WO2015132872A1 - フィードバック制御方法、フィードバック制御装置及びプログラム - Google Patents
フィードバック制御方法、フィードバック制御装置及びプログラム Download PDFInfo
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- WO2015132872A1 WO2015132872A1 PCT/JP2014/055423 JP2014055423W WO2015132872A1 WO 2015132872 A1 WO2015132872 A1 WO 2015132872A1 JP 2014055423 W JP2014055423 W JP 2014055423W WO 2015132872 A1 WO2015132872 A1 WO 2015132872A1
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- speed integration
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000010354 integration Effects 0.000 claims description 160
- 238000004364 calculation method Methods 0.000 claims description 58
- 238000012937 correction Methods 0.000 description 15
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 238000005070 sampling Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 238000012546 transfer Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/06—Registering, tensioning, smoothing or guiding webs longitudinally by retarding devices, e.g. acting on web-roll spindle
- B65H23/08—Registering, tensioning, smoothing or guiding webs longitudinally by retarding devices, e.g. acting on web-roll spindle acting on web roll being unwound
- B65H23/085—Registering, tensioning, smoothing or guiding webs longitudinally by retarding devices, e.g. acting on web-roll spindle acting on web roll being unwound and controlling web tension
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B7/00—Arrangements for obtaining smooth engagement or disengagement of automatic control
- G05B7/02—Arrangements for obtaining smooth engagement or disengagement of automatic control electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2403/00—Power transmission; Driving means
- B65H2403/70—Clutches; Couplings
- B65H2403/72—Clutches, brakes, e.g. one-way clutch +F204
- B65H2403/725—Brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
- B65H2515/30—Forces; Stresses
- B65H2515/31—Tensile forces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/20—Calculating means; Controlling methods
- B65H2557/264—Calculating means; Controlling methods with key characteristics based on closed loop control
- B65H2557/2644—Calculating means; Controlling methods with key characteristics based on closed loop control characterised by PID control
Definitions
- the present invention relates to a feedback control method, a feedback control device, and a program for controlling a web tension and other controlled objects in a predetermined state.
- FIG. 5 shows an example of a tension control device for the web. This is an apparatus for applying a predetermined tension to the web 10 during conveyance in order to prevent the web 10 such as printing paper from being rolled back from being rolled and slackened or wrinkled.
- FIG. 6 shows a functional block diagram of a feedback control device used in the tension control device.
- the web 10 is unwound from the rolled state in the direction of arrow A via the two rollers 20 and the intermediate roller 30.
- the web 10 is tensioned by the downstream winding power and the upstream rewinding braking force.
- the force exerted by the web 10 on the intermediate roller 30 is a force corresponding to this tension, and is detected by two tension detectors 40 arranged to support both ends of the intermediate roller 30 and taken into the controller 50B.
- a value of a target tension is set in advance in the controller 50B, and the target tension signal and the tension detection signal obtained by converting the tension detection signal (force signal) detected by the tension detector 40 into an actual tension
- a control signal corresponding to the deviation is generated by the controller 50B.
- the electromagnetic brake 60 as the power unit is driven to control the braking force of the rewinding of the roll of the web 10, and the tension applied to the web 10 is controlled to be the target tension. Ru.
- clutches and motors are also used as the power unit, and there are many cases in which motor control is performed in recent years, but in terms of cost it tends to be cheaper to use the electromagnetic brake .
- FIG. 7 shows the internal configuration of the controller 50B.
- the substance of the tension detection signal (force signal) detected by the tension detector 40 is the force applied to the intermediate roller 30, and this signal is used in the signal converter 53 based on the calibration value given in advance. It is converted to a tension signal.
- the switch SW1 is switched to the broken line side in advance to remove the noise by the low pass filter 51 and input to the signal converter 53.
- the target tension signal is subtracted from the tension detection signal output from the signal converter 53 in the subtractor 54 to become a deviation signal.
- the deviation signal is taken into the PID calculator 55 to perform calculation of proportional, integral and derivative.
- the basic principle of the tension detector 40 is to detect the pressure applied to the intermediate roller by taking in the tension of the web 10 as the displacement of the spring, so the relationship between the mass of the intermediate roller 30 and the spring constant of the tension detector 40 , And may have a resonance point of several tens Hz to one hundred and several dozen Hz. For this reason, it is desirable that the signal component at this resonance point be reliably cut, so a first-order low-pass filter having a time constant of 10 milliseconds to several hundreds of milliseconds is inserted as the low-pass filter 51. In recent years, one using a strain gauge as the tension detector 40 has appeared. In this type of tension detector, since the spring constant can be very large, the resonance frequency of the tension detector 40 becomes high, so that the time constant of the low pass filter 51 can be reduced.
- a proportional operation unit 551 which performs proportional operation has a role of amplifying the deviation proportionally and correcting the deviation promptly. If only the proportional calculation becomes small, the control calculation result becomes close to zero if the deviation becomes small, so that a steady-state deviation remains, and a sufficient control calculation can not be realized. Therefore, the integration operation of the deviation up to the present time by the integration operation unit 552 improves the drawback. In the integration operation, even if the deviation is minute, it is integrated, so it is possible to provide an output that is sufficient to eliminate the steady-state deviation of the controlled object. In general, the gain of integration is called integration time, and the shorter the integration time, the higher the gain.
- PI control based on only these proportional and integral calculations.
- the differentiation operation performed by the differentiation operator 553 works effectively against sudden deviations.
- the operation results of the computing units 551, 552, 553 are added by the adder 554 to become a control output signal.
- the deviation signal is input to the PID computing unit 55 through the low pass filter 52 by switching the switch SW2 to the broken line side in advance.
- the calculation in the controller 50B is performed by adjusting each parameter of PID.
- controller 50B In feedback control that causes the control object to follow a target value, it is general to insert at least one integrator in the controller 50B.
- the calculation result derived by controller 50B may not include the integration result.
- the integration calculation is transferred to controller 50B. Is common. This is because it is theoretically known that stationary deviation is eliminated by inserting one or more integral operators in the controller 50B (internal model principle).
- this method can not completely cancel the roll weight change, and can not guarantee that the gain of the control calculation of the controller 50B can be raised to the optimum value. Therefore, even if this index correction is used, the gain of the control calculation of the controller 50B can not be made sufficiently high, and there is a possibility that the disturbance suppression and the control accuracy can not be sufficiently improved.
- the operation by the diameter correction unit 59 can be added by the switch SW4 to the calculation result of the PID operation unit 55, The signal is multiplied by an index correction factor. This is to obtain the winding diameter of the unwinding roll by calculation or measurement, and reflect this in the control parameter of the diameter correction unit 59.
- the unwinding roll diameter can be easily obtained by determining the surface position of the unwinding roll by a contact or noncontact position detector. Also, the diameter of the rewinding roll can be easily calculated by using an encoder for obtaining the line speed and an encoder (or a proximity sensor) for measuring the rotation of the rewinding roll.
- the method using the diameter correction unit 59 has two drawbacks.
- One is that the price of the system goes up.
- the other is that although the square of the roll diameter and the inertia moment of the roll are in a proportional relationship, knowing the roll diameter does not mean that the inertia moment of the roll is known. For example, if the paper width or the weight density of the paper changes, the mass will differ even if the roll diameter is the same. Also, if the winding tension of the roll is different, the mass and the moment of inertia may change even with the same roll diameter. That is, even if the parameter of the diameter correction unit 59 is set by simply applying the calculation result of the roll diameter and the controller 50C of the variable gain is realized, there is no guarantee that it is the optimum control parameter, and some stability margin Have to
- Patent Document 1 Another possible means is to use robust control theory (e.g., Patent Document 1). This is a method of obtaining a mathematical model of a control target, determining a fluctuation range of the control target, and obtaining an optimal control operation.
- An object of the present invention is to provide a feedback control method capable of shortening the time until the control target converges to the target value, making it difficult for the control target to deviate from the target value, and not to deteriorate the stability of the control system. , Feedback control device and program.
- the feedback control method of the invention obtains a first calculation result including a low-speed integration calculation result based on a deviation between a target signal and a detection signal of a control target.
- the absolute value of the deviation is set in advance When the difference is within the threshold value 1, high-speed integration calculation of the deviation is performed, and the integrated value is added to the first calculation result to obtain a second calculation result, or the high-speed calculation is performed for the first calculation result Integral operation is performed, the integrated value is taken as a second operation result, and the power unit is driven by the second operation result.
- the invention according to claim 2 is the feedback control method according to claim 1, wherein when the absolute value of the deviation exceeds the first threshold value, an integral value of the high-speed integration operation is an integral value of the low-speed integration operation.
- the integrated value of the high-speed integration operation is reset to zero, and the high-speed integration operation is stopped.
- the invention according to claim 3 is the feedback control method according to claim 1 or 2, wherein when the deviation can be regarded as zero or zero, the integral value of the high-speed integration operation is added to the integration value of the low-speed integration operation; And, the integrated value of the high-speed integration operation is reset to zero, and then the high-speed integration operation is continued.
- the invention according to claim 4 is the feedback control method according to claim 1 or 2, wherein a second threshold smaller than the first threshold is provided, and the absolute value of the deviation is within the second threshold.
- the integrated value of the high speed integration operation is added or not added to the integrated value of the low speed integration operation, and the integrated value of the high speed integration operation is reset to zero, and then the high speed integration operation is stopped.
- the invention according to claim 5 is characterized in that, in the feedback control method according to claim 1, 2, 3 or 4, the maximum integral value of the high-speed integration operation is set smaller than the maximum integration value of the low-speed integration operation. I assume.
- the feedback control apparatus comprises a first operation unit including a low-speed integration operation unit that performs low-speed integration based on a deviation between a target signal and a detection signal of a control target; A power unit that is driven by the first calculation result obtained to control the control target, and a detector that detects the control result of the control target, and a signal detected by the detector is the detection signal.
- a feedback control device for performing high-speed integration of the deviation when the absolute value of the deviation is within a preset first threshold, and adding the integrated value to the first calculation result;
- a high-speed integral computing unit which performs high-speed integration operation on the first operation result as the operation result and sets the integrated value as a new second operation result, and the power unit according to the second operation result To drive the The features.
- the invention according to claim 7 is the feedback control device according to claim 6, wherein, when the absolute value of the deviation exceeds the first threshold value, the integrated value of the high-speed integration operator is used as the low-speed integration operator.
- the integrated value may or may not be added, and the integrated value of the high-speed integration operator may be reset to zero, and the high-speed integration operator may be deactivated.
- the integrated value of the high-speed integration operator is added to the integrated value of the low-speed integration operator. And reset the integrated value of the high-speed integration operator to zero before continuously operating the high-speed integration operator.
- the invention according to claim 9 is the feedback control device according to claim 6 or 7, wherein a second threshold smaller than the first threshold is provided, and the absolute value of the deviation is within the second threshold.
- the integrated value of the high-speed integration operator is added to the integrated value of the low-speed integration operator, and the integrated value of the high-speed integration operator is reset to zero, and then the high-speed integration operator is stopped. .
- the invention according to claim 10 is the feedback control device according to claim 6, 7, 8 or 9, wherein the maximum integral value of the high-speed integration operator is set smaller than the maximum integration value of the low-speed integrator. It is characterized by
- the program according to claim 11 acquires a first calculation result including a low-speed integration calculation result based on a deviation between a target signal and a detection signal of a control target, and drives the power unit according to the first calculation result.
- a program for causing a computer to execute an integral operation in a feedback control method in which the power unit controls the control target and the control result of the control target is the detection signal, the first value in which the absolute value of the deviation is preset A first step of determining whether the deviation is within a threshold, and when the first step determines that the absolute value of the deviation is within a preset first threshold, high-speed integration of the deviation The operation is performed and the integrated value is added to the first operation result to obtain a second operation result, or the high speed integration operation is performed on the first operation result and the integrated value is Comprising a second step of the calculation result, wherein the power unit by the second operation result is characterized by being so driven.
- the invention according to claim 12 is the program according to claim 11, wherein when the absolute value of the deviation exceeds the first threshold value, the integrated value of the high speed integration operation is added to the integrated value of the low speed integration operation. And adding zero, and resetting the integrated value of the high-speed integration operation to zero, and stopping the high-speed integration operation.
- the invention according to claim 13 is the program according to claim 11 or 12, wherein when the deviation can be regarded as zero or zero, the integrated value of the high speed integration operation is added to the integrated value of the low speed integration operation, and A fourth step of continuing the high-speed integration operation after resetting the integration value of the high-speed integration operation to zero is characterized.
- the invention according to claim 14 is the program according to claim 11 or 12, wherein a second threshold smaller than the first threshold is provided, and the high speed integration is performed when the absolute value of the deviation is within the second threshold.
- the invention according to claim 15 is characterized in that, in the program according to claim 11, 12, 13, or 14, the maximum integral value of the high-speed integration operation is set smaller than the maximum integration value of the low-speed integration operation. .
- the time until the control target converges to the target value while maintaining the stability of the control system can be shortened to make the controlled object less likely to deviate from the target value.
- the maximum integral value of the high-speed integration is set smaller than the maximum value of the low-speed integration, so the manipulated variable by the high-speed integration is suppressed small, and the stability of control is ensured.
- the integral computing unit included in the conventional PID computing unit is treated as a low-speed integral computing unit with a slow response (large integration time), as an aid Introduce a new high-speed integrator with quick response.
- the stability of the control system is prevented from being degraded by limiting the timing of the operation of this high-speed integral computing unit.
- FIG. 1 shows a controller 50 for feedback control according to a first embodiment of the present invention.
- the controller 50 is incorporated in the feedback control device described with reference to FIGS. 5 and 6 instead of the controllers 50B and 50C.
- the controller 50 of this embodiment includes low pass filters 51 and 52, a signal converter 53 for converting a tension detection signal indicating a force into an actual tension signal, a subtractor 54, a PID operation unit 55, a high speed integration operator with short integration time. 56, an adder 57, and switches SW1, SW2, and SW3.
- the PID operation unit 55 includes a proportional operation unit 551, an integration operation unit 552, a differential operation unit 553, and an adder 554 for adding the operation results of those operation units 551 to 553.
- the integration operator 552 in the PID operation unit 55 a low speed integration operator with a long integration time is used.
- the tension detection signal detected by the tension detector 40 is input to the signal converter 53 via the switch SW1.
- the switch SW1 is switched to the broken line side in advance, whereby the low pass filter 51 is used.
- the noise is suppressed and then input to the signal converter 53.
- the tension detection signal (force signal) input to the signal converter 53 is converted from the force signal into a tension signal and output.
- the subtractor 54 subtracts the tension detection signal from the input target tension signal to generate a deviation signal having a polarity.
- the deviation signal is input to the PID operation unit 55 via the switch SW2.
- the noise is large, the deviation signal is input to the PID computing unit 55 after the noise is suppressed by the low pass filter 52 by switching the switch SW2 to the broken line side in advance.
- the switch SW3 is on, the signal is also input to the high-speed integration calculator 56.
- the respective calculation results in the PID operator 55 and the high-speed integration operator 56 are added by the adder 57 and output as a control output signal.
- the switch SW3 is turned on when the absolute value of the deviation signal obtained by the subtractor 54 is within a predetermined first threshold, and is turned off when the first threshold is exceeded.
- the high-speed integration operator 56 stops the integration operation and resets the integrated value up to that point (hereinafter referred to as "high-speed integrated value") to zero.
- the high-speed integration calculator 56 resets the previous high-speed integrated value to zero.
- the high-speed integral value may be added to the integral value of the low-speed integration calculator 552 (hereinafter referred to as "low-speed integral value") before the zero reset. It is also good.
- FIG. 2 shows a flowchart of a control program of the high-speed integration calculator 56.
- a digital processing unit using a computer such as a microprocessor or an FPGA is used to implement processing of the controller 50 of this embodiment, and processing is performed for each sampling of the deviation obtained by the subtractor 54.
- the switch SW3 is turned on.
- step S1 it is determined whether the absolute value of the sampled deviation is within a first threshold (step S2).
- step S2 it is determined whether the deviation can be regarded as zero or zero (step S2).
- the deviation can be regarded as zero or zero
- the high speed integral value of the deviation obtained by the previous sampling is added to the low speed integral value, and then the high speed integral value is reset to zero.
- the current deviation (error that can be regarded as zero or zero) is integrated at high speed (step S3), and the high-speed integrated value is added to the PID calculation result (step S4).
- step S5 If the deviation can not be regarded as zero or zero, the deviation is integrated at high speed (step S5), and the obtained high-speed integrated value is added to the PID calculation result (step S4).
- step S4 when the absolute value of the deviation is out of the range of the first threshold in step S1, the high-speed integral value of the deviation obtained in the previous sampling is added to the low-speed integral value, and then the high-speed integral value is obtained. After zero reset, stop the high-speed integration operation. At this time, the high-speed integral value added to the PID calculation result in step S4 is zero.
- the sampled deviation is taken in, the same process as described above is repeated according to the absolute value of the deviation. As described above, when the high speed integral value is reset to zero, the high speed integral value may not necessarily be added to the low speed integral value.
- high-speed integration is performed only when the absolute value of the deviation falls within the first threshold value, so that the control target can be set to the target value while preventing the control system from running away.
- the time until convergence is shortened, and the controlled object is less likely to deviate from the target value.
- the high speed integral value is reset to zero, so that the effect of the high speed integration is reduced and overshoot is less likely to occur.
- the high speed integral value is reset to zero, a sudden change of the operation amount is prevented by adding the high speed integral value to the low speed integral value immediately before that. This is similar to temporarily increasing the speed of the low-speed integration calculator.
- FIG. 3 shows a functional block diagram of the controller 50A of the feedback control device of the second embodiment.
- the high-speed integration operator 56 is provided on the output side of the PID operator 55 via the switch SW3, and the adder 58 calculates the PID operation result of the high-speed integrator 56 It is a point configured to be added to the calculation result by the unit 55.
- high-speed integration is performed only when the absolute value of the deviation is within the range of the first threshold, by controlling by the control program described in FIG. 2 in exactly the same manner as the controller 50 described in FIG. , Is to be added to the PID operation result. For this reason, there is an effect similar to feedback control of a 1st example of being able to shorten time until a control object converges on a target value, preventing that a control system runs away.
- FIG. 4 shows a flowchart of a control program of the high-speed integration operator 56 of the feedback control apparatus of the third embodiment.
- This embodiment is applicable to the controller 50 of FIG. 1 and the controller 50A of FIG.
- a first threshold and a second threshold smaller than the first threshold are set, and the high-speed integrator 56 is used only when the absolute value of the deviation is between the first and second thresholds. Integral operation was performed.
- the switch SW3 is turned on.
- step S11 it is determined whether the absolute value of the sampled deviation is within the first threshold (step S11). If the absolute value of the deviation is within the first threshold, then it is determined whether the absolute value of the deviation is within the second threshold (step S12). If the absolute value of the deviation is within the second threshold, the high speed integral value of the deviation obtained by the previous sampling is added to the low speed integral value, and then the high speed integral value is reset to zero, and then the high speed integration is performed. It stops (step S13). At this time, the high-speed integral value added to the PID calculation result in step S14 is zero.
- the deviation is integrated at high speed (step S15), and the obtained high-speed integrated value is added to the PID calculation result (step S14).
- the absolute value of the deviation is out of the range of the first threshold value in step S11, the high speed integral value obtained by the previous sampling is added to the low speed integral value, and then the high speed integral value is zero. After reset, fast integration stops. At this time, the high-speed integral value added to the PID calculation result in step S14 is zero.
- the sampled deviation is taken in, the same process as described above is repeated according to the absolute value of the deviation. As described above, when the high speed integral value is reset to zero, the high speed integral value may not necessarily be added to the low speed integral value.
- high speed integration is performed when the absolute value of the deviation is between the first and second threshold values, but high speed integration is stopped when the absolute value is within the second threshold value.
- the dead zone (within the second threshold range) is set in the control program described with reference to FIG.
- Each parameter adjustment of the controllers 50 and 50A is preferably performed at the time of trial operation.
- trial operation is performed using a feedback control device that does not use the high-speed integration operator 56 of the present invention (the switch SW3 is off), and the parameters of the controllers 50 and 50A are adjusted so that stable control can be performed.
- the parameters related to the high-speed integration operator be set at the time of factory shipment of the controllers 50 and 50A to parameters that can be used as they are under general conditions.
- it is recommended to check the parameters by trial operation because the characteristics differ depending on the machine to be applied.
- the PID operation unit 55 of the feedback control apparatus of the present embodiment described above literally includes operations of proportional, integral, and differential, if it is an operation unit including at least a low-speed integral operation unit as this operation unit.
- the present invention can be applied regardless of the type of operation unit.
- the integral operation described above includes operations that approximate other integrals, such as a pulse transfer function operation and a linear difference equation operation.
- the feedback control it is possible to apply robust control that also takes modeling errors into account, or adaptive control that changes a parameter in response to a large change of a control target.
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Abstract
Description
請求項4、8、14では、請求項3と本質的に同じである。これは制御系において不感帯が設定されることになる。
図1に本発明の第1の実施例のフィードバック制御のコントローラ50を示す。このコントローラ50は、図5,図6で説明したフィードバック制御装置に、コントローラ50B、50Cに代えて組み込まれるものである。
図3に第2の実施例のフィードバック制御装置のコントローラ50Aの機能ブロック図を示す。図1で説明したコントローラ50と異なるところは、高速積分演算器56をPID演算器55の出力側にスイッチSW3を経由して設け、その高速積分演算器56の演算結果を加算器58でPID演算器55による演算結果と加算するように構成した点である。
図4に第3の実施例のフィードバック制御装置の高速積分演算器56の制御プログラムのフローチャートを示す。本実施例は図1のコントローラ50および図3のコントローラ50Aに適用できるものである。本実施例では、第1の閾値およびその第1の閾値より小さい第2の閾値を設定し、偏差の絶対値が第1と第2の閾値の間にある場合にのみ高速積分演算器56の積分動作を行わせるようにした。高速積分が行われるときは、スイッチSW3がオンされる。
ウェブの巻出し部は、運転を行い続けるとロール径が変わり慣性モーメントが変化する。これに伴い制御系の最適ゲインが変化する。これに対しては背景技術の欄で説明した、指数補正あるいは径補正を実施することが望ましい。システムの価格から考えれば指数補正の方が安価である。径補正の場合は、径と制御パラメータの関係を工夫する必要が生じる。性能面では径補正の方が勝るが、パラメータ調整のやりやすさは指数補正の方が容易である。
20:ローラ
30:中間ローラ
40:テンション検出器
50,50A,50B,50C:コントローラ、51,52:ローパスフィルタ、53:信号変換器、54:減算器、55:PID演算部、551:比例演算器、552:積分演算器、553:微分演算器、554:加算器、56:高速積分演算器、57,58:加算器、59:径補正部
60:電磁ブレーキ
Claims (15)
- 目標信号と制御対象の検出信号との偏差に基づいて低速積分演算結果を含む第1の演算結果を取得し、該第1の演算結果により動力部を駆動し、該動力部により前記制御対象を制御し、前記制御対象の制御結果を前記検出信号とするフィードバック制御方法において、
前記偏差の絶対値が予め設定した第1の閾値内にあるときに前記偏差の高速積分演算を行ってその積分値を前記第1の演算結果に加算して第2の演算結果とし、又は前記第1の演算結果に対して前記高速積分演算を行ってその積分値を第2の演算結果とし、該第2の演算結果により前記動力部を駆動することを特徴とするフィードバック制御方法。 - 請求項1に記載のフィードバック制御方法において、
前記偏差の絶対値が前記第1の閾値を超えたとき、前記高速積分演算の積分値を前記低速積分演算の積分値に加算し又は加算せず、且つ前記高速積分演算の積分値を零リセットし、且つ前記高速積分演算を停止することを特徴とするフィードバック制御方法。 - 請求項1又は2に記載のフィードバック制御方法において、
前記偏差が零又は零とみなせるとき、前記高速積分演算の積分値を前記低速積分演算の積分値に加算し、且つ前記高速積分演算の積分値を零リセットしてから、前記高速積分演算を継続することを特徴とするフィードバック制御方法。 - 請求項1又は2に記載のフィードバック制御方法において、
前記第1の閾値よりも小さな第2閾値を設け、前記偏差の絶対値が前記第2閾値以内のとき、前記高速積分演算の積分値を前記低速積分演算の積分値に加算し又は加算せず、且つ前記高速積分演算の積分値を零リセットしてから、前記高速積分演算を停止することを特徴とするフィードバック制御方法。 - 請求項1、2、3又は4に記載のフィードバック制御方法において、
前記高速積分演算の最大積分値を前記低速積分演算の最大積分値よりも小さく設定したことを特徴とするフィードバック制御方法。 - 目標信号と制御対象の検出信号との偏差に基づいて低速積分を行う低速積分演算器を含む第1の演算部と、該第1の演算部で得られた第1の演算結果により駆動されて前記制御対象を制御する動力部と、前記制御対象の制御結果を検出する検出器とを備え、該検出器で検出された信号を前記検出信号とするフィードバック制御装置において、
前記偏差の絶対値が予め設定した第1の閾値内にあるときに前記偏差の高速積分演算を行ってその積分値を前記第1の演算結果に加算して第2の演算結果とし、又は前記第1の演算結果に対して高速積分演算を行ってその積分値を新たな第2の演算結果とする高速積分演算器を設け、前記第2の演算結果により前記動力部を駆動するようにしたことを特徴とするフィードバック制御装置。 - 請求項6に記載のフィードバック制御装置において、
前記偏差の絶対値が前記第1の閾値を超えたとき、前記高速積分演算器の積分値を前記低速積分演算器の積分値に加算し又は加算せず、且つ前記高速積分演算器の積分値を零リセットし、且つ前記高速積分演算器を動作停止させることを特徴とするフィードバック制御装置。 - 請求項6又は7に記載のフィードバック制御装置において、
前記偏差が零又は零とみなせるとき、前記高速積分演算器の積分値を前記低速積分演算器の積分値に加算し、且つ前記高速積分演算器の積分値を零リセットしてから、前記高速積分演算器を継続動作させることを特徴とするフィードバック制御装置。 - 請求項6又は7に記載のフィードバック制御装置において、
前記第1の閾値よりも小さな第2閾値を設け、前記偏差の絶対値が前記第2閾値以内のとき、前記高速積分演算器の積分値を前記低速積分演算器の積分値に加算し、且つ前記高速積分演算器の積分値を零リセットしてから、前記高速積分演算器を動作停止させることを特徴とするフィードバック制御装置。 - 請求項6、7、8又は9に記載のフィードバック制御装置において、
前記高速積分演算器の最大積分値を、前記低速積分演算器の最大積分値よりも小さく設定したことを特徴とするフィードバック制御装置。 - 目標信号と制御対象の検出信号との偏差に基づいて低速積分演算結果を含む第1の演算結果を取得し、該第1の演算結果により動力部を駆動し、該動力部により前記制御対象を制御し、前記制御対象の制御結果を前記検出信号とするフィードバック制御方法における積分演算をコンピュータに実行させるプログラムにおいて、
前記偏差の絶対値が予め設定した第1の閾値内にあるか否かを判定する第1のステップと、
該第1のステップによって前記偏差の絶対値が予め設定した第1の閾値内にあると判定されたとき、前記偏差の高速積分演算を行ってその積分値を前記第1の演算結果に加算して第2の演算結果とし、又は前記第1の演算結果に対して前記高速積分演算を行ってその積分値を前記第2の演算結果とする第2のステップと、
を備え、
前記第2の演算結果により前記動力部が駆動されるようにしたことを特徴とするプログラム。 - 請求項11に記載のプログラムにおいて、
前記偏差の絶対値が前記第1の閾値を超えたとき、前記高速積分演算の積分値を前記低速積分演算の積分値に加算し又は加算せず、且つ前記高速積分演算の積分値を零リセットし、且つ前記高速積分演算を停止する第3のステップを備えることを特徴とするプログラム。 - 請求項11又は12に記載のプログラムにおいて、
前記偏差が零又は零とみなせるとき、前記高速積分演算の積分値を前記低速積分演算の積分値に加算し、且つ前記高速積分演算の積分値を零リセットしてから、前記高速積分演算を継続する第4のステップを備えることを特徴とするプログラム。 - 請求項11又は12に記載のプログラムにおいて、
前記第1の閾値よりも小さな第2閾値を設け、前記偏差の絶対値が前記第2閾値以内のとき、前記高速積分演算の積分値を前記低速積分演算の積分値に加算し、且つ前記高速積分演算の積分値を零リセットしてから、前記高速積分演算を停止する第5のステップを備えることを特徴とするプログラム。 - 請求項11、12、13又は14に記載のプログラムにおいて、
前記高速積分演算の最大積分値を前記低速積分演算の最大積分値よりも小さく設定したことを特徴とするプログラム。
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CN201480000933.9A CN105144001A (zh) | 2014-03-04 | 2014-03-04 | 反馈控制方法、反馈控制装置和程序 |
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JPS5595104A (en) * | 1979-01-09 | 1980-07-19 | Nippon Shiyuuhenki Kk | Movement control system |
JPH02292502A (ja) * | 1989-05-08 | 1990-12-04 | Daikin Ind Ltd | 流体アクチュエータの制御装置 |
JP2003014157A (ja) * | 2001-06-27 | 2003-01-15 | Koso Service Kk | バルブポジショナおよび制御器 |
JP2005099981A (ja) * | 2003-09-24 | 2005-04-14 | Yaskawa Electric Corp | 同期運転方法 |
JP2007145607A (ja) * | 2005-11-29 | 2007-06-14 | Bosch Rexroth Ag | 商品ウェブのウェブ張力調整 |
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US11996303B2 (en) | 2018-07-06 | 2024-05-28 | Ebara Corporation | Substrate cleaning device and substrate cleaning method |
US12002688B2 (en) | 2018-07-06 | 2024-06-04 | Ebara Corporation | Substrate cleaning device and substrate cleaning method |
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