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WO1999049370A1 - Procede et organe de commande - Google Patents

Procede et organe de commande Download PDF

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Publication number
WO1999049370A1
WO1999049370A1 PCT/JP1998/001224 JP9801224W WO9949370A1 WO 1999049370 A1 WO1999049370 A1 WO 1999049370A1 JP 9801224 W JP9801224 W JP 9801224W WO 9949370 A1 WO9949370 A1 WO 9949370A1
Authority
WO
WIPO (PCT)
Prior art keywords
value
target value
values
control
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP1998/001224
Other languages
English (en)
Japanese (ja)
Inventor
Takehiko Futatsugi
Hiroo Sato
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Adtex Inc
Original Assignee
Adtex Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Adtex Inc filed Critical Adtex Inc
Priority to PCT/JP1998/001224 priority Critical patent/WO1999049370A1/fr
Priority to JP52349198A priority patent/JP3352699B2/ja
Priority to AU64210/98A priority patent/AU6421098A/en
Publication of WO1999049370A1 publication Critical patent/WO1999049370A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/041—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a variable is automatically adjusted to optimise the performance
    • 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
    • G05B5/00—Anti-hunting arrangements
    • G05B5/01—Anti-hunting arrangements electric

Definitions

  • an operation value is calculated by changing a target value that rapidly changes beyond an allowable gradient to within an allowable limit. It relates to a control method that more accurately matches the target value and a control device using that method.
  • the control device inputs a target value (S), a control value (R), and a disturbance value (B), and stores a storage device (M) using these and an operation value (C). Finds and outputs C that matches S and R with the arithmetic unit (X) that has it.
  • the values used in control calculations differ from the input / output values from the device. For example, a value measured as a voltage value or a current value is converted into a power value and then operated, and the value calculated as the power value is converted into an AC phase value and output. Calculation is performed by converting the electromotive force of the thermocouple into a temperature. In order to increase the signal-to-noise ratio, the measurement values are averaged before calculation. Converts the result obtained by real number arithmetic into an integer and outputs it. And so on.
  • the conversion by such input / output is performed by using a well-known method or a trivial method by selecting the control system. Will also mean.
  • Control values, manipulated values, disturbance values, etc. form a time series that continues from the past, passes through the present, and continues into the future.
  • control has a starting point, and it is not necessary to mention an infinite past within a reasonable approximation.
  • Division is obtained by solving the multiplication method from the first term side.
  • a sequence in which all but the 0th term is 0 is identified with the numerical value (scalar) of the 0th term, and the numerical value represents the sequence.
  • 1 represents a sequence where the 0th term is 1 and all other terms are 0.
  • the definition of multiplication is the definition of scalar product.
  • N represents a sequence where the first term is 1 and all other terms are 0.
  • the product of a reciprocal of ⁇ and an arbitrary sequence a is the sum of a.
  • ⁇ ⁇ a ⁇ aA s + aA s + , + * ⁇ ⁇ + (AS is the first place of a) (5)
  • the term itself is not 0, the term whose future side is all 0 than that term (final term and A sequence with the term number and its terminator is called a finite sequence. Since a finite sequence is not zero, it has a first term and the number of nonzero terms is finite. Next, this sequence is used to express the transfer equation.
  • the transfer equation is an equation that relates the cause (operation value c, disturbance b) and the result (control value r).
  • the cause and effect shall represent the difference (change amount) at each time point.
  • the second item is the change in c that occurred two times before time n (- This indicates that the effect (f 2 ) after two points in 2 ) is realized at the n-th point ().
  • the available energy (exergy) in the natural world is constantly decreasing, the resulting change caused by the finite changes will eventually stop exponentially.
  • (11) has r on both the left and right sides.
  • (11) indicates that external causes c and b change to internal causes. The result remains even after the external cause disappears due to the internal cause.
  • d 'can be called the response function of the memory effect
  • f' and g 'can be called the response functions of the operation and disturbance considering the memory effect.
  • (11) only needs to go back a certain amount in the past.
  • ⁇ -r ⁇ -f-c + ⁇ -g-b
  • ⁇ ⁇ b is the amount of change (difference) of the cause
  • ⁇ ⁇ b is the sum of the The raw value (actual value) to be generated.
  • the time series that represents the result when the cause is increased by 1 during the point in time in terms of a pulse and is returned at the next point in time is called the pulse response function, and the time series when the cause is not returned is called the step response function.
  • d ', f', g ',; f, 9, h are the changes (differences) in the result (step response function) when not returned, and are a pulse response function.
  • the relationship between the pulse response function and the step response function, and the relationship between the amount of change in the cause or result and the actual value (the raw value of the measurement or setting) is the relationship between the difference and the sum.
  • the pulse response function and the amount of change in cause and effect are expressed in lowercase letters, and the step response function and the actual value of the cause and effect are expressed in uppercase letters.
  • Operate values C and c are the last time points and the manipulated values when the manipulated values are not changed in the future (no operation) If R and R are measured values from the past to the present and control values indicating the prediction when no operation is performed, it can be calculated sequentially from the first time point to any Q time point.
  • CE Q Q — P it can be obtained by using the least squares method with (16) as the observation equation.
  • the last (current) manipulated value Co C- + c '. Is output and controlled.
  • the finite settling method is known as the former example, and the optimal control method is known as the latter example.
  • the delay caused by the operation means being at the limit value, the delay caused by a sudden change of the target value so that the response cannot be made in time, and the excessive response (overshoot) caused by noise or insufficient accuracy of the response function are stopped. It is a phenomenon that cannot be obtained. However, if the programmed values follow the programmed and known targets, but the operating values have not reached their limits, there should be some improvement.
  • switchback (2) can be reduced.
  • Overshoot ( 3) is a recoil caused by turning back, so it is automatically reduced by corner cutting.
  • ⁇ , () indicates that the sum is taken for j in ().
  • This method calculates the value corresponding to the P + i time point of a curve such as a quadratic curve or a cubic curve that passes through some time points near the P + i time point (sometimes excluding the P + i time point). Includes the method of limiting, or using the method of least squares to limit the value corresponding to the point P + i of such a curve.
  • Determining the weights (a, J) that fit these curves is a well-known method that can be obtained by finding a linear equation with the weights as unknowns (the former) or the inverse matrix of the least squares structural equation (the latter). is.
  • the other is the value obtained by subtracting the maximum allowable slope from the time point P + i + 1, starting from the time point before the time point Q + 1 before the time point P.
  • T P + j S P + i + 1 - ⁇ j (M,, j 'sgn (sp + i + j )) (20).
  • the first term on the right side of (20) is a special case of weighted averaging.
  • the value obtained by subtracting the linear expression of the sign of the difference between the target value from the weighted average of the values is the limit value.
  • the target value at the P + i time is between the limit value at the P + i time point and the target value at the P + i + 1 time point (in some cases, the limit value has been corrected). You do not need to change it if the change is moderate. Therefore, usually
  • FIG.2 shows the case where only the point in time was changed from A to B as necessary.
  • the target value is indicated by a polygonal line, and the control value is indicated by a curve.
  • F I G. 1 is the block diagram of the control equipment »
  • FI G. 2 is a graph explaining the setting by the conventional method. 1: Target value 2: Switch back 3: Overshoot
  • Target value before correction B: Target value after correction Best mode for carrying out the invention
  • the end point of the memory effect which can be easily implemented, is selected as 1 and the target value changes in a time series.
  • the target value changes in a time series.
  • R 3 R 2 + d '1 ⁇ (R 2 -i) + g', 'bii + g' 2 * b, + g ' 3 * bo Next, evacuation of target value, calculation of limit value and target value Fix
  • the limit value is calculated using the following coefficient.
  • C '0 ⁇ (f, + f 2)' (S 2 -R 2 ) — f 1-(S 3 -R 3 ) ⁇ / ⁇ (f 1 + f 2 ) 2 -f, «(f, + f 2 + f 3 ) ⁇

Landscapes

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

Abstract

Pour calculer une valeur d'écart qui fait correspondre la valeur estimée d'une valeur de commande avec une valeur (1) de consigne, on obtient une valeur limite calculée en soustrayant une expression linéaire présentant le signe de la différence entre les valeurs de consigne et la moyenne pondérée des valeurs de consigne, à plusieurs périodicités au moyen de la valeur de commande, de la valeur d'écart et d'une valeur de perturbation utilisable. Si la valeur de consigne ne se situe pas entre la valeur de consigne ou la valeur limite de la périodicité suivante et la valeur limite de la périodicité présente, on prend la valeur limite (B) comme valeur de consigne (A). En calculant la valeur d'écart au moyen de la valeur de consigne modifiée, on obtient une commande dans laquelle peuvent être supprimés une montée précédant une brusque chute, une chute précédant une brusque montée (2), un dépassement lorsque la valeur (3) de consigne est atteinte, un retard de reprise (3) etc.
PCT/JP1998/001224 1998-03-23 1998-03-23 Procede et organe de commande Ceased WO1999049370A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP1998/001224 WO1999049370A1 (fr) 1998-03-23 1998-03-23 Procede et organe de commande
JP52349198A JP3352699B2 (ja) 1998-03-23 1998-03-23 制御方法とその装置
AU64210/98A AU6421098A (en) 1998-03-23 1998-03-23 Control method and controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP1998/001224 WO1999049370A1 (fr) 1998-03-23 1998-03-23 Procede et organe de commande

Publications (1)

Publication Number Publication Date
WO1999049370A1 true WO1999049370A1 (fr) 1999-09-30

Family

ID=14207864

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1998/001224 Ceased WO1999049370A1 (fr) 1998-03-23 1998-03-23 Procede et organe de commande

Country Status (3)

Country Link
JP (1) JP3352699B2 (fr)
AU (1) AU6421098A (fr)
WO (1) WO1999049370A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002056122A1 (fr) * 2001-01-10 2002-07-18 Adtex Inc. Nouveau systeme de commande automatique

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63128401A (ja) * 1986-11-18 1988-06-01 Hitachi Ltd 比例・積分形予測適応制御装置
JPH04117501A (ja) * 1990-09-07 1992-04-17 Toshiba Corp ２自由度調節装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63128401A (ja) * 1986-11-18 1988-06-01 Hitachi Ltd 比例・積分形予測適応制御装置
JPH04117501A (ja) * 1990-09-07 1992-04-17 Toshiba Corp ２自由度調節装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002056122A1 (fr) * 2001-01-10 2002-07-18 Adtex Inc. Nouveau systeme de commande automatique

Also Published As

Publication number Publication date
JP3352699B2 (ja) 2002-12-03
AU6421098A (en) 1999-10-18

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