操作量MV_O=FF_P=V2的大小即可。In order to determine the length of the transient change cancellation precedent period T2 and the output terminal operation variable MV_O=FF_P=V2, as long as the length of the transient change cancellation period T3 and the operation variable FF_P=V3 have been determined in the following stage, use includes The control device of this embodiment and the control system of the controlled
或者,只要以從控制偏差Er=SP-PV的絕對值|Er|超過規定的偏差閾值TH1時起到控制偏差Er的絕對值|Er|恢復至偏差閾值TH1以下為止的恢復時間成為規定的時間閾值TH3以下的方式,事先決定瞬態變動取消先行期間T2的長度和輸出端操作量MV_O=FF_P=V2的大小即可。Or, as long as the absolute value of the control deviation Er=SP-PV | Er | exceeds the predetermined deviation threshold TH1 to the absolute value of the control deviation Er | Er | returns to the deviation threshold TH1 or less, the recovery time becomes the predetermined time For the method below the threshold TH3, the length of the transient change cancellation precedent period T2 and the output terminal operation amount MV_O=FF_P=V2 may be determined in advance.
此外,當輸入通知信號的同時輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,V1、V2成為正的值。In addition, when the notification signal is input and a disturbed polarity signal indicating a disturbance of a downwardly convex waveform is input and the reverse operation (heating control) is input, or a disturbed polarity signal indicating a disturbance of the upwardly convex waveform is input and it is running During (cooling control), V1 and V2 become positive values.
另一方面,當輸入通知信號的同時輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,V1、V2成為負的值。On the other hand, when the notification signal is input and a disturbance polarity signal indicating a disturbance that is a convex waveform is input and the reverse operation (heating control) is input, or a disturbance polarity signal indicating a disturbance that is a convex waveform is input and During normal operation (cooling control), V1 and V2 become negative values.
圖3的步驟S117~步驟S121的處理與步驟S108~步驟S112相同。
FF操作量生成部3在判定為瞬態變動取消先行期間T2(T2>0)時(步驟S115中為是),使MV_O=FF_P=V2,也就是規定的值V2(第四值)的操作量FF_P直接作為輸出端操作量MV_O從操作量相加部4輸出(圖3步驟S122)。
The processing of step S117 to step S121 in FIG. 3 is the same as step S108 to step S112.
When the FF operation
瞬態變動取消先行期間T2時(圖3步驟S115中為是),在每個控制週期重複執行步驟S116~步驟S122的處理。
接下來,FF操作量生成部3在操作量施加待機期間T1結束且T2=0時,判定為瞬態變動取消期間T3,或者在經過瞬態變動取消先行期間T2(T2>0)所規定的時間而瞬態變動取消先行期間T2結束時,判定為瞬態變動取消期間T3(圖3步驟S106、步驟S115中為否,圖4步驟S124中為是)。
When the transient change cancels the advance period T2 (Yes in step S115 in FIG. 3), the processing of step S116 to step S122 is repeatedly executed every control cycle.
Next, the FF manipulated
操作量施加待機期間T1和瞬態變動取消先行期間T2的輸出端操作量MV_O為固定值,因此藉由在瞬態變動取消期間T3開始的時機進行FB控制運算的初始化而獲得進一步的再現性。The output terminal manipulated variable MV_O during the manipulated variable application standby period T1 and the transient change cancellation precedent period T2 is a fixed value. Therefore, further reproducibility is obtained by initializing the FB control calculation at the timing when the transient change cancel period T3 starts.
具體而言,控制運算初始化部7記憶操作量施加待機期間T1即將開始前(通知信號即將成為接通前)的時機的操作量MV(以下記作MV0),在瞬態變動取消期間T3的開始時機時(圖4步驟S125中為是),在式(1)中設為MV_old=MV0,也就是將PID控制運算結果的前次值設為MV0,由此使PID控制運算初始化(圖4步驟S126)。此外,也可將MV_old設為預定的特定的值而非MV0。Specifically, the control arithmetic initialization unit 7 memorizes the manipulated variable MV (hereinafter referred to as MV0) at the timing just before the start of the manipulated variable application standby period T1 (immediately before the notification signal turns on), and the transient change cancel period T3 starts When timing (Yes in step S125 in Figure 4), set MV_old=MV0 in equation (1), that is, set the previous value of the PID control calculation result to MV0, thereby initializing the PID control calculation (step S125 in Figure 4). S126). In addition, MV_old can also be set to a predetermined specific value instead of MV0.
FF操作量生成部3在判定為瞬態變動取消期間T3時,輸出FF_P=V3,也就是規定的值V3(第一值)的操作量FF_P(圖4步驟S127)。When it is determined that the transient fluctuation cancellation period T3 is the FF operation
FF操作量生成部3在輸入通知信號的同時輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,設為FF_P=V3=OH_O。When the FF operation
另外,FF操作量生成部3在輸入通知信號的同時輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,設為FF_P=V3=-OH_O。In addition, when the FF operation
為了決定瞬態變動取消期間T3的長度,只要使用包含本實施例的控制裝置和控制物件10的控制系統事先進行擾亂施加試驗,將從所述控制偏差Er的絕對值|Er|超過規定的偏差閾值TH1時起到檢測出施加擾亂後的控制量PV的波峰為止的期間t3事先決定為瞬態變動取消期間T3即可。所述擾亂施加試驗中,使FF控制停止,僅設為FB控制。也就是說,設為FF操作量FF_P=0。In order to determine the length of the transient change cancellation period T3, the control system including the control device of this embodiment and the
實際上由控制物件10的特性導致存在與等效死區時間的偏離,因而既可設為T3=t3,也可設為T3=t3×α3(α3為規定的調整比率),或也可設為T3=t3+β3(β3為規定的調整量)。In fact, due to the characteristics of the
圖4的步驟S128~步驟S132的處理與步驟S108~步驟S112相同。
操作量相加部4將輸出端操作量MV_O輸出給控制物件10,所述輸出端操作量MV_O為MV_O=MV_L+FF_P,也就是將由操作量限制器2輸出的操作量MV_L與由FF操作量生成部3輸出的操作量FF_P相加的結果(圖4步驟S133)。
The processing of step S128 to step S132 in FIG. 4 is the same as step S108 to step S112.
The operation
瞬態變動取消期間T3時(圖4步驟S124中為是),在每個控制週期重複執行步驟S125、步驟S127~步驟S133的處理。
接下來,FF操作量生成部3在經過瞬態變動取消期間T3所規定的時間而瞬態變動取消期間T3結束時,判定為穩態變動取消期間T4(圖4步驟S124中為否,圖4步驟S135)。
During the transient fluctuation cancellation period T3 (YES in step S124 in FIG. 4), the processing of step S125 and step S127 to step S133 is repeatedly executed every control cycle.
Next, the FF operation
FF操作量生成部3在判定為穩態變動取消期間T4時,輸出FF_P=V4,也就是規定的值V4(第三值)的操作量FF_P(圖4步驟S136)。
為了決定操作量FF_P=V4的大小,只要使用包含本實施例的控制裝置和控制物件10的控制系統事先進行擾亂施加試驗,將MV_OFF-MV_ON(MV_OFF為通知信號的斷開時機的操作量MV,MV_ON為通知信號的接通時機的操作量MV)事先決定為V4即可。
When the FF operation
此時,也可進行多次擾亂施加試驗,使用多次MV_OFF中的最大值MV_OFFmax和多次MV_ON中的最大值MV_ONmax來計算FF_P=V4=MV_OFFmax-MV_ONmax。At this time, it is also possible to perform multiple disturbance application tests, using the maximum value MV_OFFmax among multiple MV_OFF and the maximum value MV_ONmax among multiple MV_ON to calculate FF_P=V4=MV_OFFmax-MV_ONmax.
另外,也可使用多次MV_OFF中的最小值MV_OFFmin和多次MV_ON中的最小值MV_ONmin來計算FF_P=V4=MV_OFFmin-MV_ONmin。In addition, the minimum value MV_OFFmin among multiple MV_OFF and the minimum value MV_ONmin among multiple MV_ON can also be used to calculate FF_P=V4=MV_OFFmin-MV_ONmin.
另外,也可使用多次MV_OFF中的移動平均值MV_OFFave和多次MV_ON中的移動平均值MV_ONave來計算FF_P=V4=MV_OFFave-MV_ONave。In addition, the moving average value MV_OFFave in multiple MV_OFF and the moving average value MV_ONave in multiple MV_ON can also be used to calculate FF_P=V4=MV_OFFave-MV_ONave.
另外,也可使用多次MV_OFF中的中間值MV_OFFmid=(MV_OFFmax-MV_OFFmin)/2和多次MV_ON中的中間值MV_ONmid=(MV_ONmax-MV_ONmin)/2來計算FF_P=V4=MV_OFFmid-MV_ONmid。 這樣,藉由使用多次擾亂施加試驗的資料,能夠期待耐雜訊性能或再現性的提高。 In addition, the intermediate value MV_OFFmid=(MV_OFFmax-MV_OFFmin)/2 in multiple MV_OFF and the intermediate value MV_ONmid=(MV_ONmax-MV_ONmin)/2 in multiple MV_ON can also be used to calculate FF_P=V4=MV_OFFmid-MV_ONmid. In this way, by using data of multiple disturbance application tests, it is possible to expect improvement in noise resistance and reproducibility.
圖4的步驟S137~步驟S141的處理與步驟S108~步驟S112相同。
操作量相加部4將輸出端操作量MV_O輸出給控制物件10,所述輸出端操作量MV_O為MV_O=MV_L+FF_P,也就是將由操作量限制器2輸出的操作量MV_L與由FF操作量生成部3輸出的操作量FF_P相加的結果(圖4步驟S142)。
The processing of step S137 to step S141 in FIG. 4 is the same as step S108 to step S112.
The operation
穩態變動取消期間T4時,在每個控制週期重複執行步驟S136~步驟S142的處理。 當如圖2所示那樣通知信號成為斷開時,步驟S100中成為判定否,穩態變動取消期間T4結束。 In the steady state fluctuation cancellation period T4, the process of step S136 to step S142 is repeatedly executed every control cycle. When the notification signal is turned off as shown in FIG. 2, the determination becomes No in step S100, and the steady state fluctuation cancellation period T4 ends.
如以上那樣,本實施例中,藉由僅將矩形波形狀的操作量作為FF操作量FF_P進行處理,能夠無需難易度高的物理現象的建模。 另外,本實施例中,藉由使FF操作量FF_P即時反映給PID控制運算的抗積分飽和處理以及操作量限制處理的判定閾值,能夠防止在FF操作量FF_P的施加中持續輸出過剩的輸出端操作量MV_O。 As described above, in the present embodiment, by processing only the operation amount of the rectangular wave shape as the FF operation amount FF_P, it is possible to eliminate the need for modeling of a highly difficult physical phenomenon. In addition, in this embodiment, by making the FF operation amount FF_P reflected in the PID control calculation anti-integration saturation processing and the operation amount restriction processing judgment threshold value, it is possible to prevent the FF operation amount FF_P from continuously outputting excessive output terminals. Operating volume MV_O.
圖6~圖15為對本實施例的效果進行說明的波形圖。圖6表示僅在現有的FB控制下,操作量MV限制於控制裝置的輸出範圍(OH_O,OL_O)時的成為主“傳遞延遲>擾亂延遲”的一次延遲系統的控制類比結果。圖7表示僅在現有的FB控制下,操作量MV限制於控制裝置的輸出範圍時的成為主“傳遞延遲<擾亂延遲”的一次延遲系統的控制類比結果。圖8表示僅在現有的FB控制下,操作量MV超過控制裝置的輸出範圍時的一次延遲系統的控制類比結果。6 to 15 are waveform diagrams for explaining the effect of this embodiment. Fig. 6 shows the control analog result of the primary delay system with the main "transmission delay>disturbance delay" when the manipulated variable MV is limited to the output range of the control device (OH_O, OL_O) under the existing FB control. FIG. 7 shows the control analog result of the primary delay system with the main "transmission delay <disturbance delay" when the manipulated variable MV is limited to the output range of the control device only under the existing FB control. Fig. 8 shows the control analog result of the primary delay system when the manipulated variable MV exceeds the output range of the control device only under the existing FB control.
圖9表示在FF操作量FF_P最優的FB控制+FF控制下,操作量MV限制於控制裝置的輸出範圍(OH_O,OL_O)時的成為主“傳遞延遲>擾亂延遲”的一次延遲系統的控制類比結果。圖10表示在FF操作量FF_P最優的FB控制+FF控制下,操作量MV限制於控制裝置的輸出範圍時的成為主“傳遞延遲<擾亂延遲”的一次延遲系統的控制類比結果。圖11表示在FF操作量FF_P最優的FB控制+FF控制下,操作量MV超過控制裝置的輸出範圍時的一次延遲系統的控制類比結果。Fig. 9 shows the control analogy of a primary delay system that becomes the main "transmission delay>disturbance delay" under FB control + FF control with the optimal FF operation amount FF_P and the operation amount MV is limited to the output range of the control device (OH_O, OL_O) result. Fig. 10 shows the control analog result of the primary delay system that becomes the main "transmission delay <disturbance delay" under the FB control + FF control where the FF operation amount FF_P is optimal, and the operation amount MV is limited to the output range of the control device. Fig. 11 shows the control analog result of the primary delay system when the operating variable MV exceeds the output range of the control device under FB control + FF control where the FF operating variable FF_P is optimal.
圖12表示在本實施例的控制裝置中,操作量MV限制於控制裝置的輸出範圍(OH_O,OL_O)時的成為主“傳遞延遲>擾亂延遲”的一次延遲系統的控制類比結果。圖13表示在本實施例的控制裝置中,操作量MV限制於控制裝置的輸出範圍時的成為主“傳遞延遲<擾亂延遲”的一次延遲系統的控制類比結果。Fig. 12 shows the control analog result of the primary delay system which becomes the main "transmission delay>disturbance delay" when the manipulated variable MV is limited to the output range of the control device (OH_O, OL_O) in the control device of this embodiment. FIG. 13 shows the control analog result of the primary delay system that is the main "transmission delay <disturbance delay" when the manipulated variable MV is limited to the output range of the control device in the control device of this embodiment.
圖14表示在本實施例的控制裝置中,操作量MV超過控制裝置的輸出範圍時的一次延遲系統的控制類比結果。圖15表示在本實施例的控制裝置中,操作量MV超過控制裝置的輸出範圍時,還設置瞬態變動取消先行期間T2時的一次延遲系統的控制類比結果。FIG. 14 shows the control analog result of the primary delay system when the manipulated variable MV exceeds the output range of the control device in the control device of this embodiment. FIG. 15 shows the control analog result of the primary delay system when the operation variable MV exceeds the output range of the control device in the control device of this embodiment, and the transient fluctuation cancels the advance period T2.
根據圖12~圖15得知,獲得了接近FF操作量FF_P最優的FB控制+FF控制的控制回應。According to Figs. 12-15, it is known that the control response of FB control + FF control close to the optimal FF operation amount FF_P is obtained.
此外,想到在擾亂的施加結束時,產生與施加擾亂時相反特性的現象的情況。例如,想到按以下的(a)~(c)的工序進行加熱處理的加熱裝置。 (a)將對爐內溫度進行定值控制的爐的門打開。 (b)將加熱物件放入爐(產生擾亂)。 (c)關閉爐門進行加熱。 In addition, it is conceivable that when the application of the disturbance is completed, a phenomenon having the opposite characteristics to that of when the disturbance is applied is generated. For example, think of a heating device that performs heat treatment in the following steps (a) to (c). (A) Open the door of the furnace that controls the temperature in the furnace. (B) Put the heated object into the furnace (producing disturbance). (C) Close the furnace door for heating.
加熱裝置中,在放入下一加熱物件前,需要以下的(d)~(f)的工序。 (d)打開爐門。 (e)取出加熱物件。 (f)關閉爐門並對爐內溫度進行定值控制。 In the heating device, the following steps (d) to (f) are required before placing the next heated object. (D) Open the furnace door. (E) Take out the heated object. (F) Close the furnace door and control the temperature in the furnace.
藉由對這種加熱裝置適用本實施例,能夠實現加熱物件的高品質化(藉由抑制擾亂的影響實現由溫度變動少的加熱所得的品質的穩定化)且提高生產性(縮短生產節拍時間(takt time))。By applying this embodiment to this kind of heating device, it is possible to achieve high quality of the heated object (by suppressing the influence of disturbance, the quality of heating with less temperature fluctuation is stabilized) and productivity can be improved (shortening of tact time) (Takt time)).
[第二實施例] 第一實施例中,事先手動調整操作量施加待機期間T1的長度、瞬態變動取消期間T3的長度、瞬態變動取消期間T3中的FF操作量FF_P=V3以及穩態變動取消期間T4中的FF操作量FF_P=V4,但也能夠對這些手動調整的量進行自動調整。圖16為表示本發明第二實施例的控制裝置的構成的流程圖,對與圖1相同的構成標注相同的符號。 [Second Embodiment] In the first embodiment, the length of the operation amount application standby period T1, the length of the transient fluctuation cancellation period T3, the FF operation amount FF_P=V3 in the transient fluctuation cancellation period T3, and the steady state fluctuation cancellation period T4 are manually adjusted in advance. FF operation amount FF_P=V4, but these manually adjusted amounts can also be automatically adjusted. FIG. 16 is a flowchart showing the configuration of the control device according to the second embodiment of the present invention, and the same configuration as in FIG. 1 is assigned the same reference numeral.
本實施例的控制裝置包括:PID控制運算部1;操作量限制器2;FF操作量生成部3;操作量相加部4;上下限值變更部5、上下限值變更部6;控制運算初始化部7;期間決定部8,在擾亂施加試驗中的自動調整時使FF操作量生成部3進行的操作量輸出停止,決定操作量施加待機期間T1的長度和瞬態變動取消期間T3的長度;以及操作量決定部9,在擾亂施加試驗中的自動調整時決定瞬態變動取消期間T3中的FF操作量FF_P=V3的大小和穩態變動取消期間T4中的FF操作量FF_P=V4的大小。The control device of this embodiment includes: PID
控制裝置的通常時的控制運行如第一實施例中所說明那樣。圖17為對控制裝置的自動調整時的運行進行說明的流程圖。
為了進行自動調整,使用包含本實施例的控制裝置和控制物件10的控制系統進行最少一次擾亂施加試驗。
The normal control operation of the control device is as described in the first embodiment. Fig. 17 is a flowchart explaining the operation of the control device during automatic adjustment.
In order to perform automatic adjustment, at least one disturbance application test is performed using the control system including the control device of this embodiment and the
期間決定部8在自動調整時使FF操作量生成部3進行的FF控制停止,僅設為FB控制,將從通知信號接通起到控制偏差Er=SP-PV的絕對值|Er|超過規定的偏差閾值TH1為止的期間t1(等效死區時間)決定為操作量施加待機期間T1(圖17步驟S200)。The
但是,實際上由控制物件10的特性導致存在與等效死區時間的偏離,因此期間決定部8既可對FF操作量生成部3設定T1=t1的值,也可對FF操作量生成部3設定T1=t1×α1(α1為規定的調整比率)的值,或也可對FF操作量生成部3設定T1=t1+β1(β1為規定的調整量)的值。However, in fact, due to the characteristics of the
另外,期間決定部8在自動調整時使FF操作量生成部3進行的FF控制停止,僅設為FB控制,將從控制偏差Er=SP-PV的絕對值|Er|超過規定的偏差閾值TH1時起到檢測出施加擾亂後的控制量PV的波峰為止的期間t3決定為瞬態變動取消期間T3(圖17步驟S201)。In addition, the
但是,實際上由控制物件10的特性導致存在與等效死區時間的偏離,因此期間決定部8既可對FF操作量生成部3設定T3=t3的值,也可對FF操作量生成部3設定T3=t3×α3(α3為規定的調整比率)的值,或也可對FF操作量生成部3設定T3=t3+β3(β3為規定的調整量)的值。However, in fact, due to the characteristics of the
操作量決定部9在自動調整時,在由期間決定部8決定操作量施加待機期間T1和瞬態變動取消期間T3的長度後(瞬態變動取消先行期間T2的長度和輸出端操作量MV_O=FF_P=V2的大小為固定值),以瞬態變動取消期間T3中的控制量PV成為所期望特性的方式,例如以施加擾亂時的控制偏差Er=SP-PV的絕對值|Er|的最大值(控制量PV的波峰時的控制偏差的絕對值)成為規定的最大偏差閾值TH2以下的方式,決定瞬態變動取消期間T3中的FF操作量FF_P=V3的大小(圖17步驟S202)。During automatic adjustment, the operation amount determination unit 9 determines the length of the operation amount application standby period T1 and the transient change cancellation period T3 by the period determination unit 8 (the length of the transient change cancellation advance period T2 and the output terminal operation amount MV_O= FF_P=V2 is a fixed value), so that the control variable PV in the transient change cancellation period T3 becomes the desired characteristic, for example, the maximum value of the control deviation Er=SP-PV absolute value|Er| The value (absolute value of the control deviation at the peak of the control variable PV) becomes the predetermined maximum deviation threshold TH2 or less, and determines the magnitude of the FF operation variable FF_P=V3 in the transient fluctuation cancellation period T3 (FIG. 17 step S202).
或者,操作量決定部9也能以從控制偏差Er=SP-PV的絕對值|Er|超過規定的偏差閾值TH1時起到瞬態變動取消期間T3中的控制偏差Er的絕對值|Er|恢復至偏差閾值TH1以下為止的恢復時間成為規定的時間閾值TH3以下的方式,決定瞬態變動取消期間T3中的FF操作量FF_P=V3的大小。Alternatively, the operation amount determination unit 9 may determine the absolute value of the control deviation Er in the transient fluctuation cancellation period T3 from the time when the control deviation Er=SP-PV absolute value|Er| exceeds the predetermined deviation threshold TH1 to the absolute value of the control deviation Er in the transient fluctuation cancellation period T3|Er| The magnitude of the FF operation amount FF_P=V3 in the transient fluctuation cancellation period T3 is determined so that the recovery time until the deviation threshold TH1 or less becomes the predetermined time threshold TH3 or less.
另外,操作量決定部9也能以所述控制偏差Er的絕對值|Er|的最大值為最大偏差閾值TH2以下,且恢復時間成為時間閾值TH3以下的方式,決定瞬態變動取消期間T3中的FF操作量FF_P=V3的大小。In addition, the operation amount determination unit 9 can also determine the transient fluctuation cancellation period T3 so that the maximum value of the absolute value of the control deviation Er | Er | is less than the maximum deviation threshold TH2 and the recovery time is less than the time threshold TH3 The FF operation amount of FF_P = the size of V3.
另外,操作量決定部9在自動調整時,在由期間決定部8決定操作量施加待機期間T1和瞬態變動取消期間T3的長度,還決定瞬態變動取消期間T3中的FF操作量FF_P=V3的大小後,將MV_OFF-MV_ON(MV_OFF為通知信號的斷開時機的操作量MV,MV_ON為通知信號的接通時機的操作量MV)決定為穩態變動取消期間T4中的FF操作量FF_P=V4(圖17步驟S203)。In addition, during automatic adjustment, the operation amount determination unit 9 determines the length of the operation amount application standby period T1 and the transient change cancellation period T3 by the
如上文所述那樣,操作量決定部9也可使用藉由多次擾亂施加試驗所得的多次MV_OFF中的最大值MV_OFFmax和多次MV_ON中的最大值MV_ONmax來計算FF_P=V4=MV_OFFmax-MV_ONmax。As described above, the operation amount determination unit 9 may also calculate FF_P=V4=MV_OFFmax-MV_ONmax using the maximum value MV_OFFmax of the multiple MV_OFF and the maximum value MV_ONmax of the multiple MV_ON obtained by the multiple disturbance application test.
另外,操作量決定部9也可使用多次MV_OFF中的最小值MV_OFFmin和多次MV_ON中的最小值MV_ONmin來計算FF_P=V4=MV_OFFmin-MV_ONmin。In addition, the operation amount determination unit 9 may also use the minimum value MV_OFFmin among the multiple MV_OFFs and the minimum value MV_ONmin among the multiple MV_ONs to calculate FF_P=V4=MV_OFFmin-MV_ONmin.
另外,操作量決定部9也可使用多次MV_OFF中的移動平均值MV_OFFave和多次MV_ON中的移動平均值MV_ONave來計算FF_P=V4=MV_OFFave-MV_ONave。In addition, the operation amount determination unit 9 may use the moving average value MV_OFFave in the multiple MV_OFF and the moving average value MV_ONave in the multiple MV_ON to calculate FF_P=V4=MV_OFFave-MV_ONave.
另外,操作量決定部9也可使用多次MV_OFF中的中間值MV_OFFmid和多次MV_ON中的中間值MV_ONmid來計算FF_P=V4=MV_OFFmid-MV_ONmid。 藉由以上操作,自動調整結束。 In addition, the operation amount determining unit 9 may also use the intermediate value MV_OFFmid in the multiple MV_OFF and the intermediate value MV_ONmid in the multiple MV_ON to calculate FF_P=V4=MV_OFFmid-MV_ONmid. With the above operations, the automatic adjustment is over.
此外,本實施例中,也可在決定操作量施加待機期間T1的長度後,操作量決定部9將擾亂施加試驗的操作量施加待機期間T1的變動的FB操作量MV的最大值、最小值、平均值或中間值決定為輸出端操作量MV_O=FF_P=V1的大小。In addition, in the present embodiment, after determining the length of the operation amount application standby period T1, the operation amount determining unit 9 applies the operation amount of the disturbance application test to the maximum and minimum values of the FB operation amount MV that changes in the standby period T1. , The average value or the intermediate value is determined as the magnitude of the output terminal operating quantity MV_O=FF_P=V1.
[第三實施例] 第一實施例中,事先手動調整瞬態變動取消先行期間T2的長度、瞬態變動取消期間T3的長度、瞬態變動取消先行期間T2中的FF操作量FF_P=V2(輸出端操作量MV_O)以及瞬態變動取消期間T3中的FF操作量FF_P=V3,但也可在控制運行中依次更新這些手動調整的量。圖18為表示本發明第三實施例的控制裝置的構成的流程圖,對與圖1相同的構成標注相同的符號。 [Third Embodiment] In the first embodiment, the length of the transient change cancellation advance period T2, the length of the transient change cancellation period T3, and the FF operation amount FF_P=V2 (output terminal operation amount MV_O) in the transient change cancellation advance period T2 are manually adjusted in advance. And the FF operation amount FF_P=V3 in the transient change cancellation period T3, but these manually adjusted amounts can also be updated sequentially during the control operation. FIG. 18 is a flowchart showing the configuration of the control device according to the third embodiment of the present invention, and the same components as those in FIG. 1 are assigned the same reference numerals.
本實施例的控制裝置包括:PID控制運算部1;操作量限制器2;FF操作量生成部3;操作量相加部4;上下限值變更部5、上下限值變更部6;控制運算初始化部7;期間變更部11,在通常的控制運行時,以瞬態變動取消期間T3中的控制量PV成為所期望特性的方式變更瞬態變動取消期間T3的長度和瞬態變動取消先行期間T2的長度;以及操作量變更部12,在通常的控制運行時,以瞬態變動取消期間T3中的控制量PV成為所期望特性的方式變更瞬態變動取消期間T3中的FF操作量FF_P=V3的大小和瞬態變動取消先行期間T2中的FF操作量FF_P=V2的大小。The control device of this embodiment includes: PID
圖19為對本實施例的控制裝置的運行進行說明的流程圖。PID控制運算部1、操作量限制器2、FF操作量生成部3、操作量相加部4、上下限值變更部5、上下限值變更部6以及控制運算初始化部7的運行如第一實施例的圖2~圖4中所說明那樣。
本實施例中,瞬態變動取消先行期間T2的初始值為T2=0。也就是說,跳過瞬態變動取消先行期間T2。
Fig. 19 is a flowchart for explaining the operation of the control device of this embodiment. The operation of the PID
期間變更部11和操作量變更部12在瞬態變動取消期間T3結束的時機(例如圖4的D的時機),在瞬態變動取消期間T3中的控制量PV未達到所期望特性(圖19步驟S300中為否),且瞬態變動取消期間T3的長度和瞬態變動取消期間T3中的FF操作量FF_P=V3可調整時(圖19步驟S301中為是),變更這些的值(圖19步驟S302、步驟S303)。When the
期間變更部11和操作量變更部12在瞬態變動取消期間T3未達到規定的最大時間,且瞬態變動取消期間T3中的FF操作量FF_P=V3未達到規定的最大值時,判定為可調整。When the
當判定為可調整時,期間變更部11將瞬態變動取消期間T3的長度相對於近前的值延長規定時間幅度(步驟S302)。瞬態變動取消期間T3的初始值例如為0。When it is determined that the adjustment is possible, the
另外,操作量變更部12使瞬態變動取消期間T3中的FF操作量FF_P=V3的絕對值相對於近前的值增加規定幅度(圖19步驟S303)。FF操作量FF_P=V3的初始值例如為V1。In addition, the operation
當輸入通知信號的同時輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,V3為正的值。When the notification signal is input and a disturbed polarity signal indicating a disturbance of a downwardly convex waveform is input and the reverse operation (heating control) is input, or a disturbed polarity signal indicating a disturbance of the upwardly convex waveform is input and it is running (cooling Control), V3 is a positive value.
另一方面,當輸入通知信號的同時輸入表示擾亂為向上凸的波形的擾亂的擾亂極性信號且逆運行(加熱控制)時、或者輸入表示擾亂為向下凸的波形的擾亂的擾亂極性信號且正運行(冷卻控制)時,V3為負的值。On the other hand, when the notification signal is input and a disturbance polarity signal indicating a disturbance that is a convex waveform is input and the reverse operation (heating control) is input, or a disturbance polarity signal indicating a disturbance that is a convex waveform is input and When running (cooling control), V3 is a negative value.
期間變更部11和操作量變更部12例如只要在瞬態變動取消期間T3中的控制偏差Er=SP-PV的絕對值|Er|的最大值(控制量PV的波峰時的控制偏差的絕對值)超過最大偏差閾值TH2時,判定為瞬態變動取消期間T3中的控制量PV未達到所期望特性,在絕對值|Er|的最大值成為最大偏差閾值TH2以下時,判定為瞬態變動取消期間T3中的控制量PV達到所期望特性即可。For example, the
或者,期間變更部11和操作量變更部12也可在從控制偏差Er=SP-PV的絕對值|Er|超過規定的偏差閾值TH1時起到瞬態變動取消期間T3中的控制偏差Er的絕對值|Er|恢復至偏差閾值TH1以下為止的恢復時間超過時間閾值TH3時,判定為瞬態變動取消期間T3中的控制量PV未達到所期望特性,在恢復時間成為時間閾值TH3以下時,判定為瞬態變動取消期間T3中的控制量PV達到所期望特性。Alternatively, the
此外,也可在所述控制偏差Er的絕對值|Er|的最大值為最大偏差閾值TH2以下,且恢復時間成為時間閾值TH3以下時,判定為瞬態變動取消期間T3中的控制量PV達到所期望特性。In addition, when the maximum value of the absolute value of the control deviation Er |Er| is less than the maximum deviation threshold TH2 and the recovery time is less than the time threshold TH3, it may be determined that the control variable PV in the transient fluctuation cancellation period T3 has reached The desired characteristics.
這樣,藉由在每次控制運行時進行步驟S302、步驟S303的處理,能夠在控制運行中調整瞬態變動取消期間T3的長度和瞬態變動取消期間T3中的FF操作量FF_P=V3。In this way, by performing the processing of step S302 and step S303 in each control operation, the length of the transient fluctuation cancellation period T3 and the FF operation amount FF_P=V3 in the transient fluctuation cancellation period T3 can be adjusted during the control operation.
此外,可能存在下述情況,即:即便藉由期間變更部11和操作量變更部12來調整瞬態變動取消期間T3的長度和FF操作量FF_P=V3的大小,瞬態變動取消期間T3中的控制量PV也未達到所期望特性。In addition, there may be a situation in which even if the length of the transient change cancellation period T3 and the FF operation amount FF_P=V3 are adjusted by the
期間變更部11和操作量變更部12在瞬態變動取消期間T3達到規定的最大時間、或瞬態變動取消期間T3中的FF操作量FF_P=V3達到規定的最大值的狀態下,瞬態變動取消期間T3中的控制量PV未達到所期望特性時,判定為瞬態變動取消期間T3和FF操作量FF_P=V3不可調整(步驟S301中為否)。The
當判定為瞬態變動取消期間T3和FF操作量FF_P=V3不可調整時,期間變更部11將瞬態變動取消先行期間T2的長度相對於近前的值延長規定時間幅度(圖19步驟S304)。如上文所述那樣,瞬態變動取消先行期間T2的初始值為0。When it is determined that the transient change canceling period T3 and the FF operation amount FF_P=V3 are not adjustable, the
另外,操作量變更部12使瞬態變動取消先行期間T2中的FF操作量FF_P=V2的絕對值相對於近前的值增加規定幅度(圖19步驟S305)。FF操作量FF_P=V2的初始值例如為V1。In addition, the operation
這樣,當即便調整瞬態變動取消期間T3的長度和FF操作量FF_P=V3的大小但瞬態變動取消期間T3中的控制量PV也未達到所期望特性時,藉由在每次控制運行時進行步驟S304、步驟S305的處理,能夠在控制運行中調整瞬態變動取消先行期間T2的長度和瞬態變動取消先行期間T2中的FF操作量FF_P=V2。In this way, even if the length of the transient change cancellation period T3 and the size of the FF operation variable FF_P=V3 are adjusted, but the control variable PV in the transient change cancellation period T3 does not reach the desired characteristics, by each control operation By performing the processing of step S304 and step S305, the length of the transient change cancellation advance period T2 and the FF operation amount FF_P=V2 in the transient change cancellation advance period T2 can be adjusted during the control operation.
此外,期間變更部11和操作量變更部12在瞬態變動取消先行期間T2達到規定的最大時間、或瞬態變動取消先行期間T2中的FF操作量FF_P=V2達到規定的最大值的狀態下,瞬態變動取消期間T3中的控制量PV未達到所期望特性時,結束圖19的處理。In addition, the
此外,本實施例中,也能以操作量施加待機期間T1中的控制量PV進入預定範圍的方式逐漸變更輸出端操作量MV_O=FF_P=V1的大小。In addition, in this embodiment, it is also possible to gradually change the magnitude of the output terminal operation amount MV_O=FF_P=V1 so that the control amount PV in the operation amount application standby period T1 enters a predetermined range.
第一實施例~第三實施例中說明的控制裝置能夠借由包括中央處理器(Central Processing Unit,CPU)、記憶裝置以及介面(interface)的電腦和控制這些硬體資源的程式來實現。將所述電腦的構成例示於圖20。電腦包括CPU 100、記憶裝置101以及介面裝置(以下簡稱為I/F)102。對I/F 102連接測量器(例如溫度感測器)和操作量輸出部(例如電力調整器)等。這種電腦中,用來實現本發明的控制方法的程式保存在記憶裝置101。CPU 100按照保存在記憶裝置101的程式來執行第一實施例~第三實施例中說明的處理。The control devices described in the first embodiment to the third embodiment can be implemented by a computer including a central processing unit (CPU), a memory device, and an interface, and programs that control these hardware resources. An example of the configuration of the computer is shown in FIG. 20. The computer includes a
所述的實施例的一部分或全部也可如以下的附記那樣記載,但不限於以下的附記。Part or all of the above-mentioned embodiments may be described as in the following supplementary notes, but are not limited to the following supplementary notes.
(附記1)一種控制方法,包括:第一步驟,輸入設定值和控制量並藉由回饋控制運算來算出第一操作量;第二步驟,根據在擾亂的施加時間點之前開始且在施加所述擾亂後結束的通知信號,輸出矩形波狀的第二操作量,以消除所述擾亂;第三步驟,進行將所述第一操作量限制為操作量下限值以上且操作量上限值以下的值的操作量限制處理;第四步驟,將輸出端操作量輸出給控制物件,所述輸出端操作量為將所述操作量限制處理後的第一操作量與所述第二操作量相加的結果;第五步驟,基於所述第二操作量來變更進行所述回饋控制運算的控制運算部的抗積分飽和功能的上下限值;以及第六步驟,基於所述第二操作量來變更所述操作量限制處理的操作量上下限值。(Supplement 1) A control method, including: the first step, input the set value and the control amount, and calculate the first operation amount by feedback control calculation; the second step, according to the disturbance application time point before and after the application The notification signal that ends after the disturbance, outputs the second operation amount in a rectangular wave shape to eliminate the disturbance; the third step is to limit the first operation amount to the lower limit of the operation amount and the upper limit of the operation amount The operation amount restriction processing of the following values; the fourth step, the output terminal operation amount is output to the control object, the output terminal operation amount is the first operation amount and the second operation amount after the operation amount restriction processing The result of the addition; the fifth step, based on the second operation amount, to change the upper and lower limits of the anti-integration saturation function of the control arithmetic unit that performs the feedback control operation; and the sixth step, based on the second operation amount To change the upper and lower limits of the operation amount of the operation amount restriction process.
(附記2)根據附記1記載的控制方法,其中所述第二步驟包含:在所述通知信號的輸入中,在包含施加所述擾亂的期間的第一期間中,輸出第一值的所述第二操作量,以消除所述擾亂,在從輸入所述通知信號時起到所述第一期間開始為止的第二期間中,以所述控制量在所述設定值附近穩定的方式輸出第二值的所述第二操作量,在從所述第一期間結束時起到所述通知信號的輸入結束為止的第三期間中,以所述控制量與所述設定值一致的方式輸出第三值的所述第二操作量的步驟;所述第四步驟包含:將所述第二期間中由所述操作量生成部輸出的第二操作量作為所述輸出端操作量而輸出的步驟。(Supplement 2) The control method according to
(附記3)根據附記2記載的控制方法,其中所述第二步驟包含:在所述第二期間與所述第一期間之間的第四期間中,比所述第一期間先行輸出第四值的所述第二操作量,以消除所述第一期間中施加的擾亂的步驟;所述第四步驟包含:將所述第四期間中由所述操作量生成部輸出的第二操作量作為所述輸出端操作量而輸出的步驟。(Supplement 3) The control method according to
(附記4)根據附記2或3記載的控制方法,還包括:第七步驟,在擾亂施加試驗中的自動調整時使所述第二步驟的第二操作量輸出停止,基於輸入所述通知信號後到所述設定值與所述控制量的控制偏差的絕對值超過規定的偏差閾值為止的期間來決定所述第二期間的長度。(Supplement 4) The control method according to
(附記5)根據附記4記載的控制方法,其中所述第七步驟包含:在所述自動調整時使所述第二步驟的第二操作量輸出停止,基於從所述控制偏差的絕對值超過所述偏差閾值時起到檢測出施加擾亂後的所述控制量的波峰為止的期間來決定所述第一期間的長度的步驟。(Supplement 5) The control method according to
(附記6)根據附記2至4中任一項記載的控制方法,還包括:第八步驟,在擾亂施加試驗中的自動調整時,以所述第一期間中的所述控制量成為所期望特性的方式決定所述第一值。(Supplement 6) The control method according to any one of
(附記7)根據附記6記載的控制方法,其中所述第八步驟包含:在所述自動調整時,基於輸入所述通知信號時的所述第一操作量和所述通知信號的輸入結束時的所述第一操作量來決定所述第三值的步驟。(Supplement 7) The control method according to
(附記8)根據附記2或3記載的控制方法,還包括:第七步驟,在通常的控制運行時,以所述第一期間中的所述控制量成為所期望特性的方式變更所述第一期間的長度;以及第八步驟,在通常的控制運行時,以所述第一期間中的所述控制量成為所期望特性的方式變更所述第一值。(Supplement 8) The control method according to
(附記9)根據附記3記載的控制方法,還包括:第七步驟,在通常的控制運行時,以所述第一期間中的所述控制量成為所期望特性的方式變更所述第四期間的長度;以及第八步驟,在通常的控制運行時,以所述第一期間中的所述控制量成為所期望特性的方式變更所述第四值。
[產業上的可利用性]
(Supplement 9) The control method according to
本發明能夠適用於並用回饋控制與前饋控制的技術。The present invention can be applied to technologies that combine feedback control and feedforward control.
1:PID控制運算部 2:操作量限制器 3:FF操作量生成部 4:操作量相加部 5、6:上下限值變更部 7:控制運算初始化部 8:期間決定部 9:操作量決定部 10:控制物件 11:期間變更部 12:操作量變更部 100:CPU 101:記憶裝置 102:介面裝置(I/F) FF_P:操作量(FF操作量、第二操作量) MV、MV_L:操作量 MV_O:輸出端操作量 PV:控制量(溫度) S100~S143、S200~S203、S300~S305:步驟 SP:設定值 T1:操作量施加待機期間(第二期間) T2:瞬態變動取消先行期間(第四期間) T3:瞬態變動取消期間(第一期間) T4:穩態變動取消期間(第三期間) V1:規定的值(第二值) V2:規定的值(第四值) V3:規定的值(第一值) V4:規定的值(第三值) 1: PID control calculation unit 2: Operation limiter 3: FF operation volume generation unit 4: Operation amount addition part 5, 6: Upper and lower limit change department 7: Control operation initialization part 8: Period decision department 9: Operation amount determination department 10: Control objects 11: Period change department 12: Operation volume change department 100: CPU 101: memory device 102: Interface device (I/F) FF_P: Operation amount (FF operation amount, second operation amount) MV, MV_L: operation volume MV_O: Output terminal operation amount PV: Controlled quantity (temperature) S100~S143, S200~S203, S300~S305: steps SP: set value T1: Waiting period for applying operation amount (second period) T2: Transient change cancellation advance period (fourth period) T3: Transient change cancellation period (first period) T4: Period of cancellation of steady-state changes (third period) V1: Specified value (second value) V2: Specified value (fourth value) V3: Specified value (first value) V4: Specified value (third value)
圖1為表示本發明第一實施例的控制裝置的構成的流程圖。 圖2為對本發明第一實施例的控制裝置的運行進行說明的流程圖。 圖3為對本發明第一實施例的控制裝置的運行進行說明的流程圖。 圖4為對本發明第一實施例的控制裝置的運行進行說明的流程圖。 圖5為對本發明第一實施例的控制裝置的FF操作量生成部的運行進行說明的波形圖。 圖6為表示現有的FB控制的控制模擬結果的圖。 圖7為表示現有的FB控制的控制模擬結果的圖。 圖8為表示現有的FB控制的控制模擬結果的圖。 圖9為表示FF操作量最優的FB控制+FF控制的控制模擬結果的圖。 圖10為表示FF操作量最優的FB控制+FF控制的控制模擬結果的圖。 圖11為表示FF操作量最優的FB控制+FF控制的控制模擬結果的圖。 圖12為表示本發明第一實施例的控制裝置的控制類比結果的圖。 圖13為表示本發明第一實施例的控制裝置的控制類比結果的圖。 圖14為表示本發明第一實施例的控制裝置的控制類比結果的圖。 圖15為表示本發明第一實施例的控制裝置的控制類比結果的圖。 圖16為表示本發明第二實施例的控制裝置的構成的流程圖。 圖17為對本發明第二實施例的控制裝置的自動調整時的運行進行說明的流程圖。 圖18為表示本發明第三實施例的控制裝置的構成的流程圖。 圖19為對本發明第三實施例的控制裝置的期間決定部和操作量決定部的運行進行說明的流程圖。 圖20為表示實現本發明第一實施例~第三實施例的控制裝置的電腦的構成例的流程圖。 Fig. 1 is a flowchart showing the configuration of a control device according to a first embodiment of the present invention. Fig. 2 is a flow chart explaining the operation of the control device of the first embodiment of the present invention. Fig. 3 is a flow chart explaining the operation of the control device of the first embodiment of the present invention. Fig. 4 is a flow chart explaining the operation of the control device of the first embodiment of the present invention. FIG. 5 is a waveform diagram for explaining the operation of the FF operation amount generating unit of the control device according to the first embodiment of the present invention. Fig. 6 is a diagram showing a control simulation result of a conventional FB control. Fig. 7 is a diagram showing a control simulation result of a conventional FB control. Fig. 8 is a diagram showing a control simulation result of a conventional FB control. FIG. 9 is a diagram showing the control simulation result of FB control + FF control with the optimal FF operation amount. FIG. 10 is a diagram showing the control simulation result of FB control + FF control with the optimal FF operation amount. FIG. 11 is a diagram showing the control simulation result of FB control + FF control with the optimal FF operation amount. Fig. 12 is a diagram showing a control analogy result of the control device of the first embodiment of the present invention. Fig. 13 is a diagram showing a control analogy result of the control device of the first embodiment of the present invention. Fig. 14 is a diagram showing a control analogy result of the control device of the first embodiment of the present invention. Fig. 15 is a diagram showing a control analogy result of the control device of the first embodiment of the present invention. Fig. 16 is a flowchart showing the configuration of a control device according to a second embodiment of the present invention. Fig. 17 is a flowchart explaining the operation of the control device of the second embodiment of the present invention during automatic adjustment. Fig. 18 is a flowchart showing the configuration of a control device according to a third embodiment of the present invention. 19 is a flowchart for explaining the operations of the period determining unit and the operation amount determining unit of the control device according to the third embodiment of the present invention. 20 is a flowchart showing a configuration example of a computer that implements the control device of the first embodiment to the third embodiment of the present invention.
1:PID控制運算部 2:操作量限制器 3:FF操作量生成部 4:操作量相加部 5、6:上下限值變更部 7:控制運算初始化部 10:控制物件 FF_P:操作量(FF操作量、第二操作量) MV、MV_L:操作量 MV_O:輸出端操作量 PV:控制量(溫度) SP:設定值 1: PID control calculation unit 2: Operation limiter 3: FF operation volume generation unit 4: Operation amount addition part 5, 6: Upper and lower limit change department 7: Control operation initialization part 10: Control objects FF_P: Operation amount (FF operation amount, second operation amount) MV, MV_L: operation volume MV_O: Output terminal operation amount PV: Controlled quantity (temperature) SP: set value
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KR20200115144A (en) | 2020-10-07 |
CN111752142A (en) | 2020-10-09 |
JP2020160659A (en) | 2020-10-01 |
TW202036187A (en) | 2020-10-01 |
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