JP4774021B2 - PID parameter adjustment support apparatus and adjustment support method - Google Patents

Description

  The present invention relates to a technique for adjusting a PID parameter, and more particularly to an adjustment support apparatus and an adjustment support method that support adjustment of a PID parameter by simulation using a model to be controlled.

  Patent Document 1 discloses a control parameter that supports the adjustment of an appropriate PID parameter value through simulation using the model obtained by modeling the control target using the time series data of the control amount PV and the time series data of the manipulated variable MV. An adjustment method and a control parameter adjustment program are disclosed. Further, simulation software using the technique disclosed in Patent Document 1 has been put into practical use as a PID parameter adjustment function of a temperature controller.

  When this simulation software is used, the simulation result of the control response is displayed immediately when the operator changes the PID parameter. Therefore, the operator can appropriately and appropriately set the appropriate PID parameter value by trial and error while observing the displayed simulation result. Can be obtained.

  Patent Document 2 discloses a parameter adjustment device that automatically obtains a PID parameter without trial and error. However, in order to pass on the skill of adjusting the PID parameter, the user can experience the sense of PID adjustment. As a technique that can be learned, a method of adjusting by trial and error while looking at the simulation result is required. Compared to automatic adjustment, the method of adjusting the PID parameter by trial and error is also emphasized in that the operator can freely select a control response suitable for the characteristics of the controlled object.

JP 2004-38428 A JP 2005-70940 A

  As described above, the simulation software using the technique disclosed in Patent Document 1 achieves much higher efficiency than the PID parameter adjustment method before the software is put into practical use. Furthermore, in this simulation software, a “memo function” for storing a specific simulation result is added. This is because, in actual use, it is preferable to be able to perform an operation of storing a particularly important simulation result and comparing it with another simulation result.

  By the way, when the simulation software is used for adjusting the PID parameter of the temperature controller, the temperature controller and the portable computer are usually connected with a dedicated cable, and the time series data of the temperature (control amount PV) and the actuator such as a heater are used. The time series data of the manipulated variable MV is collected and the PID parameter adjustment is performed on the spot. In other words, such work is not performed in a so-called office environment, but is performed on the site with various restrictions. In addition, this work is performed not by experts with abundant knowledge about control, but by so-called general workers on site. Therefore, an analysis function for professionals and a user interface therefor provided by many PID parameter adjustment support tools other than the simulation software are not practical, and the simulation result of the control response at a specific PID parameter value is simple. It is preferable that it is what is displayed on this.

  When the PID parameter adjustment of the temperature controller is performed using the simulation software, for example, five or more different simulation results are stored, and the simulation result of the optimal control response is selected from these results. When selecting PID and determining the PID parameter value, the worker makes a quick decision while visually comparing the simulation results of a large number of control responses. Therefore, for example, if there is a visual error, there is a possibility that a PID parameter value different from an appropriate PID parameter value to be originally selected may be selected.

  The present invention has been made in order to solve the above-described problems. In an adjustment support apparatus and an adjustment support method that support adjustment of PID parameters by simulation, a PID is used by using a memo function added as a practically necessary function. The object is to reduce the occurrence of selection mistakes when selecting parameter values.

  The present invention relates to an adjustment support apparatus that supports adjustment of PID parameters by simulation using a model of a control target, and relates to a control system including a control target represented by a mathematical model and a PID controller represented by a controller algorithm. A simulation calculation execution unit that performs a simulation that simulates the control response, a simulation result storage unit that stores the simulation result, and an evaluation item of the control response that is used to determine whether the PID parameter can be adjusted is the simulation result. An index value calculation unit that is set in advance as an index item and calculates an index value that is a value of the index item from the simulation result; and the index value is associated with the simulation result An index value registration unit to be registered in the simulation result storage unit, a simulation result selection unit for selecting one of the simulation results stored in the simulation result storage unit, the selected simulation result and the index value And a simulation result display unit for displaying.

In addition, the PID parameter adjustment support apparatus of the present invention includes a simulation calculation execution unit that performs a simulation to simulate a control response of a control system including a control object represented by a mathematical model and a PID controller represented by a controller algorithm. A simulation result storage unit for storing the simulation result, and an evaluation item for a control response used for determining whether or not the PID parameter can be adjusted are set in advance as an index item for the simulation result. An index value calculation unit that calculates an index value that is a value of the simulation result and a graph of the latest simulation result of the simulation calculation execution unit are displayed, and the latest simulation result and the storage Past simulation results and the symbol of the index values calculated for that, in which and a simulation result display unit for displaying the corresponding position on the graph.
Further, in one configuration example of the PID parameter adjustment support device of the present invention, when a symbol of the index value is selected, a simulation result corresponding to the index value is acquired from the simulation result storage unit, A simulation result search unit for displaying the simulation result graph instead of the simulation result being displayed is provided.
In the configuration example of the PID parameter adjustment support apparatus of the present invention, the index items are an overshoot amount and a set value arrival time.

  The PID parameter adjustment support method of the present invention includes a simulation calculation execution procedure for performing a simulation of simulating the control response of a control system including a control object represented by a mathematical model and a PID controller represented by a controller algorithm; In accordance with a simulation result storing procedure for storing the simulation result, and an evaluation item of a control response used for determining whether to adjust the PID parameter, which is set in advance as an index item of the simulation result, An index value calculation procedure for calculating an index value which is a value of an index item, an index value registration procedure for registering the index value in association with the simulation result, and the stored stain The simulation result selection procedure to select one of the configuration results in which and a simulation result display procedure for displaying said selected simulated result and the index value.

The PID parameter adjustment support method of the present invention includes a simulation calculation execution procedure for performing a simulation of simulating the control response of a control system including a control object represented by a mathematical model and a PID controller represented by a controller algorithm; In accordance with a simulation result storing procedure for storing the simulation result, and an evaluation item of a control response used for determining whether to adjust the PID parameter, which is set in advance as an index item of the simulation result, An index value calculation procedure for calculating an index value that is the value of the index item, and a graph of the latest simulation result of the simulation calculation execution procedure are displayed, and the latest simulation Symbol of past simulation results that are down result to the memory and the index values calculated for one in which and a simulation result display procedure for displaying the corresponding position on the graph.
The PID parameter adjustment support method according to an embodiment of the present invention further includes a simulation corresponding to the selected index value from the stored simulation results when the symbol of the index value is selected. A simulation result search procedure for obtaining a result and displaying a graph of the simulation result instead of the simulation result being displayed is provided.

  According to the present invention, the evaluation item of the control response used by the operator to determine whether or not the PID parameter can be adjusted is used as an index item of the simulation result, and the index value that is the value of the index item is calculated from the simulation result. Corresponding data are stored in the simulation result storage unit. Thus, when the operator searches the stored simulation result and determines the PID parameter, the operator can select an appropriate PID parameter while considering the evaluation item of the control response displayed as the index value. Occurrence of parameter selection mistakes can be reduced. Further, in the present invention, since the simulation result stored by the memo function and its index value need only be displayed, it is preferable that the user interface has a simple user interface so that the simulation result is simply displayed. Can be easily applied to tools.

  In the present invention, the index value, which is the value of the index item, is calculated from the latest simulation result, and the symbol of the index value is displayed at the corresponding position on the simulation result graph, and at the same time, stored in the simulation result storage unit. The index value is calculated from the past simulation result, and the symbol of the index value is displayed at the corresponding position on the graph. As a result, when the operator determines the PID parameter by comparing the latest simulation result with the stored simulation result, an appropriate PID is recognized while being aware of the control response evaluation items displayed as symbols on the simulation result graph. Since parameters can be selected, the occurrence of erroneous selection of PID parameters can be reduced. In the present invention, since the simulation result stored by the memo function and the symbol of the index value only need to be displayed, it is preferable that the temperature controller preferably has a simple user interface to the extent that the simulation result is simply displayed. It can be easily applied to any simulation tool.

  Further, in the present invention, by providing a simulation result search unit, it is possible to easily switch to display of a corresponding simulation result simply by selecting a desired symbol.

[First Embodiment]
Embodiments of the present invention will be described below. The inventor of the present invention first focused on the following points as the cause of the possibility of erroneous selection when selecting a PID parameter value by using a memo function for storing a control response simulation result.

  The index adopted in the memo function of the simulation software using the technique disclosed in Patent Document 1 is a PID parameter value that is an element to be finally selected by the operator, and is a numerical value most recognized by the operator in the simulation operation. However, it seems that the index of the simulation result stored by the memo function is optimal at first glance.

  At this time, let us consider a case where the operator intentionally gives regularity to the PID parameter value that is an index and tries to perform the simulation. As an implementation procedure in such a case, for example, the values of the proportional band P, the integration time I, and the derivative time D of the PID parameter are set to the minimum values in the conceivable range, and are gradually increased from the value of the proportional band P. The procedure of going can be considered. However, an appropriate control response is obtained by a combination of the proportional band P, the integration time I, and the differentiation time D. Even if the simulation is performed with the regularity in the above-described execution procedure, particularly important simulation results are obtained. It is not always possible to obtain this regularly. This incompatibility between the regular execution procedure and the simulation result is a characteristic peculiar to PID control and the like. The first focus is on the nature of such control.

  Further, when comparing simulation results of a large number of control responses, the operator pays attention to, for example, the overshoot amount of the control amount PV and the arrival time to the set value SP of the control amount PV in the information related to the control response. Yes, it is a result that can be measured quantitatively as a numerical value. That is, an evaluation item for determining an appropriate PID parameter value is a measurement result that can be quantified. This is a property unique to the task of evaluating control characteristics. The second focus is on this control evaluation.

  Based on the above two important points, the inventor of the present invention dares to use “the numerical evaluation item of the control response” which is not necessarily the most recognized value by the operator in the simulation operation as an index of the memo function. I thought that it should be adopted. Thereby, since the simulation of the control response is searched by the numerical value of the evaluation item, it is possible to make it difficult to cause a visual misunderstanding or the like while eliminating the restriction specific to the application to the temperature controller.

  FIG. 1 is a block diagram showing the configuration of a PID parameter adjustment support apparatus according to the first embodiment of the present invention. The PID parameter adjustment support apparatus according to the present embodiment includes a simulation function unit 1 that executes a simulation of a control response, a memo function unit 2 that stores a simulation result, and a control result index that assigns an index value to the simulation result. And a functional unit 3.

The simulation function unit 1 includes a simulation calculation execution unit 10 and a simulation result display unit 11.
The memo function unit 2 includes a simulation result registration unit 20, a simulation result storage unit 21, and a simulation result selection unit 22.
The control result index function unit 3 includes an index value calculation unit 30, an index value registration unit 31, an index item setting unit 32, and an index item storage unit 33.

Next, the operation of the PID parameter adjustment support apparatus according to the present embodiment will be described. FIG. 2 is a flowchart showing the operation of the PID parameter adjustment support apparatus.
First, the simulation calculation execution unit 10 executes a simulation calculation that simulates a control response of a control system including a control target and a PID controller (step S100). Since this simulation calculation is disclosed in Patent Document 1, it will be briefly described here.

  The simulation calculation execution unit 10 stores the control target obtained by a modeling method using a known optimization method based on the time series data of the control amount PV and the time series data of the manipulated variable MV collected from the actual control target. A mathematical model is registered in advance, and an algorithm of the PID controller, that is, a program for realizing the PID controller in the simulation calculation execution unit 10 is registered in advance.

  The simulation calculation execution unit 10 sets the PID parameters (proportional band P, integration time I, differentiation time D) set by the operator in the algorithm of the PID controller. Subsequently, the simulation calculation execution unit 10 calculates the manipulated variable MV from the algorithm and the set value SP set by the operator, and calculates the controlled variable PV by giving the manipulated variable MV to the mathematical model to be controlled. To do. At the next time, the simulation calculation execution unit 10 calculates the operation amount MV from the control amount PV calculated at the previous time, the controller algorithm, and the set value SP, and calculates the control amount PV in the same manner as described above. Thereafter, similarly, the calculation of the control amount PV is repeated at regular intervals to obtain a simulation result of the control response.

The simulation result display unit 11 displays the graph of the time series data of the operation amount MV calculated by the simulation calculation execution unit 10, the graph of the time series data of the control amount PV, the set value SP, and the PID parameter as a simulation result (step). S101).
Here, when the operator instructs registration of the simulation result (YES in step S102), the simulation result registration unit 20 instructs the simulation result storage unit 21 to store the simulation result, and the simulation is performed according to this instruction. The result storage unit 21 stores a simulation result including time series data of the manipulated variable MV, time series data of the controlled variable PV, a set value SP, and a PID parameter (step S103).

  Then, the simulation result storage unit 21 notifies the index value calculation unit 30 that there is an instruction to register the simulation result. In response to this notification, the index value calculation unit 30 displays the index item of the simulation result as an index item storage unit. It acquires from 33 (step S104).

  The index item storage unit 33 stores index items of simulation results. This index item is set in advance through the index item setting unit 32 by an operator, for example. As index items, the overshoot amount OS shown in FIG. 3 (A) and the set value arrival time TR (FIG. 3 (B)) which is the time from the simulation start time until the control amount PV reaches the set value SP. There is.

  The index value calculation unit 30 that has acquired the index item calculates an index value from the simulation result stored in step S103, and passes the calculated index value to the index value registration unit 31 (step S105). The index value calculation unit 30 calculates the overshoot amount from the simulation result if the index item is the overshoot amount, and calculates the set value arrival time from the simulation result if the index item is the set value arrival time.

The index value registration unit 31 registers the index value calculated by the index value calculation unit 30 in the simulation result storage unit 21 in association with the simulation result stored in step S103 (step S106).
This completes the operation of the memo function that stores the simulation calculation and the simulation result.

  Next, a simulation result selection operation for adjusting the PID parameter will be described. When the registration of the simulation result is completed, a list of index values of the simulation result stored in the simulation result storage unit 21 is displayed on the screen displayed by the simulation result display unit 11 as a numerical value.

  The operator looks at the displayed list of index values and selects a desired index value. When the index value is selected (YES in step S107), the simulation result selection unit 22 instructs the simulation result storage unit 21 to display the simulation result, and the simulation result storage unit 21 selects the selected index value. And corresponding simulation results are output to the simulation result display unit 11. Thereby, the simulation result display part 11 displays the selected index value and the simulation result corresponding to this (step S108).

  As described above, in this embodiment, the evaluation item of the control response used by the operator for determining whether the PID parameter can be adjusted is used as an index item of the simulation result, and the index value that is the value of the index item is calculated from the simulation result. And stored in the simulation result storage unit 21 in association with the simulation result. Thus, when the operator searches the stored simulation result and determines the PID parameter, the operator can select an appropriate PID parameter while considering the evaluation item of the control response displayed as the index value. Occurrence of parameter selection mistakes can be reduced. Further, in this embodiment, since the simulation result stored by the memo function and its index value may be displayed, it is preferable that the temperature controller preferably has a simple user interface to the extent that the simulation result is simply displayed. It can be easily applied to any simulation tool.

FIG. 4 is a diagram showing a display example of the simulation result in the present embodiment, and FIG. 5 is a diagram showing a display example of the simulation result by the conventional simulation software using the technique disclosed in Patent Document 1.
4 and 5, 400 is a list box for selecting a simulation result, and 401 is an index value (overshoot amount in the example of FIG. 4). Thus, according to the present embodiment, the index value can be confirmed as an index when the operator selects a simulation result.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. FIG. 6 is a block diagram showing the configuration of a PID parameter adjustment support apparatus according to the second embodiment of the present invention. The PID parameter adjustment support apparatus according to the present embodiment includes a simulation function unit 11 that executes a control response simulation, a memo function unit 12 that stores a simulation result, and an index value display that calculates an index value to be displayed together with the simulation result. And a functional unit 13.

The simulation function unit 11 includes a simulation calculation execution unit 110 and a simulation result display unit 111.
The memo function unit 12 includes a simulation result registration unit 120, a simulation result storage unit 121, and a simulation result selection unit 122.
The index value display function unit 13 includes an index value calculation unit 130 and an index value output unit 131.

  Next, the operation of the PID parameter adjustment support apparatus according to the present embodiment will be described. FIG. 7 is a flowchart showing the operation of the PID parameter adjustment support apparatus. Since the simulation calculation by the simulation calculation execution unit 110 (step S200) and the simulation result display by the simulation result display unit 111 (step S201) are the same as the processes of steps S100 and S101 in FIG. .

  Next, the index value calculation unit 130 uses the time series data of the operation amount MV, the time series data of the control amount PV, and the set value SP included in the simulation result obtained in step S200 to set index items set in advance. An index value is calculated (step S202). As in the first embodiment, the index items include an overshoot amount OS and a set value arrival time TR.

The index value output unit 131 causes the simulation result display unit 111 to display the index value calculated by the index value calculation unit 130 (step S203). FIG. 8 is a diagram showing a display example of index values. In the present embodiment, as shown in FIG. 8, the symbol SI _{new of the} index value is displayed at the corresponding position on the graph of the time series data of the control amount PV. The position of the symbol SI _{new is} a position where the overshoot amount OS and the set value arrival time TR are values calculated in step S202.

  Next, when the operator instructs registration of the simulation result (YES in step S204), the simulation result registration unit 120 instructs the simulation result storage unit 121 to store the simulation result, and the simulation result storage unit 121 Then, the simulation result including the time series data of the operation amount MV, the time series data of the control amount PV, the set value SP, and the PID parameter is stored (step S205).

  Next, the index value calculation unit 130 determines whether or not simulation results are stored in the simulation result storage unit 121 (step S206), and one or more simulation results are stored in the simulation result storage unit 121. In this case, an index value is calculated for each of these simulation results as in step S202 (step S207).

The index value output unit 131 displays the index value calculated by the index value calculation unit 130 on the simulation result display unit 111 as in step S203 (step S208). In the example of FIG. 8, SI _old1 and SI _old2 are index value symbols corresponding to simulation results stored in the past.
This completes the operation of the memo function that stores the simulation calculation and the simulation result.

  Next, a simulation result selection operation for adjusting the PID parameter will be described. Similar to the first embodiment, the simulation result display unit 111 displays a list of simulation result index values stored in the simulation result storage unit 121 as numerical values separately from the index value symbol SI. Is displayed.

  The operator looks at the displayed list of index values and selects a desired index value. When the index value is selected (YES in step S209), the simulation result selection unit 122 instructs the simulation result storage unit 121 to display the simulation result, and the simulation result storage unit 121 selects the selected index value. And the corresponding simulation result is output to the simulation result display unit 111. Thereby, the simulation result display unit 111 displays the selected index value and the corresponding simulation result (step S210).

  When the display of the simulation result is switched, the processes of steps S207 and S208 are executed again, and the index value symbol SI displayed in steps S203 and S208 is the control amount PV newly displayed in step S210. It is continuously displayed on the graph of time series data.

  As described above, in this embodiment, the control response evaluation item used by the operator to determine whether or not the PID parameter can be adjusted is used as an index item of the simulation result, and the index value that is the value of the index item is obtained from the latest simulation result. The symbol of the index value is calculated and displayed at the corresponding position on the graph of the simulation result. At the same time, the index value is calculated from the past simulation result stored in the simulation result storage unit 21, and the corresponding value on the graph is calculated. Display the index value symbol at the position. As a result, when the operator determines the PID parameter by comparing the latest simulation result with the stored simulation result, an appropriate PID is recognized while being aware of the control response evaluation items displayed as symbols on the simulation result graph. Since parameters can be selected, the occurrence of erroneous selection of PID parameters can be reduced. In the present embodiment, since the simulation result stored by the memo function and the symbol of the index value may be displayed, the temperature controller preferably has a simple user interface that allows the simulation result to be simply displayed. Can be easily applied to simulation tools for.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. FIG. 9 is a block diagram showing the configuration of the PID parameter adjustment support apparatus according to the third embodiment of the present invention. The same components as those in FIG. 6 are denoted by the same reference numerals. The PID parameter adjustment support apparatus according to the present embodiment includes a simulation function unit 11, a memo function unit 12, an index value display function unit 13, and a simulation result switching function unit 14.

The configurations of the simulation function unit 11, the memo function unit 12, and the index value display function unit 13 are the same as those in the second embodiment.
The simulation result switching function unit 14 includes an index value designation signal detection unit 140 and a simulation result search unit 141.

Next, the operation of the PID parameter adjustment support apparatus according to the present embodiment will be described. FIG. 10 is a flowchart showing the operation of the PID parameter adjustment support apparatus.
Since the processes in steps S200 to S210 in FIG. 10 are the same as those in the second embodiment, description thereof will be omitted.

  The operator designates the symbol SI having a desired index value on the graph on which the symbol SI of the index value is displayed as shown in FIG. When the symbol SI is selected (YES in step S211), the index value designation signal detection unit 140 notifies the simulation result search unit 141 of the symbol SI designated on the graph of the time series data of the control amount PV. In response to this notification, the simulation result search unit 141 searches the simulation result storage unit 121 for a simulation result corresponding to the symbol SI of the specified index value (step S212).

  Then, the simulation result search unit 141 issues an instruction to the simulation result storage unit 121 through the simulation result selection unit 122 so as to display the searched simulation result, and the simulation result storage unit 121 responds to this instruction by the specified simulation result. The result is output to the simulation result display unit 111. Thereby, the simulation result display unit 111 switches and displays the simulation result (step S213).

For example, when the symbol SI _{old1 in} FIG. 8 is designated, the display by the simulation result display unit 111 is switched to the display of the simulation result of the control response corresponding to the symbol SI _{old1 as} shown in FIG. As is clear from FIG. 11, when the display of the simulation result is switched, the processes of steps S207 and S208 are executed again, and the symbol SI of the index value displayed in steps S203 and S208 is newly added in step S213. Are continuously displayed on the graph of the time-series data of the control amount PV displayed in (1).

In FIG. 11, only the graph of the time series data of the control amount PV among the simulation results displayed by the simulation result display unit 111 is shown, but the time series of the operation amount MV is indicated according to the designation of the symbol SI _old1. It goes without saying that the graph of data and the display of PID parameters are also switched.

  In the second embodiment, in order to switch the display of the simulation result, an operation such as selecting an index value displayed as a numerical value separately from the symbol SI is required. By simply selecting the symbol SI, it is possible to easily switch to displaying the corresponding simulation result.

  The PID parameter adjustment support apparatus in the first to third embodiments can be realized by, for example, a computer including a CPU, a storage device, and an interface, and a program for controlling these hardware resources. A program for operating such a computer is provided in a state of being recorded on a recording medium such as a flexible disk, a CD-ROM, a DVD-ROM, or a memory card. The CPU writes the read program into the storage device, and executes the processing described in the first to third embodiments according to this program.

  The present invention can be applied to a technique for adjusting a PID parameter.

It is a block diagram which shows the structure of the adjustment assistance apparatus of the PID parameter which concerns on the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the adjustment assistance apparatus of the PID parameter of FIG. It is a figure which shows the example of the index item of the simulation result in the 1st Embodiment of this invention. It is a figure which shows the example of a display of the simulation result in the 1st Embodiment of this invention. It is a figure which shows the example of a display of the simulation result by the conventional simulation software. It is a block diagram which shows the structure of the adjustment assistance apparatus of the PID parameter which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the adjustment assistance apparatus of the PID parameter of FIG. It is a figure which shows the example of a display of the index value in the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the adjustment assistance apparatus of the PID parameter which concerns on the 3rd Embodiment of this invention. 10 is a flowchart showing the operation of the PID parameter adjustment support apparatus of FIG. 9. It is a figure which shows the example of a switching display of the simulation result in the 3rd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,11 ... Simulation function part, 2,12 ... Memo function part, 3 ... Control result index function part, 10,110 ... Simulation calculation execution part, 11, 111 ... Simulation result display part, 13 ... Index value display function part, DESCRIPTION OF SYMBOLS 14 ... Simulation result switching function part, 20, 120 ... Simulation result registration part, 21, 121 ... Simulation result storage part, 22, 122 ... Simulation result selection part, 30, 130 ... Index value calculation part, 31 ... Index value registration part , 32 ... index item setting unit, 33 ... index item storage unit, 131 ... index value output unit, 140 ... index value designation signal detection unit, 141 ... simulation result search unit.

Claims (8)

An adjustment support device that supports adjustment of PID parameters by simulation using a model to be controlled,
A simulation calculation execution unit that performs a simulation that simulates a control response of a control system that includes a control target represented by a mathematical model and a PID controller represented by a controller algorithm;
A simulation result storage unit for storing the result of the simulation;
An evaluation item of control response used for determining whether to adjust the PID parameter is preset as an index item of the simulation result, and an index value calculation unit that calculates an index value that is a value of the index item from the simulation result; ,
An index value registration unit that registers the index value in the simulation result storage unit in association with the simulation result;
A simulation result selection unit that selects one of the simulation results stored in the simulation result storage unit;
A PID parameter adjustment support apparatus, comprising: a simulation result display unit that displays the selected simulation result and the index value. An adjustment support device that supports adjustment of PID parameters by simulation using a model to be controlled,
A simulation calculation execution unit that performs a simulation that simulates a control response of a control system that includes a control target represented by a mathematical model and a PID controller represented by a controller algorithm;
A simulation result storage unit for storing the result of the simulation;
An evaluation item of control response used for determining whether to adjust the PID parameter is preset as an index item of the simulation result, and an index value calculation unit that calculates an index value that is a value of the index item from the simulation result; ,
A graph of the latest simulation result of the simulation calculation execution unit is displayed, and the symbol of the index value calculated for the latest simulation result and the stored past simulation result is displayed at a corresponding position on the graph. A PID parameter adjustment support apparatus, comprising: a simulation result display unit that displays the simulation result. In the PID parameter adjustment support device according to claim 2,
Further, when a symbol of the index value is selected, a simulation result corresponding to the index value is acquired from the simulation result storage unit, and a simulation result graph is displayed instead of the currently displayed simulation result A PID parameter adjustment support apparatus comprising a result search unit. In the PID parameter adjustment support device according to claim 1 or 2,
The PID parameter adjustment support apparatus, wherein the index items are an overshoot amount and a set value arrival time. An adjustment support method for supporting adjustment of PID parameters by simulation using a model to be controlled,
A simulation calculation execution procedure for simulating a control response of a control system composed of a control object represented by a mathematical model and a PID controller represented by a controller algorithm;
A simulation result storing procedure for storing the result of the simulation;
Index value calculation that calculates an index value that is a value of the index item from the simulation result according to an evaluation item of a control response that is set in advance as an index item of the simulation result and is used to determine whether or not to adjust the PID parameter Procedure and
An index value registration procedure for registering the index value in association with the simulation result;
A simulation result selection procedure for selecting one of the stored simulation results;
A PID parameter adjustment support method, comprising: a simulation result display procedure for displaying the selected simulation result and the index value. An adjustment support method for supporting adjustment of PID parameters by simulation using a model to be controlled,
A simulation calculation execution procedure for simulating a control response of a control system composed of a control object represented by a mathematical model and a PID controller represented by a controller algorithm;
A simulation result storing procedure for storing the result of the simulation;
Index value calculation that calculates an index value that is a value of the index item from the simulation result according to an evaluation item of a control response that is set in advance as an index item of the simulation result and is used to determine whether or not to adjust the PID parameter Procedure and
A graph of the latest simulation result of the simulation calculation execution procedure is displayed, and the symbol of the index value calculated for the latest simulation result and the stored past simulation result is displayed at a corresponding position on the graph. And a simulation result display procedure for displaying PID parameters. The PID parameter adjustment support method according to claim 6,
Furthermore, when the symbol of the index value is selected, a simulation result corresponding to the selected index value is acquired from the stored simulation results, and the simulation result is displayed in a graph of the simulation result A method for assisting PID parameter adjustment, comprising a procedure for searching for a simulation result displayed instead of. In the PID parameter adjustment support method according to claim 5 or 6,
The PID parameter adjustment support method, wherein the index items are an overshoot amount and a set value arrival time.

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