JP6237914B2 - Temperature control apparatus and temperature control method - Google Patents

Description

  The present invention relates to a temperature control device and a temperature control method for controlling temperatures of a plurality of controlled objects having different temperature rising rates.

In an apparatus having a plurality of temperature control zones (control objects) such as an injection molding machine and an extrusion molding machine, a heater is designed in accordance with characteristics such as a heat capacity in each temperature control zone. However, in actual temperature control, variations often occur at the time when each temperature control zone reaches the target temperature.
In the temperature control zone that has reached the target temperature early, it is necessary to maintain the target temperature until the other temperature control zone reaches the target temperature, so that the resin that is the molded product of the injection molding machine, extrusion molding machine, etc. is burned out. In addition, there is a risk of wasteful power consumption.

In Patent Document 1 below, in order to synchronize the temperature increase completion time, the temperature at which the temperature control zone having the slowest time to reach the target temperature is set as the target temperature of another temperature control zone. A control method is disclosed.
In the case of this temperature control method, if the target temperatures of all the temperature control zones are the same, the temperature raising completion time can be synchronized, but when the target temperature of each temperature control zone is different or the temperature raising start temperature is different. In some cases, there is a problem that the temperature rise completion time cannot be synchronized.

  In the temperature control device disclosed in the following Patent Document 2, in order to solve the above problem, for each control timing of the controller, for the temperature set value of the temperature control zone with the slowest time to reach the target temperature Calculate the arrival rate of temperature measurement value (= (temperature measurement value-initial value of temperature measurement value) / (temperature set value-initial value of temperature measurement value)), and measure the arrival rate and temperature measurement of other temperature control zones Using the initial value of the value, the temperature set value of the other temperature control zone is corrected.

Japanese Patent Laid-Open No. 10-315219 (for example, paragraph [0010]) Japanese Patent Laying-Open No. 2005-035090 (for example, paragraph [0038])

  Since the conventional temperature control apparatus is configured as described above, the arrival rate of the temperature measurement value with respect to the temperature set value (= (temperature measurement value−initial value of the temperature measurement value) / (temperature) at each control timing of the controller. It is necessary to calculate the set value—the initial value of the temperature measurement value)). However, this arrival rate is a variable that is not used in the PID calculation or the like when the controller calculates the temperature control amount. It was necessary to add processing to do. Further, in order to calculate the set value for completing the temperature increase in the other temperature control zone from this arrival rate, (the arrival rate × (the temperature set value in the other temperature control zone−the temperature measurement in the other temperature control zone). The initial value of the value) + the initial value of the temperature measurement value of another temperature control zone needs to be calculated, and there is a problem that the arithmetic processing becomes complicated. This reach rate calculation process is a process of dividing (temperature measurement value-initial value of temperature measurement value) by (temperature set value-initial value of temperature measurement value). Since it is necessary to carry out every control timing of the controller, there is a problem that the processing load of the apparatus becomes large.

  The present invention has been made in order to solve the above-described problems. Even if the target temperature of each temperature control zone is different or the temperature rise start temperature is different, only the processing with a light calculation load is executed. It is an object of the present invention to obtain a temperature control device and a temperature control method capable of synchronizing the temperature completion time.

  The temperature control device according to the present invention provides a first control target based on a first temperature set value that is a target temperature of the first control target and a first temperature measurement value that is a measured temperature of the first control target. A first controller that calculates an operation amount for the temperature control of the first and controls the temperature of the first control object according to the operation amount, and a first time that is faster than the first control object to reach the target temperature. The operation amount for the temperature control of the second control object is calculated from the second temperature set value that is the target temperature of the second control object and the second temperature measurement value that is the measured temperature of the second control object. A second controller for controlling the temperature of the second control object according to the manipulated variable, and the first temperature set value and the first temperature measured value at the start of temperature control by the first and second controllers. The first difference initial value that is the difference and the temperature control start time A second difference initial value that is a difference between the second temperature setting value and the second temperature measurement value is calculated, a ratio of the second difference initial value to the first difference initial value is calculated, and the ratio And an initial difference ratio storage means for storing the first temperature set value at the control timing and the first value at each control timing at which the temperature control is executed by the first and second controllers. The second temperature set value is corrected using the difference between the temperature measurement values of 1 and the ratio stored by the initial difference ratio storage means. The initial difference ratio storage means may be part of the second controller.

  In the temperature control device according to the present invention, the set value correcting means calculates a difference value that is a difference between the first temperature set value and the first temperature measured value at the control timing, and the difference value and the initial difference ratio are calculated. The second temperature set value is corrected by multiplying the ratio stored by the storage means and subtracting the multiplication result from the second temperature set value at the control timing.

  In the temperature control device according to the present invention, when there are three or more control targets, the control target having the slowest time to reach the target temperature among the three or more control targets is the first control target. Thus, the remaining two or more control objects are each set as the second control object.

  The temperature control device according to the present invention is provided for each controller that controls the temperature of the plurality of control objects when the control object having the slowest time to reach the target temperature is unknown among the plurality of control objects. , Execution instruction means for instructing to control the temperature of the control object without correcting the temperature set value as temperature control for preparation for specifying the control object having the slowest time to reach the target temperature And calculating a difference value that is a difference between the temperature set value of each control target and the temperature measurement value during temperature control for preparation, and dividing the difference value by the temperature change amount per unit time of the control target. By calculating the predicted time until each control object reaches the target temperature, the control object having the longest prediction time among the plurality of control objects is set as the first control object, and the remaining control Control second target Is obtained as a control object setting means for setting an elephant.

  In the temperature control method according to the present invention, the first controller has a first temperature set value that is a target temperature of the first control object, and a first temperature measurement value that is a measurement temperature of the first control object. A first temperature control step of calculating an operation amount for temperature control of the first control object from the first control object, and controlling the temperature of the first control object according to the operation amount; The second temperature set value, which is the target temperature of the second control object, which is earlier than the first control object, and the second temperature measurement value, which is the measured temperature of the second control object, are reached from the first control object. A second temperature control step of calculating an operation amount for temperature control of the second control object, and controlling a temperature of the second control object according to the operation amount; 1 at the start of temperature control by the temperature control step The first difference initial value that is the difference between the temperature setting value and the first temperature measurement value, and the second difference initial value that is the difference between the second temperature setting value and the second temperature measurement value at the start of temperature control And calculating the ratio of the second difference initial value to the first difference initial value and storing the ratio, and the set value correcting means in the second temperature control step. For each control timing at which the temperature control is executed, the difference between the first temperature set value and the first temperature measurement value at the control timing and the ratio stored in the initial difference ratio storage processing step are used to And a set value correction processing step for correcting the temperature set value.

  According to the present invention, it is possible to synchronize the temperature increase completion time even when the target temperature of each temperature control zone is different or the temperature increase start temperature is different by simply executing a simple process with a light calculation load. There is.

It is a block diagram which shows the temperature control apparatus by Embodiment 1 of this invention. It is a flowchart which shows the processing content (temperature control method) of the temperature control apparatus by Embodiment 1 of this invention. Heating completion time of the master CH and slave CH _m is an explanatory view showing a temperature control example are synchronized. It is a block diagram which shows the temperature control apparatus by Embodiment 2 of this invention. It is a block diagram which shows the control object distribution process part 30 of the temperature control apparatus by Embodiment 2 of this invention. 4 is a flowchart showing processing contents of a control target distribution processing unit 30.

Embodiment 1 FIG.
In the first embodiment, an example in which the temperature control device controls the temperature of a plurality of temperature control zones will be described. However, the time until the temperature set value that is the target temperature is reached in the plurality of temperature control zones. The latest temperature control zone (first control target) is referred to as a master CH, and the remaining temperature control zone (second control target) is referred to as a slave CH.
A controller that controls the heater that heats the master CH is referred to as a master controller, and a controller that controls the heater that heats the slave CH is referred to as a slave controller.
It should be noted that, among the plurality of temperature control zones, which temperature control zone is the slowest temperature control zone until the temperature set value is reached, the characteristics such as the heat capacity of each temperature control zone, the past It is specified from a control result or a preliminary temperature increase result before starting the temperature control.

1 is a block diagram showing a temperature control apparatus according to Embodiment 1 of the present invention.
In FIG. 1, reference numeral 1 denotes a master CH control system, and 2 _m (m = 1, 2,..., M) denotes a slave CH control system. Although FIG. 1 shows an example in which _M slave CH control systems 2 ₁ to 2 _M are implemented, the number of slave CH control systems may be one.
Target temperature setting unit 11 of the master CH user interface (e.g., a button for temperature setting, a touch panel, etc.) have to perform the process of receiving the setting of the temperature setpoint SV _{mas ter} is the target temperature of the master CH.
The master CH temperature measuring unit 12 is a temperature measuring device that measures the temperature of the master CH, and outputs a temperature measurement value PV _master-n that is a measurement result to the master CH difference calculating unit 13. n is a variable indicating the nth control timing from the start of temperature control.

The master CH difference calculation unit 13 is a difference between the master CH temperature setting value SV _master output from the target temperature setting unit 11 and the master CH temperature measurement value PV _master-n output from the temperature measurement unit 12. Processing for calculating the difference value e _master-n is performed.
The control operation unit 14 of the master CH calculates a temperature control amount MV _master-n as an operation amount for temperature control of the control target 16 of the master CH from the difference value e _{master r-n} calculated by the difference calculation unit 13. By controlling the heating part of the heater 15 according to the temperature control amount MV _master-n , the temperature of the control target 16 of the master CH is controlled.
The heating unit of the master CH heater 15 is a heat source for heating the control target 16 of the master CH under the control of the control calculation unit 14.

The target temperature setting unit 21 of the slave CH _m (m = 1, 2,..., M) has a user interface (for example, a temperature setting button, a touch panel, etc.), and is the target temperature of the slave CH _m. A process of accepting the setting value SV _slave-m is performed.
Temperature measurement unit 22 of the slave CH _m is a temperature measuring device for measuring the temperature of slave CH _m, and outputs the measured temperature _{PV slave-m-n} is a measurement result to the difference calculation section 24. n is a variable indicating the nth control timing from the start of temperature control.

The slave CH _m is a normal control mode in which the temperature is controlled based on the temperature set value SV _slave-m set by the target temperature setting unit 21, and the temperature set value of the slave CH _m corrected by the setting correction value calculating unit 26 described later. There are two control modes: a temperature rise completion synchronous control mode in which temperature control is performed based on SV ′ _slave-mn , and switching between the two control modes is performed by the setting switching unit 23.
For example, the setting switching unit 23 starts control in the temperature rise completion synchronous control mode (the setting correction value calculation unit 26 and the difference calculation unit 24 are connected), and then the difference e calculated by the master CH difference calculation unit 13. _{When master-n} becomes zero, a process of switching the control mode from the temperature increase completion synchronous control mode to the normal control mode is performed (the target temperature setting unit 21 and the difference calculation unit 24 are connected).
In the first embodiment, since the temperature control zone with the slowest time to reach the temperature set value is specified, the temperature control is started in the temperature rise completion synchronous control mode as described above.
In the second embodiment to be described later, since the temperature control zone with the slowest time to reach the temperature set value is not known, it is for pre-preparation for specifying the control target with the slowest time to reach the target temperature. Temperature control is started (details will be described later).

  Slave CH_mThe difference calculation unit 24 of the slave CH corrected by the setting correction value calculation unit 26_mTemperature setting value SV ′_slave-mnAnd slave CH output from the temperature measuring unit 22_mTemperature measurement PV_slave-mnDifference value e which is the difference between_slave-mnThe process of calculating is performed.
  Slave CH_mThe initial difference ratio storage unit 25 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like, and temperature control starts in the temperature increase completion synchronous control mode from the difference calculation unit 13 of the master CH. Difference initial value e which is the difference at the time of being_{m aster-0}(First difference initial value) and slave CH_mThe difference initial value e, which is the difference when the temperature control is started from the difference calculation unit 24 in the temperature increase completion synchronous control mode. _slave-m-0(Second difference initial value) is acquired, and the difference initial value e_{slave-m- 0}Difference initial value e_master-0Ratio to_m(= E_slave-m-0/ E_{mas ter-0}) And the ratio α_mThe process which memorize | stores is implemented.
  The initial difference ratio storage unit 25 and the difference calculation units 13 and 24 constitute an initial difference ratio storage unit.

Setting the correction value calculation unit 26 of the slave CH _m is in each control timing of the temperature control is performed by using the stored the initial difference ratio storage unit 25 ratio alpha _m, the slave controller 20 the control timing of the slave CH _m The process of correcting the temperature set value SV _{slav e-m} of the slave CH _m used in the above is performed.
That is, the setting correction value calculation unit 26 calculates a difference value e _master-n (first difference) that is a difference at the n-th control timing (n = 1, 2,...) From the difference calculation unit 13 of the master CH. _value: SV _{master -PV master-n)} to obtain the multiplies the difference value _{e master- n} ratio stored by the initial difference ratio storage unit 25 alpha _m, set by the target temperature setting unit 21 is accepted slave CH temperature setting value of _{m SV slave-m-0} (temperature setpoint _{SV slave-m-0} at which the temperature control is started at a heating completion synchronous control mode) the multiplication result from _{e master-n} · _α By subtracting _m , a process of calculating the corrected temperature set value SV ′ _slave-mn for the slave CH _m used at the n-th control timing is performed. The set correction value calculation unit 26 and the difference calculation unit 13 constitute a set value correction unit.

  Slave CH_mThe control calculation unit 27 of the difference value e calculated by the difference calculation unit 24_{slav e-mn}To slave CH_mTemperature control amount MV as an operation amount for temperature control of the control object 29_slave-mnAnd the temperature control amount MV_slave-mnBy controlling the heating part of the heater 28 according to_mThe temperature of the control object 29 is controlled.
  Slave CH_mThe heating part of the heater 28 is a slave CH under the control of the control calculation part 27. _mThis is a heat source for heating the control object 29.
  FIG. 2 is a flowchart showing the processing contents (temperature control method) of the temperature control apparatus according to Embodiment 1 of the present invention.

Next, the operation will be described.
In the first embodiment, it is assumed that the master controller 10 of the master CH repeatedly performs the temperature control at a constant cycle control timing based on the temperature setting value SV _master of the master CH. Further, the slave controller 20 of the slave CH _m (m = 1, 2,..., M) corrects the temperature setting value SV ′ _slave-m− corrected until the difference value e _{master-n of} the master CH becomes zero. _It is assumed that the temperature control is performed at a control timing with a constant period based on _n .

Before the master controller 10 and the slave controller 20 start temperature control, the user operates the user interface of the target temperature setting unit 11 to set the temperature set value SV _master that is the target temperature of the master CH, and the target temperature The user interface of the setting unit 21 is operated to set the temperature set value SV _slave-m-0 that is the target temperature of the slave CH _m (m = 1, 2,..., M).
In this example, the user manually sets the temperature set values SV _master and SV _slave-m-0 . However, the temperature set values SV _master and SV _{slave-m- 0} are automatically set from the outside. It may be a thing.
Note that the temperature set value SV _master of the slave CH and the temperature set values SV _{slave-1-0 to} SV _{slave-M-0 of the} slaves CH _{1 to} CH _M may be the same value or different values. It may be.

For example, when receiving a temperature control start request from the outside, the master controller 10 and the slave controller 20 start the temperature control of the control target.
That is, for example, when the difference calculation unit 13 of the master controller 10 in the master CH receives a temperature control start request in the temperature increase completion synchronous control mode from the outside, as shown in the following equation (1), the target temperature setting unit a temperature setting value _{SV mas ter} master CH outputted from the 11, the temperature measurements of the master CH during temperature measurement _{PV master- 0} (temperature control start of the master CH outputted from the temperature measuring unit 12 _{PV master-0} The difference initial value e _master-0 which is a difference from) is calculated.
e _master-0 = SV _master -PV _master-0 (1)
At the subsequent n-th control timing (n = 1, 2,...), The master CH difference calculation unit 13 outputs the master output from the target temperature setting unit 11 as shown in the following equation (2). CH and temperature setpoint _{SV master} of is the difference (temperature measurements of the master CH _{PV master-n} in the control timing of the n-th) and temperature measurements _{PV master-n} of the master CH outputted from the temperature measuring unit 12 The difference value e _master-n is calculated.
e _master-n = SV _master- PV _master-n (2)

Control calculation unit 14 of the master CH, when the difference calculation unit 13 of the master CH calculates a difference value _{e mast er-n,} as the difference value _{e master-n} approaches zero, for example, and inputs the difference value By performing the PID calculation, the temperature control amount MV _master-n is calculated as the operation amount for temperature control of the control target 16 of the master CH.
After calculating the temperature control amount MV _master-n , the control operation unit 14 of the master CH controls the heating unit of the heater 15 according to the temperature control amount MV _master-n , thereby controlling the temperature of the control target 16 of the master CH. Control (step ST1).

  Slave CH_mWhen the difference calculation unit 24 of the slave controller 20 at (m = 1, 2,..., M) receives a temperature control start request in the temperature increase completion synchronous control mode from the outside, for example, the slave CH_mSlave temperature from the target temperature setting unit 21 via the setting switching unit 23 _mTemperature setpoint SV_slave-m-0As well as slave CH_mTemperature measurement unit 22 from slave CH_mTemperature measurement PV_slave-m-0(Slave CH at the start of temperature control_mTemperature measurement PV_slave-m-0) To get.
  And slave CH_mAs shown in the following equation (3), the difference calculation unit 24 of the slave CH_mTemperature setpoint SV_slave-m-0And slave CH at the start of temperature control_mTemperature measurement PV_slave-m-0Difference initial value e which is a difference from_slave-m-0Is calculated.
    e_slave-m-0= SV_slave-m-0-PV_slave-m-0 (3)
  At the subsequent n-th control timing (n = 1, 2,...), The slave CH_mThe difference calculation unit 24 of the slave CH output from the setting correction value calculation unit 26 via the setting switching unit 23 as shown in the following equation (4)_mTemperature setting value SV ′ after correction of_slave-mnAnd slave CH_mSlave CH output from the temperature measurement unit 22_mTemperature measurement PV_{sl ave-mn}(Slave CH at the nth control timing_mTemperature measurement PV_{sl ave-mn}Difference value e which is the difference from_slave-mnIs calculated.
    e_slave-mn= SV ’_slave-mn-PV_slave-mn (4)

Control arithmetic unit 27 of the slave CH _m is the difference calculation unit 24 of the slave CH _m calculates a difference value _{e sl ave-m-n,} as the difference value _{e slave-m-n} approaches zero, for example, By performing the PID calculation using the difference value as an input, a temperature control amount MV _slave-mn is calculated as an operation amount for controlling the temperature of the controlled object 29 of the slave CH _m .
When the control operation unit 27 of the slave CH _m calculates the temperature control amount MV _slave-mn , the control unit 27 of the slave CH _m controls the heating unit of the heater 28 according to the temperature control amount MV _slave-mn , so that the slave CH _m The temperature of the control object 29 is controlled (step ST9).

Difference calculation unit 24 of the slave CH _m, when the temperature control by the Atsushi Nobori completion synchronous control mode is completed, the control timing of the subsequent slave CH target temperature setting unit temperature output through the setting switching section 23 from 21 _m the set value _{SV slave-m-0,} the difference value between the temperature measurement value _{PV slave-m} of slave CH _m outputted from the temperature measuring unit 22 (temperature measurement value _{PV slave-m} of slave CH _m in the control timing) e _slave-m is calculated.
Control arithmetic unit 27 of the slave CH _m is the difference calculation unit 24 of the slave CH _m calculates a difference value _{e sl ave-m,} as the difference value _{e slave-m} approaches zero, for example, the difference value By performing the PID calculation as an input, a temperature control amount MV _slave-m is calculated as an operation amount for temperature control of the controlled object 29 of the slave CH _m .
Control arithmetic unit 27 of the slave CH _m, by controlling the heating of the heater 28 in accordance with the temperature control variable _{MV slave-m,} which control the temperature of the controlled object 29 of the slave CH _m (step ST11).

  In the first embodiment, the temperature setting value SV of the master CH_masterAnd each slave CH₁~ CH_MTemperature setpoint SV_slave-1~ SV_slave-MAre different, master CH and each slave CH₁~ CH_MEven when the temperature rise start temperatures are different, temperature control is performed at the nth control timing (n = 1, 2,...) From the start of the temperature control in order to synchronize the temperature rise completion times of all control targets. Before each slave CH₁~ CH_MTemperature setpoint SV _slave-1~ SV_slave-MIs appropriately corrected.
  Slave CH_mTemperature setpoint SV_slave-mThe correction process will be specifically described.

The slave controller 20 of the slave CH _m (m = 1, 2,..., M) confirms whether or not an instruction to control in the temperature rise completion synchronous control mode is output from the outside at this control timing. When an instruction to control in the temperature rise completion synchronous control mode is output, the process proceeds to step ST3. On the other hand, when the instruction to control in the temperature rise completion synchronous control mode is not output, the process proceeds to step ST11 (step ST2).

  If it is confirmed in step ST2 that an instruction to execute control in the temperature rise completion synchronous control mode is issued, it is confirmed whether it is the first process in the temperature rise completion synchronous control mode. When it is the first process in the control mode, the process proceeds to step ST4. On the other hand, when the process is the second and subsequent processes in the temperature rise completion synchronous control mode, the process proceeds to step ST7 (step ST3).

  First, the difference calculation unit 13 of the master CH calculates the temperature setting value SV of the master CH output from the target temperature setting unit 11 of the master CH by the above equation (1)._masterAnd the master CH temperature measurement value PV output from the master CH temperature measurement unit 12_master-0(Measured temperature PV of master CH at the start of temperature control PV_master-0Difference initial value e which is a difference from)_master-0Is calculated (step ST4).
  Slave CH_mThe difference calculation unit 24 of the slave CH_mSlave CH output from the target temperature setting unit 21 via the setting switching unit 23_mTemperature setpoint SV _slave-m-0And slave CH_mSlave CH output from the temperature measurement unit 22_mTemperature measurement PV_slave-m-0(Slave CH at the start of temperature control_mTemperature measurement PV_slave-m-0Difference initial value e which is a difference from)_slave-m-0Is calculated (step ST5).

Initial difference ratio storage unit of the slave CH _m 25 obtains a difference initial value _{e master-0} from the difference calculation unit 13 of the master CH, difference initial value from the difference calculation unit 24 of the slave _{CH m e s lave-m-} 0 To get.
Then, the initial difference ratio storage unit 25 of the slave CH _m calculates a ratio α _m of the difference initial value e _slave-m-0 with respect to the difference initial value e _master-0 as shown in the following equation (5). Then, the ratio α _m is stored (step ST6).
The calculation process of the ratio α _m by the initial difference ratio storage unit 25 includes a division process with a large calculation load, but the calculation process of the ratio α _m by the initial difference ratio storage unit 25 is performed for the first time at the start of temperature control. Since it is performed only once at (0 times) control timing, it does not become a calculation load at the subsequent n-th control timing (n = 1, 2,...).

The setting correction value calculation unit 26 of the slave CH _m has a temperature difference of zero from the master CH before the slave controller 20 performs temperature control at the n-th control timing (n = 1, 2,...). If it is larger, that is, if the temperature measurement value PV _{master-n of} the master CH has not reached the temperature setting value SV _master that is the target temperature (step ST7), it is calculated by the initial difference ratio storage unit 25 at the start of temperature control. using a ratio alpha _m, corrects the temperature setpoint _{SV slave-m} of slave CH _m the slave controller 20 of the slave CH _m is used in the control timing of the n-th (step ST8).
That is, the setting correction value calculation unit 26 calculates the difference value e _master-n (= SV _master -PV _master- ) calculated by the above equation (2) from the master CH difference calculation unit 13 at the n-th control timing. _n ) is obtained, and the difference value e _master-n and the ratio α _m stored in the initial difference ratio storage unit 25 are multiplied.
Then, as shown in the following equation (6), the setting correction value calculation unit 26 sets the temperature setting value SV _slave-m-0 (temperature increase completion synchronization) of the slave CH _m for which the setting has been received by the target temperature setting unit 21. By subtracting the multiplication result e _master-n · α _m from the temperature set value SV _slave-m-0 ) at the time when temperature control is started in the control mode, the slave CH _m used at the n-th control timing is subtracted. The corrected temperature setting value SV ′ _slave-mn is calculated.
_SV'slave-mn = _SVslave-m-0- emaster _-n * [alpha] _m (6)

Correction processing for calculating the temperature setpoint SV _'slave-m-n of the corrected slave CH _m by setting the correction value calculation unit 26 of the slave CH _m will be carried out at each control timing is the simple arithmetic In addition, it does not include a division process with a large computation load.
In addition, the elements (e _{m aster-n} ) used for calculation by the initial difference ratio storage unit 25 and the setting correction value calculation unit 26 are PID calculation when the master controller 10 calculates the temperature control amount MV _master-n, and the like. Therefore, if the difference value e _master-n is obtained from the difference calculation unit 13 of the master CH, a special process for calculating the arrival rate is performed at a fixed period as in the conventional example. There is no need to carry out every control timing.

Difference calculation unit 24 of the slave CH _m is calculating the temperature setpoint SV _{'slave-m -n} after correction of the slave CH _m to set the correction value calculation unit 26 of the slave CH _m is used in controlling the timing of the n-th, as shown in equation (7) below, the slave CH temperature setpoint SV _'slave-m-n after correction of _m, slave CH slave output from the temperature measuring unit 22 of the _m CH _m temperature measurement value PV of _A difference value e _{slave- mn} that is a difference from _slave-m-n (temperature measurement value PV _slave-mn of the slave CH _{m at} the n-th control timing) is calculated.
e _slave-mn = SV ' _slave-mn -PV _slave-mn (7)

Control arithmetic unit 27 of the slave CH _m is the difference calculation unit 24 of the slave CH _m calculates a difference value _{e sl ave-m-n,} as the difference value _{e slave-m-n} approaches zero, for example, By performing the PID calculation using the difference value as an input, a temperature control amount MV _slave-mn is calculated as an operation amount for controlling the temperature of the controlled object 29 of the slave CH _m .
When the control operation unit 27 of the slave CH _m calculates the temperature control amount MV _slave-mn , the control unit 27 of the slave CH _m controls the heating unit of the heater 28 according to the temperature control amount MV _slave-mn , so that the slave CH _m The temperature of the control object 29 is controlled (step ST9).
The processes of steps ST1 to ST9 are repeatedly performed until the temperature of the master CH reaches the temperature set value that is the target temperature.

On the other hand, when the temperature of the master CH reaches the temperature set value that is the target temperature, the temperature rise completion synchronous control mode is terminated in step ST10, and the process of step ST11 is performed (step ST7).
That is, when the temperature measurement value PV _{master r-n} of the master CH reaches the temperature setting value SV _master that is the target temperature, the difference calculation unit 24 of the slave CH _{m passes} from the target temperature setting unit 21 via the setting switching unit 23. get the slave CH temperature setting value _{m SV slave-m-0} (temperature setpoint _{SV slave-m-0} at which the temperature control is started at a heating completion synchronous control mode), the temperature setpoint of the slave CH _m and SV _slave-m-0, slave CH _m between the temperature measurement value _{PV slave-m} of slave CH _m outputted from the temperature measuring unit 22 (temperature measurement value _{PV slave-m} of slave CH _m in the control timing) of The difference value e _{sl ave-m} is calculated.

Control arithmetic unit 27 of the slave CH _m is the difference calculation unit 24 of the slave CH _m calculates a difference value _{e sl ave-m,} as the difference value _{e slave-m} approaches zero, for example, the difference value By performing the PID calculation as an input, a temperature control amount MV _slave-m is calculated as an operation amount for temperature control of the controlled object 29 of the slave CH _m .
Control arithmetic unit 27 of the slave CH _m, by controlling the heating of the heater 28 in accordance with the temperature control variable _{MV slave-m,} which control the temperature of the controlled object 29 of the slave CH _m (step ST11).

  Here, FIG. 3 shows a master CH and a slave CH._mIt is explanatory drawing which shows the temperature control example in which the temperature increase completion time of is synchronized.
  In the example of FIG. 3, the temperature setting value SV of the master CH_masterAnd slave CH_mTemperature setpoint SV_slave-mAnd the measured temperature PV which is the temperature rise start temperature of the master CH_master-0And slave CH_mTemperature measured value PV_slave-m-0Is different from the master CH temperature rise completion time and slave CH _mThe temperature rise completion time of the same time.

As apparent from the above, according to the first embodiment, the difference initial value e _master-0 calculated by the difference calculation unit 13 of the master CH (the temperature setting value SV _master of the master CH at the start of temperature control and the temperature) The difference initial value e _master-0, which is the difference from the measured value PV _master-0, and the difference initial value e _slave-m-0 calculated by the difference calculation unit 24 of the slave CH _m (slave CH at the start of temperature control) obtains the difference initial value _{e sla ve-m-0)} which is the difference between the temperature setting value _{SV sl ave-m-0} and temperature measurements _{PV slave-m-0} of _m, the difference initial value _{e master-} difference initial value for _{0 e s lave-m-0} ratio of _{α m (= e slave-m} -0 / e master-0) initial difference ratio SL for calculating the The part 25 is provided, set the correction value calculating unit 26, using the calculated the initial differences ratio storage unit 25 ratio alpha _m, the slave CH _m the slave controller 20 of the slave CH _m is used in the control timing of the n-th Since the configuration is such that the corrected temperature set value SV ′ _slave-mn is calculated, for example, as in the conventional example, a special process for calculating the arrival rate is performed at every control timing of a certain period. without, calculation load only executes the light treatment, when the temperature set value _{SV slav e-m} temperature setpoint _{SV master} and slave CH _m is different or the master CH, the master CH and heating of each slave CH _m Even when the start temperatures are different, there is an effect that it is possible to synchronize the temperature rise completion times of all the controlled objects.

Embodiment 2. FIG.
In the first embodiment, an example is described in which the temperature control zone having the slowest time to reach the target temperature is known among the plurality of temperature control zones. However, the time until the target temperature is reached is described. The slowest temperature control zone may not be known in advance.
In the second embodiment, when the temperature control zone having the slowest time to reach the target temperature is not known, the temperature control for the plurality of temperature control zones (the temperature control shown in the first embodiment) is performed. Prior to this, a temperature control device including means for determining a temperature control zone (first control target) having the slowest time to reach the target temperature by performing preliminary temperature control will be described.

4 is a block diagram showing a temperature control apparatus according to Embodiment 2 of the present invention. In FIG. 4, the same reference numerals as those in FIG.
The control target distribution processing unit 30 is configured by, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like, and the time until the target temperature is reached is the longest among a plurality of temperature control zones. When the slow temperature control zone is unknown, the temperature control zone having the slowest time to reach the target temperature is identified, and the temperature control zone is set as the master CH.

FIG. 5 is a block diagram showing the controlled object distribution processing unit 30 of the temperature control apparatus according to Embodiment 2 of the present invention.
In FIG. 5, the control execution instructing unit 31 is the time until the controller reaches the target temperature for each controller that controls the temperature of the plurality of temperature control zones before the controller starts the temperature control of the first embodiment. As the pre-preparation temperature control for specifying the slowest control target, the controller instructs the control target temperature to be controlled without correcting the temperature set value.
Here, each controller that controls the temperature of the plurality of temperature control zones corresponds to either the master controller 10 or the slave controller 20, but at this point, which controller corresponds to the master controller 10. Since it is unknown, a plurality of controllers are identified by the symbol CNT _m (m = 0, 1, 2,..., M). The control execution instruction unit 31 constitutes an execution instruction unit.

The differential initial value storage unit 32 receives the temperature measurement value PV _init- from the temperature measurement unit 12 (or 22) of the temperature control zone for each temperature control zone before the execution of temperature control is instructed from the control execution instruction unit 31. _m (m = 0, 1, 2,..., M) is acquired, and the temperature set value SV _init-m (m = 0, 1, 1) from the target temperature setting unit 11 (or 21) of the temperature control zone. 2, ..., acquires M), difference initial value _D init-m (m = 0,1,2 is the difference between the temperature measurement value _{PV init-m} and the temperature set value _{SV ini t-m,} .., M), and the difference initial value _Dinit-m is stored.

  When the control execution instructing unit 31 instructs execution of the temperature control, the difference value calculating unit 33 receives the temperature measurement value PV from the temperature measuring unit 12 (or 22) of the temperature control zone for each temperature control zone._m(M = 0, 1, 2,..., M) and the temperature set value SV from the target temperature setting unit 11 (or 21) of the temperature control zone._m(M = 0, 1, 2,..., M) and the temperature measurement value PV_mAnd temperature setpoint SV_mDifference value D which is the difference between_mThe process of calculating is performed.
  The difference value ratio calculation unit 34 calculates the difference initial value D stored in the difference initial value storage unit 32 for each temperature control zone._init-mThe difference value D calculated by the difference value calculation unit 33 for_mRatio D _m/ D_init-mThe process of calculating is performed.

The temperature increase completion time estimation unit 35 acquires the temperature measurement value PV _m (m = 0, 1, 2,..., M) from the temperature measurement unit 12 (or 22) of the temperature control zone for each temperature control zone. For each temperature control zone, the ratio D _m / D _init-m of (M + 1) temperature control zones calculated by the difference value ratio calculation unit 34 is monitored, and any temperature control zone When the ratio D _m / D _init-m reaches a preset reference ratio (for example, 0.8), the temperature measurement value PV _m (m = 0, 1, 2,...) Acquired at the current control timing. .., M), the temperature measurement value PV _m (m = 0, 1, 2,..., M) of the temperature control zone acquired and stored at the previous control timing is subtracted, and any temperature control is performed. criteria ratio _{D m / D init-m} zones preset (E.g., 0.8) the temperature change width of each temperature control zone when it reaches the _{ΔPV m (m = 0,1,2, ···} , M) is calculated, which is calculated by the difference value calculator 33 The ratio D _m / D _init-m (m = 0, 1, 2,..., M) of the difference value D _m is the temperature change width ΔPV _m (m = 0, 1, 2,..., M). The temperature increase completion time estimated value T _m (m = 0, 1, 2,..., M) for each temperature control zone, which is a predicted time until the control target of each temperature control zone reaches the target temperature by dividing. ) Is calculated.

The control target setting unit 36 monitors the ratio D _m / D _init-m of (M + 1) temperature control zones calculated by the difference value ratio calculation unit 34, and the ratio D _m / D _{ini of} any temperature control zone. _{When t−m} reaches a preset reference ratio (for example, 0.8), the temperature increase completion time estimated value T _m (m = 0, 1, 2) in (M + 1) temperature control zones. ,..., M) is set as the master CH, and the remaining temperature control zone is set as the slave CH _m . The difference initial value storage unit 32, the difference value calculation unit 33, the difference value ratio calculation unit 34, the temperature increase completion time estimation unit 35, and the control target setting unit 36 constitute a control target setting unit.
FIG. 6 is a flowchart showing the processing contents of the control target distribution processing unit 30.

Next, the operation will be described.
However, since the components other than the control target distribution processing unit 30 are the same as those in the first embodiment, only the processing contents of the control target distribution processing unit 30 will be described.
In the second embodiment, there are (M + 1) temperature control zones, but the temperature control zone with the slowest time to reach the target temperature is unknown among (M + 1) temperature control zones. Suppose that

  The control execution instruction unit 31 of the control target allocation processing unit 30 includes (M + 1) controllers CNT _mBefore (m = 0, 1, 2,..., M) starts the temperature control of the first embodiment, (M + 1) controllers CNT_mIn response to this, an instruction is given to execute temperature control for pre-preparation for specifying the control target with the slowest time to reach the target temperature (step ST11).
  The control execution instruction unit 31 outputs a difference initial value storage command to the difference initial value storage unit 32 before instructing execution of temperature control for preparation.
  Here, the temperature control for the pre-preparation is not a full-scale temperature control like the temperature control of the first embodiment, but a little to identify the control target with the slowest time to reach the target temperature. It is a simple temperature control that only raises the temperature.

When receiving the difference initial value storage command from the control execution instruction unit 31, the difference initial value storage unit 32 receives the temperature measurement value PV _init- from the temperature measurement unit 12 (or 22) of the temperature control zone for each temperature control zone. _m (m = 0, 1, 2,..., M) is acquired, and the temperature set value SV _init-m (m = 0, 1, 1) from the target temperature setting unit 11 (or 21) of the temperature control zone. 2,..., M), and as shown in the following equation (8), a difference initial value D _init that is a difference between the temperature measurement value PV _{in it-m} and the temperature set value SV _{init-m -M} is calculated, and the difference initial value _Dinit-m is stored.
D _init-m = SV _init-m -PV _init-m (8)

When the control execution instructing unit 31 instructs execution of the temperature control, the difference value calculating unit 33 receives the temperature measurement value PV _m (m = 0) from the temperature measuring unit 12 (or 22) of the temperature control zone for each temperature control zone. , 1, 2,..., M) and the temperature set value SV _m (m = 0, 1, 2,..., M) from the target temperature setting unit 11 (or 21) of the temperature control zone. ) And a difference value D _m that is a difference between the temperature measurement value PV _m and the temperature setting value SV _m is calculated as shown in the following equation (9) (step ST12).
_{D m = SV m -PV m (} 9)

  The difference value ratio calculation unit 34 is configured such that the difference value calculation unit 33 uses the difference value D of (M + 1) temperature control zones. _mIs calculated for each temperature control zone, the difference initial value D stored in the difference initial value storage unit 32._init-mDifference value D for_mRatio D (difference value calculated by difference value ratio calculation unit 34)_m/ D_init-mIs calculated (step ST13).

  The temperature increase completion time estimation unit 35 is a ratio D of (M + 1) temperature control zones calculated by the difference value ratio calculation unit 34._m/ D_init-mThe ratio D of any temperature control zone_m/ D _init-mReaches a preset reference ratio (for example, 0.8) (step ST14), as shown in the following equation (10), the temperature measurement value PV acquired at the current control timing is shown in FIG._m(M = 0, 1, 2,..., M), the temperature measurement value PV of the temperature control zone obtained and stored at the previous control timing._m(M = 0, 1, 2,..., M) is subtracted, and the ratio D of any temperature control zone_m/ D_init-mIs a temperature change width ΔPV for each temperature control zone when the ratio reaches a preset reference ratio (for example, 0.8)_m(M = 0, 1, 2,..., M) is calculated.
      ΔPV_m= Temperature measurement value PV acquired at the current control timing_m
              -Temperature measurement PV obtained at the previous control timing_m
                                                            (10)
  The temperature increase completion time estimation unit 35 then calculates the difference value D calculated by the difference value calculation unit 33 as shown in the following equation (11)._mRatio D_m/ D_init-m(M = 0, 1, 2,..., M) is the temperature change width ΔPV._m(M = 0, 1, 2,..., M), and the temperature increase completion time estimate T for each temperature control zone_m(M = 0, 1, 2,..., M) is calculated. (Step ST15).
      T_m= (D_m/ D_init-m) / ΔPV_m                    (11)

When the temperature increase completion time estimation unit 35 calculates the temperature increase completion time estimated value T _m (m = 0, 1, 2,..., M) for each temperature control zone, the control target setting unit 36 (M + 1) Among the temperature control zones, the temperature control zone having the largest temperature increase completion time estimated value T _m calculated by the temperature increase completion time estimation unit 35 is set as the master CH, and the remaining temperature control zones are set as slave CH _m. (Step ST16).

If the ratio D _m / D _{init-m of} any temperature control zone does not reach the reference ratio (for example, 0.8) (step ST14), the processes of steps ST12 to ST13 are repeated.
When the control target setting unit 36 sets the master CH and the slave CH _m , the control execution instructing unit 31 sends a temperature control start command in the same temperature increase completion synchronous control mode as in the first embodiment to the master controller 10 of the master CH. And output to the slave controller 20 of the slave CH _m (step ST17).

As apparent from the above, according to the second embodiment, among the plurality of temperature control zones, the difference initial value D _init-m (before the execution of the temperature control is instructed) related to any one of the temperature control zones. The ratio of the difference value D _m (the difference between the temperature measurement value PV _m and the temperature setting value SV _m during the temperature control) to the temperature measurement value PV _init-m and the temperature setting value SV _{init-m of} at the stage of reaching the ratio of set reference, set the highest temperature control zone heating completion time estimate T _m in the master CH, since it is configured to set the rest of the temperature control zone to the slave CH _m Even when the temperature control zone having the slowest time to reach the target temperature is unknown among the plurality of temperature control zones, the temperature control according to the first embodiment can be applied.

DESCRIPTION OF SYMBOLS ₁ Control system of master CH, 2 1-2 Control system of _M slave CH, 10 Master controller (1st controller), 11 Target temperature setting part of master CH, 12 Master CH temperature measurement part, 13 Difference of master CH Calculation unit (initial difference ratio storage unit, set value correction unit), 14 master CH control operation unit, 15 master CH heater, 16 master CH control target, 20 slave controller (second controller), 21 slave CH Target temperature setting unit, 22 Slave CH temperature measurement unit, 23 Slave CH set value switching unit, 24 Slave CH difference calculation unit (initial difference ratio storage unit), 25 Initial difference ratio storage unit (initial difference ratio storage unit) , 26 Setting correction value calculation unit (setting value correction means), 27 Slave CH control calculation unit, 28 Slave CH he 29, control target of slave CH, 30 control target distribution processing unit, 31 control execution instruction unit (execution instruction unit), 32 difference initial value storage unit (control target setting unit), 33 difference value calculation unit (control target setting unit) ), 34 Difference value ratio calculation unit (control target setting unit), 35 Temperature rise completion time estimation unit (control target setting unit), 36 Control target setting unit (control target setting unit).

Claims (5)

Operation for temperature control of the first control object from the first temperature set value that is the target temperature of the first control object and the first temperature measurement value that is the measured temperature of the first control object A first controller that calculates an amount and controls the temperature of the first control object according to the operation amount;
The second temperature set value that is the target temperature of the second control object that is earlier than the first control object, and the second temperature that is the measured temperature of the second control object. A second controller that calculates an operation amount for temperature control of the second control object from a measured value, and controls the temperature of the second control object according to the operation amount;
A first difference initial value that is a difference between the first temperature setting value and the first temperature measurement value at the time of starting temperature control by the first and second controllers; and the second value at the time of starting temperature control. And a second difference initial value that is a difference between the second temperature measurement value and a ratio of the second difference initial value with respect to the first difference initial value. Initial difference ratio storage means for storing
For each control timing at which temperature control is performed by the first and second controllers, the difference between the first temperature setting value and the first temperature measurement value at the control timing, and the initial difference ratio storage means A temperature control device comprising: a set value correction means for correcting the second temperature set value using the stored ratio.   The set value correction means calculates a difference value that is a difference between the first temperature set value and the first temperature measurement value at the control timing, and is stored in the difference value and the initial difference ratio storage means. 2. The temperature according to claim 1, wherein the second temperature set value is corrected by multiplying the ratio and subtracting the multiplication result from the second temperature set value at the start of the temperature control. Control device.   When three or more control objects exist, the control object with the slowest time to reach the target temperature among the three or more control objects becomes the first control object, and the remaining two or more The temperature control device according to claim 1, wherein each of the control objects is a second control object. When the control target with the slowest time to reach the target temperature is unknown among the plurality of control targets, for each controller that controls the temperature of the plurality of control targets, until the target temperature is reached Execution instruction means for instructing to control the temperature of the control object without correcting the temperature set value as temperature control for preparation for identifying the control object with the slowest time;
During the pre-preparation temperature control, a difference value that is a difference between a temperature setting value and a temperature measurement value of each control target is obtained, and the difference value is divided by a temperature change amount per unit time of the control target. By calculating the predicted time until each control target reaches the target temperature, among the plurality of control targets, the control target with the longest predicted time is set as the first control target, and the remaining The temperature control device according to claim 1, further comprising: a control target setting unit that sets the control target as a second control target. The first controller determines the first control target from the first temperature set value that is the target temperature of the first control target and the first temperature measurement value that is the measured temperature of the first control target. A first temperature control step of calculating an operation amount for temperature control and controlling a temperature of the first control object according to the operation amount;
The time until the second controller reaches the target temperature is a second temperature set value that is the target temperature of the second control target that is earlier than the first control target, and the measured temperature of the second control target. A second temperature control step of calculating an operation amount for temperature control of the second control object from the second measured temperature value and controlling the temperature of the second control object according to the operation amount When,
An initial difference ratio storage means, a first difference initial value that is a difference between the first temperature set value and the first temperature measurement value at the start of temperature control in the first and second temperature control steps; A second difference initial value that is a difference between the second temperature set value and the second temperature measurement value at the start of the temperature control is obtained, and the second difference initial value with respect to the first difference initial value. An initial difference ratio storage processing step for calculating the ratio of and storing the ratio;
For each control timing at which the temperature control is executed in the second temperature control step, the set value correction means, the difference between the first temperature set value and the first temperature measurement value at the control timing, and the initial value A temperature control method comprising: a set value correction processing step for correcting the second temperature set value using the ratio stored in the difference ratio storage processing step.

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