JP6734551B2 - State control device, state control method, and master controller used in state control device - Google Patents

Description

This invention is a master used for a state control device, a state control method, and a state control device that controls the state of a controlled object so that a measured value indicating the state of the controlled object matches a target value that changes with the passage of time. It is about the controller.

An injection molding machine or the like having a plurality of temperature control zones as a plurality of control targets is provided with a heater designed according to characteristics such as heat capacity in each temperature control zone. However, in the actual temperature control, the temperature of each temperature control zone often varies at the time when it 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 zones reach the target temperature, so the resin that is the molded product of the injection molding machine may burn. Also, it consumes unnecessary power.

The following Patent Document 1 discloses a temperature control device capable of synchronizing the time when the temperatures of the plurality of temperature control zones reach the target temperature, that is, the temperature increase completion times of the plurality of temperature control zones. ..
The temperature control device is equipped with a controller that controls the output heat amount of the heater for each heater that applies heat to each temperature control zone.
The plurality of controllers mounted by the temperature control device calculates a manipulated variable for temperature control of the control target from a target value that is the target temperature of the control target and a measured value that is the measured temperature of the control target, and The temperature of the controlled object is controlled according to the manipulated variable. The target value is a value that changes with the passage of time, and a value that raises or lowers a predetermined temperature every predetermined time is used. For example, if the measured temperature at the start is 50°C and the final target temperature of this program is 80°C in a 30-minute program that increases by 1 degree every 1 minute, the target value will change with time (from the start Every 1 minute), 51°C, 52°C, ..., 80°C.
The change of the target value with the passage of time is performed by the controller executing a program for updating the target value.
When the execution of the program for updating the target value is completed, the target value that changes over time reaches the final target value.

International Publication 2016/035130

Since the conventional temperature control device is configured as described above, it is controlled so that the measured value of the controlled object matches the target value that changes with the passage of time. However, depending on the state of the controlled object, a situation may occur in which the temperature of a part of the controlled object deviates significantly from the temperature of the remaining part of the controlled object. In such a case, among the plurality of controllers, the change in the measured value of the control target acquired by a certain controller cannot keep up with the change in the target value, and the difference value between the measured value of the control target and the target value becomes large. There is.
The controller updates the target value even if the difference between the measured value and the target value becomes large during the stage from the start of the execution of the program for updating the target value to the completion of the execution of the program. Program execution for Therefore, there is a problem that the difference value becomes larger and the accuracy of tracking the measured value with respect to the target value at each time during the execution period of the program becomes lower.

The present invention has been made to solve the above problems, a state control device that can improve the tracking accuracy of the measured value with respect to the target value in the middle of reaching the final target value, An object is to obtain a master controller used in a state control method and a state control device.

The state control device according to the present invention obtains a measured value indicating the state of the controlled object, and controls the state of the controlled object so that the measured value matches a target value that changes with the passage of time. And a difference value calculation unit that calculates a difference value between each measured value and a target value acquired by a plurality of controllers, and among the plurality of difference values calculated by the difference value calculation unit, a measured value for the target value And a determination unit for determining whether a difference value larger than the allowable difference value exists, the target value control unit, if it is determined by the determination unit that the difference value larger than the allowable difference value does not exist, When the change of the target value is continued and the determination unit determines that there is a difference value larger than the allowable difference value, the target value control process of stopping the change of the target value is executed.

In the state control device according to the present invention, one controller of the plurality of controllers is a master controller and the remaining controllers are slave controllers, and the slave controller is a measurement value acquisition unit that acquires a measurement value indicating a state of a control target. , The measurement value transmission unit that transmits the measurement value acquired by the measurement value acquisition unit, the target value reception unit that receives the target value transmitted from the master controller, and the measurement value acquired by the measurement value acquisition unit is the target. A state controller that controls the state of the controlled object to match the target value received by the value receiver, and the master controller includes a difference value calculator, a determiner, and a target value controller, and the controlled object. To obtain a measured value indicating the state of, the measured value acquisition unit that outputs the acquired measured value to the difference value calculation unit, and the measured value acquired by the measured value acquisition unit to match the target value, After the target value control processing by the state control unit that controls the state, the measured value receiving unit that receives the measured value sent from the slave controller and outputs the received measured value to the difference value calculation unit, and the target value control process by the target value control unit The target value output unit for outputting the target value of 1 to the state control unit and the slave controller is provided.

In the state control device according to the present invention, after the target value control unit starts the execution of the program for changing the target value with the passage of time, the determination unit determines that there is no difference value larger than the allowable difference value. If it is determined that the change in the target value is continued by continuing the execution of the program, and the determination unit determines that a difference value larger than the allowable difference value exists, the execution of the program is stopped to determine the target value. After stopping the change of the value and stopping the execution of the program, if the judgment unit judges that there is no difference value larger than the allowable difference value, the change of the target value is restarted by restarting the execution of the program. It was made to let.

In the state control method according to the present invention, a plurality of controllers obtains a measured value indicating the state of the controlled object, and controls the state of the controlled object so that the measured value matches a target value that changes with the passage of time. Control, the difference value calculation unit calculates the difference value between each measured value and the target value acquired by the plurality of controllers, the determination unit, among the plurality of difference values calculated by the difference value calculation unit When the target value control unit determines by the determination unit whether there is a difference value larger than the allowable difference value of the measured value with respect to the target value, and the determination unit determines that there is no difference value larger than the allowable difference value. The target value control process is performed to continue the change of the target value and stop the change of the target value when the determination unit determines that there is a difference value larger than the allowable difference value.

The master controller used in the state control device according to the present invention has a measurement value acquisition unit that acquires a measurement value indicating the state of the control target, and the measurement value acquired by the measurement value acquisition unit changes with the passage of time. Receives the measured value from the state controller that controls the state of the controlled object so that it matches the target value, and the slave controller that controls the state of the controlled object so that the measured value that indicates the state of the controlled object matches the target value. A measurement value receiving unit, a measurement value acquired by the measurement value acquisition unit and a difference value calculation unit that calculates a difference value between the measurement value received by the measurement value reception unit and the target value, and a difference value calculation unit Among the plurality of calculated difference values, a judgment unit that judges whether or not a difference value larger than the allowable difference value of the measured value with respect to the target value exists, and a difference value larger than the allowable difference value by the judgment unit is When it is determined that the target value does not exist, the change of the target value is continued, and when the determination unit determines that a difference value larger than the allowable difference value exists, the target value control process that stops the change of the target value is executed. A value control unit and a target value output unit that outputs the target value after the target value control processing by the target value control unit to the state control unit and the slave controller are provided.

According to the present invention, it is possible to avoid a situation in which the target value is changed over time in a state where the difference value between the measured value of the controlled object and the target value is larger than the allowable difference value. As a result, it is possible to obtain the effect that the follow-up accuracy of the measured value with respect to the target value can be improved in the stage of reaching the final target value.

It is a block diagram which shows the state control apparatus by Embodiment 1 of this invention. It is a block diagram which shows the master controller 10 of the state control apparatus by Embodiment 1 of this invention. It is a block diagram which shows the slave controllers 20 ₁ and 20 ₂ of the state control device by Embodiment 1 of this invention. 3 is a hardware configuration diagram showing a hardware configuration example of a master controller 10. FIG. It is a hardware block diagram which shows the hardware structural example of the slave controllers 20 ₁ and 20 ₂ . It is a hardware block diagram which shows the hardware structural example of a computer. 3 is a flowchart showing a processing procedure of the master controller 10. 6 is a flowchart showing a processing procedure of slave controllers 20 ₁ and 20 ₂ . Target value _{T tgt} and the measured value _{T M,} is an explanatory diagram showing the relationship between _{T S-1, T S-} 2. Target value _{T tgt} and the measured value _{T M,} is an explanatory diagram showing the relationship between _{T S-1, T S-} 2. Target value _{T tgt} and the measured value _{T M,} is an explanatory diagram showing the relationship between _{T S-1, T S-} 2. It is a block diagram which shows the state control apparatus by Embodiment 2 of this invention. It is a block diagram which shows the controller 60 of the state control apparatus by Embodiment 2 of this invention. It is a hardware block diagram which shows the hardware structural example of the controller 60. 6 is a flowchart showing a processing procedure of the controller 60. It is a block diagram which shows the master controller 10 of the state control apparatus by Embodiment 2 of this invention. 3 is a hardware configuration diagram showing a hardware configuration example of a master controller 10. FIG. 3 is a flowchart showing a processing procedure of the master controller 10.

Hereinafter, in order to explain the present invention in more detail, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

Embodiment 1.
1 is a block diagram showing a state control device according to a first embodiment of the present invention.
In FIG. 1, a controlled object 1 is an object whose temperature is controlled, such as an iron plate to which heat is applied or a liquid in a water tank.
The temperature sensors 2 _M , 2 _S-1 , 2 _S-2 measure the temperature of the controlled object 1 as the state of the controlled object 1, and output the measured values T _M , T _S-1 , T _S-2 of the temperature. It is a sensor that does.
In the first embodiment, as the state of the controlled object 1, an example in which the temperature sensors 2 _M , 2 _S-1 , 2 _S-2 measure the temperature of the controlled object 1 will be described, but the present invention is not limited to this. .. For example, as the state of the controlled object 1, a voltmeter may measure the voltage applied to the controlled object 1, or as the state of the controlled object 1, the ammeter measures the current flowing in the controlled object 1. It may be one that does.

The heater 3 _M is a heating device that applies heat to the control target 1, and is controlled by the master controller 10. In the example of FIG. 1, the heater 3 _M applies heat to the left end position of the controlled object 1.
The heater 3 _S-1 is a heating device that applies heat to the control target 1, and is controlled by the slave controller 20 ₁ . In the example of FIG. 1, the heater 3 _S-1 applies heat to the central position of the controlled object 1.
Heater 3 _S-2 is a heating device for applying heat to the controlled object 1, it is controlled by the slave controller 20 _2. In the example of FIG. 1, the heater 3 _S-2 applies heat to the right end position of the controlled object 1.

The master controller 10 controls the output heat amount of the heater 3 _M so that the measured value T _{M of the} temperature output from the temperature sensor 2 _M matches the target value T _tgt that changes with the passage of time, and thus the control target is controlled. Control the temperature of 1.
The slave controller 20 ₁ controls the output heat amount of the heater 3 _S-1 so that the measured value T _{S-1 of} the temperature output from the temperature sensor 2 _S-1 matches the target value T _tgt. Control the temperature of.
Slave controller 20 ₂ is that the measured value _{T S-2} of the temperature output from the temperature sensor _{2 S-2} is to fit the target value _{T tgt,} controls the heat output of the heater _{3 S-2,} the control target 1 Control the temperature of.
FIG. 1 shows an example in which the master controller 10 and the slave controllers 20 ₁ and 20 ₂ are cascade-connected. That is, the master controller 10 and the slave controllers 20 ₁ and 20 ₂ are connected in cascade.
However, the connection form is not limited to the cascade connection. Therefore, the master controller 10 and the slave controller 20 ₁ may be connected, and the master controller 10 and the slave controller 20 ₂ may be connected.

2 is a configuration diagram showing a master controller 10 of the state control device according to the first embodiment of the present invention.
FIG. 3 is a configuration diagram showing slave controllers 20 ₁ and 20 ₂ of the state control device according to Embodiment 1 of the present invention.
4 is a hardware configuration diagram showing a hardware configuration example of the master controller 10, and FIG. 5 is a hardware configuration diagram showing a hardware configuration example of the slave controllers 20 ₁ and 20 ₂ .

In FIG. 2, the measurement value acquisition unit 11 of the master controller 10 is realized by, for example, the measurement value acquisition circuit 31 shown in FIG.
The measurement value acquisition unit 11 acquires the measurement value T _M indicating the temperature of the controlled object 1 output from the temperature sensor 2 _M.
The state controller 12 of the master controller 10 is realized by the state control circuit 32 shown in FIG. 4, for example.
The state control unit 12 controls the output heat amount of the heater 3 _M so that the measured value T _M acquired by the measured value acquisition unit 11 matches the target value T _tgt output from the target value output unit 17, The temperature of the controlled object 1 is controlled.

The measurement value receiving unit 13 of the master controller 10 is realized by, for example, the measurement value receiving circuit 33 shown in FIG.
The measurement value receiving unit 13 receives the measurement values T _S-1 and T _S-2 transmitted from the measurement value transmitting unit 22 of the slave controller 20 ₁ .
The difference value calculation unit 14 of the master controller 10 is realized by, for example, the difference value calculation circuit 34 shown in FIG.
The difference value calculation unit 14 is a difference value ΔT between the measured value T _M acquired by the measured value acquisition unit 11 and the measured values T _S-1 , T _S-2 received by the measured value receiving unit 13 and the target value T _tgt. Calculate _M , ΔT _S-1 , and ΔT _S-2 , respectively.
ΔT _M =|T _M −T _tgt |, ΔT _S−1 =|T _S−1 −T _tgt |, ΔT _S−2 =|T _S−2 −T _tgt |.
In the first embodiment, the difference values ΔT _M , ΔT _S-1 , and ΔT _S-2 are represented by absolute values.

The determination unit 15 of the master controller 10 is realized by, for example, the determination circuit 35 shown in FIG.
The determination unit 15 compares the difference values ΔT _M , ΔT _S-1 , and ΔT _S-2 calculated by the difference value calculation unit 14 and the allowable difference value Val of the measured value with respect to the target value T _tgt , respectively, and the difference value ΔT _It is determined whether or not a difference value larger than the allowable difference value Val exists in _M , ΔT _S-1 , and ΔT _S-2 .

The target value control unit 16 of the master controller 10 is realized by, for example, the target value control circuit 36 shown in FIG. 4, and carries out a target value control process for controlling the target value T _tgt .
That is, the target value control unit 16 starts execution of a program (hereinafter, referred to as “target value update program”) that changes the target value T _tgt with the passage of time.
After starting the execution of the target value update program, the target value control unit 16 continues the execution of the target value update program when the determination unit 15 determines that there is no difference value larger than the allowable difference value Val. , The change of the target value T _tgt is continued.
When the determination unit 15 determines that the difference value larger than the allowable difference value Val exists, the target value control unit 16 stops the execution of the target value update program to stop the change of the target value T _tgt .
The target value control unit 16 restarts the execution of the target value update program when the determination unit 15 determines that there is no difference value larger than the allowable difference value Val after stopping the execution of the target value update program. , Restart the change of the target value T _tgt .

The target value output unit 17 of the master controller 10 is realized by, for example, the target value output circuit 37 shown in FIG.
The target value output unit 17 outputs the target value T _tgt after the target value control processing by the target value control unit 16 to the state control unit 12 and the difference value calculation unit 14, and also slaves the target value T _tgt after the target value control processing. It is sent to the controller 20 _1.

In FIG. 3, the measured value acquisition unit 21 of the slave controllers 20 ₁ and 20 ₂ is realized by the measured value acquisition circuit 41 shown in FIG. 5, for example, and is output from the temperature sensors 2 _S-1 and 2 _S-2. The measured values T _S-1 and T _S-2 indicating the temperature of the controlled object 1 are acquired.
The measured value transmission unit 22 of the slave controllers 20 ₁ and 20 ₂ is realized by the measured value transmission circuit 42 shown in FIG. 5, for example.
Measured value transmission section 22 of the slave controller 20 ₂ transmits the measured value _{T S-2} obtained by the measurement value acquisition unit 21 to the slave controller 20 _1.
The measurement value transmission unit 22 of the slave controller 20 ₁ transmits the measurement value T _S-1 acquired by the measurement value acquisition unit 21 to the master controller 10, and the measurement value transmission unit 22 of the slave controller 20 ₂ transmits the measurement value T _S-1. Transfer the value T _S-2 to the master controller 10.

The target value receiving unit 23 of the slave controllers 20 ₁ and 20 ₂ is realized by the target value receiving circuit 43 shown in FIG. 5, for example.
Target value receiving section 23 of the slave controller 20 ₁ receives the target value T _tgt after transmission target value control process from the target value output unit 17 of the master controller 10, outputs the target value T _tgt to the state control unit 24 as well as, to transfer the target value _{T tgt} to the slave controller 20 _2.
Target value receiving section 23 of the slave controller 20 ₂ receives the target value _{T tgt} after target value control process transfer from the slave controller 20 _first target value receiving section 23, a target value _{T tgt} to the state control unit 24 Output.
The state control unit 24 of the slave controllers 20 ₁ and 20 ₂ is realized by the state control circuit 44 shown in FIG. 5, for example.
The state control unit 24 adjusts the measured values T _S-1 and T _S-2 acquired by the measured value acquisition unit 21 to match the target value T _tgt after the target value control process output from the target value receiving unit 23. , The temperature of the controlled object 1 is controlled by controlling the output heat amounts of the heaters 3 _S-1 and 3 _S-2 .

In FIG. 2, the measurement value acquisition unit 11, the state control unit 12, the measurement value reception unit 13, the difference value calculation unit 14, the determination unit 15, the target value control unit 16, and the target value output unit 17 that are the constituent elements of the master controller 10. It is assumed that each of these is realized by dedicated hardware as shown in FIG. That is, it is assumed that the measurement value acquisition circuit 31, the state control circuit 32, the measurement value reception circuit 33, the difference value calculation circuit 34, the determination circuit 35, the target value control circuit 36, and the target value output circuit 37 are realized. ..
The measurement value acquisition circuit 31, the state control circuit 32, the measurement value reception circuit 33, the difference value calculation circuit 34, the determination circuit 35, the target value control circuit 36, and the target value output circuit 37 are, for example, a single circuit, a composite circuit, or a program. The integrated processor, the parallel-programmed processor, the ASIC (Application Specific Integrated Circuit), the FPGA (Field-Programmable Gate Array), or a combination thereof is applicable.
However, the constituent elements of the master controller 10 are not limited to those realized by dedicated hardware, and the master controller 10 may be realized by a computer as shown in FIG. 6, for example.
FIG. 6 is a hardware configuration diagram showing a hardware configuration example of a computer.
When the master controller 10 is realized by a computer, for example, the measurement value acquisition unit 11, the state control unit 12, the measurement value reception unit 13, the difference value calculation unit 14, the determination unit 15, the target value control unit 16, and the target value output unit. A program for causing a computer to execute the processing procedure of 17 may be stored in the memory 51, and the processor 52 of the computer may execute the program stored in the memory 51.

In FIG. 3, each of the measurement value acquisition unit 21, the measurement value transmission unit 22, the target value reception unit 23, and the state control unit 24, which are the constituent elements of the slave controllers 20 ₁ and 20 ₂ , are dedicated as shown in FIG. It is assumed to be realized by hardware. That is, it is assumed that it is realized by the measurement value acquisition circuit 41, the measurement value transmission circuit 42, the target value reception circuit 43, and the state control circuit 44.
The measurement value acquisition circuit 41, the measurement value transmission circuit 42, the target value reception circuit 43, and the state control circuit 44 are, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or A combination of these is applicable.
However, the components of the slave controllers 20 _1, 20 ₂ is not limited to being implemented in dedicated hardware, which is realized by the slave controller 20 _1, 20 ₂ as is shown in FIG. 6, for example a computer May be
When the slave controllers 20 ₁ and 20 ₂ are realized by a computer, for example, a program for causing a computer to execute the processing procedure of the measurement value acquisition unit 21, the measurement value transmission unit 22, the target value reception unit 23, and the state control unit 24. May be stored in the memory 51 shown in FIG. 6, for example, and the processor 52 of the computer may execute the program stored in the memory 51.

Next, the operation will be described.
FIG. 7 is a flowchart showing the processing procedure of the master controller 10.
FIG. 8 is a flowchart showing the processing procedure of the slave controllers 20 ₁ and 20 ₂ .
The operations of the master controller 10 and the slave controllers 20 ₁ and 20 ₂ will be described below with reference to FIGS. 7 and 8.

First, the target value control unit 16 of the master controller 10 starts execution of the target value update program (step ST1 in FIG. 7).
As a result, the target value T _tgt is changed over time.

The measured value acquisition unit 21 of the slave controller 20 ₁ acquires a measured value T _S-1 indicating the temperature of the controlled object 1 output from the temperature sensor 2 _S-1 every time a preset time elapses ( Step ST11 of FIG. 8).
Measurement value acquisition unit 21 of the slave controller 20 ₁ obtains the measured value T _S-1 indicating the temperature of the controlled object 1 and outputs the measured value T _S-1 to the measured value transmitter 22 and the state control unit 24.
Measurement value acquisition unit 21 of the slave controller 20 _2, every time elapses a preset time, taking measurements T _S-2 indicating the temperature of the controlled object 1 output from the temperature sensor 2 _S-2 ( Step ST11 of FIG. 8).
Measurement value acquisition unit 21 of the slave controller 20 ₂ acquires the measured value T _S-2 that indicates the temperature of the controlled object 1 and outputs the measured value T _S-2 to the measured value transmitter 22 and the state control unit 24.

Measured value transmission section 22 of the slave controller 20 ₂ receives the measured value _{T S-2} from the measurement value acquisition unit 21, and transmits the measured value _{T S-2} to the slave controller 20 _1.
Measured value transmission section 22 of the slave controller 20 ₁ receives the measured value _{T S-1} from the measurement value acquisition unit 21 receives the measured value _{T S-2} from the slave controller 20 _2, measured value _{T S-1,} T _S-2 is transmitted to the master controller 10 (step ST12 of FIG. 8).

The measurement value acquisition unit 11 of the master controller 10 acquires the measurement value T _M indicating the temperature of the controlled object 1 output from the temperature sensor 2 _M every time a preset time elapses (step ST2 in FIG. 7 ). ).
When the measurement value acquisition unit 11 of the master controller 10 acquires the measurement value T _M indicating the temperature of the control target 1, the measurement value acquisition unit 11 outputs the measurement value T _M to the state control unit 12 and the difference value calculation unit 14.
The measurement value receiving unit 13 of the master controller 10 receives the measurement values T _S-1 and T _S-2 transmitted from the slave controller 20 ₁ and outputs the measurement values T _S-1 and T _S-2 to the difference value calculating unit. It outputs to 14 (step ST3 of FIG. 7).

When the difference value calculation unit 14 of the master controller 10 receives the measurement value T _M from the measurement value acquisition unit 11 and the measurement values T _S-1 and T _S-2 from the measurement value reception unit 13, the following formula (1) ) To (3), the difference values ΔT _M , ΔT _S-1 , between the measured values T _M , T _S-1 , T _S-2 and the target value T _tgt output from the target value output unit 17. Each ΔT _S-2 is calculated (step ST4 in FIG. 7).
ΔT _M =|T _M −T _tgt | (1)
ΔT _S-1 =|T _S-1 −T _tgt | (2)
ΔT _S-2 =|T _S-2 −T _tgt | (3)

When the difference value calculation unit 14 calculates the difference values ΔT _M , ΔT _S-1 , ΔT _S-2 , the determination unit 15 of the master controller 10 calculates the difference values ΔT _M , ΔT _S-1 , ΔT _S-2 , The allowable difference value Val of the measured value with respect to the target value T _tgt is compared with each other.
The allowable difference value Val is a value set in advance, and for example, 20 degrees or 30 degrees is set as the allowable difference value Val.
Then, the determination unit 15 refers to the comparison result between the difference values ΔT _M , ΔT _S-1 , ΔT _S-2 and the allowable difference value Val, and determines the difference values ΔT _M , ΔT _S-1 , and ΔT _S-2 . It is determined whether or not there is a difference value larger than the allowable difference value Val, and the determination result is output to the target value control unit 16 (step ST5 in FIG. 7).

Here, FIG. 9 is an explanatory diagram showing the relationship between the target value T _tgt and the measured values T _M , T _S-1 , T _S-2 .
In FIG. 9, the difference values ΔT _M , ΔT _S-1 , and ΔT _S-2 between the target value T _tgt and the measured values T _M , T _S-1 , and T _S-2 must be larger than the allowable difference value Val. For example, the target value update program is executed, so that the target value T _tgt monotonically increases with the passage of time. The “original program pattern” in FIG. 9 indicates that the target value T _tgt monotonically increases with the passage of time.
Further, in FIG. 9, when any of the difference values ΔT _M , ΔT _S-1 , and ΔT _S-2 becomes larger than the allowable difference value Val, the execution of the target value update program is stopped and the target value T _tgt becomes constant. It indicates that the value becomes.
Further, in FIG. 9, with respect to change of the desired value T _tgt, the temperature rise of by the master controller 10 and the slave controller 20 ₂ indicates an example is gentle. Therefore, after the execution of the target value update program, the difference value ΔT _M related to the measured value T _M of the master controller 10 becomes larger than the allowable difference value Val at the time t ₁ . That is, the measured value T _M of the master controller 10 is below the allowable lower limit value (the allowable lower limit value of the measured value measured values T _M , T _S-1 , T _S-2 ).
Further, after the start of the execution of the target value update at the time t _2, the has a difference value [Delta] T _S-2 according to the measured value T _S-2 of the slave controller 20 ₂ is larger than the allowable difference value Val .. That is, the measured value T _{S- 2} of the slave controller 202 is below the allowable lower limit value.

When the determination result of the determination unit 15 indicates that there is no difference value larger than the allowable difference value Val (step ST5: No in FIG. 7), the target value control unit 16 of the master controller 10 sets the target value. The execution of the update program is continued (step ST6 in FIG. 7).
In the example of FIG. 9, after the execution of the target value updating program is started, the execution of the target value updating program is continued until before the time t ₁ .

The target value control unit 16 executes the target value update program when the determination result of the determination unit 15 indicates that there is a difference value larger than the allowable difference value Val (step ST5 in FIG. 7: Yes). By stopping the change of the target value T _tgt with the passage of time (step ST7 of FIG. 7).
In the example of FIG. 9, after the execution of the target value updating program is started, the execution of the target value updating program is stopped at time t ₁ .
Thus, it becomes a constant value to the target value _{T tgt} is not changed, since the target value _{T tgt} is not increased, the measured value _{T S-2} measurements _{T M} and the slave controller 20 ₂ of the master controller 10, gradually The target value T _tgt is approached and they come to coincide with each other. As a result, at time t _3, both the measured values T _M and the measured value T _S-2 is equal to or higher than the allowable lower limit.

When the target value control unit 16 stops the execution of the target value update program, the determination result of the determination unit 15 indicates that there is no difference value larger than the allowable difference value Val (step ST5 in FIG. 7: If No), the execution of the target value update program is restarted (step ST6 in FIG. 7).
In the example of FIG. 9, the execution of the target value update program is restarted at time t ₃ .

The target value output unit 17 of the master controller 10 outputs the target value T _tgt after the target value control processing by the target value control unit 16 to the state control unit 12 and the difference value calculation unit 14, and also the target value after the target value control processing. transmitting the value _{T tgt} slave controller 20 ₁ (step ST8 in FIG. 7).
Target value receiving section 23 of the slave controller 20 ₁ receives the target value T _tgt after transmission target value control process from the target value output unit 17 of the master controller 10, the target value T _tgt state control unit 24 and a slave and outputs to the controller 20 ₂ (step ST13 in FIG. 8).
Further, the target value receiving unit 23 of the slave controller 20 ₁ transfers the target value T _tgt to the slave controller 20 ₂ .
Target value receiving section 23 of the slave controller 20 ₂ receives a target value _{T tgt} transferred from the slave controller 20 _first target value receiving section 23, and outputs the target value _{T tgt} to the state control unit 24 (of FIG. 8 Step ST13).

The state control unit 12 of the master controller 10 sets the output heat amount of the heater 3 _M so that the measured value T _M output from the measured value acquisition unit 11 matches the target value T _tgt output from the target value output unit 17. By controlling, the temperature of the left end position of the controlled object 1 is controlled (step ST9 in FIG. 7).
The state control unit 24 of the slave controller 20 ₁ sets the heater 3 _S- so that the measured value T _S-1 output from the measured value acquisition unit 21 matches the target value T _tgt output from the target value receiving unit 23. by controlling the _first heat output, it controls the temperature of the central position of the control object 1 (step ST14 in FIG. 8).
State control unit 24 of the slave controller 20 _2, the measured value _{T S-2} output from the measurement value acquisition unit 21, to fit the output from the target value receiving section 23 a target value _{T tgt,} heater _{3 S-} The temperature of the right end position of the controlled object 1 is controlled by controlling the output heat quantity of ₂ (step ST14 of FIG. 8).

Hereinafter, the processes of steps ST2 to ST10 of FIG. 7 are repeatedly executed until the execution of the target value update program is completed, and when the execution of the target value update program is completed, the series of processes of the master controller 10 is completed.
Moreover, until the execution of the target value update is completed, the process of step ST11~ST15 8 is repeated, the execution of the target value update is completed, the series of processing of the slave controllers 20 _1, 20 ₂ is terminated To do.

As is clear from the above, according to the first embodiment, the measurement value T _M acquired by the measurement value acquisition unit 11 and the measurement values T _S-1 , T _S-2 received by the measurement value receiving unit 13 are obtained. a difference value [Delta] T _M from the target value _{T tgt, ΔT S-1,} ΔT S-2 to the difference value calculator 14 for calculating each difference value calculated by the difference value calculation unit 14 ΔT _M, ΔT _S-1 , ΔT _S-2 and the allowable difference value Val of the measured value with respect to the target value T _tgt are respectively compared, and the difference value ΔT _M , ΔT _S-1 , ΔT _S-2 is larger than the allowable difference value Val. A determination unit 15 that determines whether or not there is a difference value is provided. Then, when the determination unit 15 determines that the difference value larger than the allowable difference value Val does not exist, the target value control unit 16 continues the change of the target value T _tgt , and the determination unit 15 calculates the difference value less than the allowable difference value Val. If it is determined that there is a large difference value, the change in the target value T _tgt is stopped. Therefore, when the difference values ΔT _M , ΔT _S-1 , and ΔT _S-2 between the measured values T _M , T _S-1 , T _S-2 and the target value T _tgt are larger than the allowable difference value Val, the target values are set. A situation in which the value T _tgt is changed over time is avoided. As a result, it is possible to obtain an effect that the follow-up accuracy of the measured values T _M , T _S-1 , and T _S-2 with respect to the target value T _{tgt in} the stage until the execution of the target value update program is completed can be improved. ..

In the first embodiment, the measured value T _S-2 measurements T _M and the slave controller 20 ₂ of the master controller 10 indicates an example below the allowable lower limit value.
Either the measured value T _M of the master controller 10 or the measured values T _S-1 and T _S-2 of the slave controllers 20 ₁ and 20 ₂ is an allowable upper limit value (measured values T _M , T _S-1 and T _S-2). Allowable upper limit value) of.
Therefore, in the first embodiment, even if any of the measured values exceeds the allowable upper limit value, the target value control unit 16 sets the target value in the same manner as when the measured value falls below the allowable lower limit value. By stopping the execution of the value update program, the change of the target value T _tgt with the passage of time is stopped.
Further, when the target value control unit 16 stops the execution of the target value update program, and the determination result of the determination unit 15 indicates that there is no difference value larger than the allowable difference value Val, the target value update program By restarting the execution of, the change of the target value T _tgt is restarted.

FIG. 10 is an explanatory diagram showing the relationship between the target value T _tgt and the measured values T _M , T _S-1 , T _S-2 .
In Figure 10, with respect to change of the desired value T _tgt, the temperature rise of by the master controller 10 and the slave controller 20 ₂ indicates an example is steep. Therefore, after the execution of the target value update program, the difference value ΔT _M related to the measured value T _M of the master controller 10 is larger than the allowable difference value Val at the time t ₁ . That is, the measured value T _M of the master controller 10 is greater than the allowable upper limit value.
Further, after the start of the execution of the target value update at the time t _2, the difference value [Delta] T _S-2 according to the measured value T _S-2 of the slave controller 20 ₂ is larger than the allowable difference value Val. That is, the measured value T _{S- 2} of the slave controller 202 exceeds the allowable upper limit value.
In the example of FIG. 10, the target value control unit 16 stops the execution of the target value update program at time t ₁ after starting the execution of the target value update program.
Thus, it becomes a constant value to the target value _{T tgt} is not changed, since the target value _{T tgt} is not increased, the measured value _{T S-2} measurements _{T M} and the slave controller 20 ₂ of the master controller 10, gradually The target value T _tgt is approached and they come to coincide with each other. As a result, both the measured value T _M and the measured value T _S-2 are below the allowable upper limit value at time t ₃ .

In the first embodiment, an example is shown in which the temporal change of the target value T _tgt updated by the target value update program rises with the passage of time. An example of descending with time will be described.
FIG. 11 is an explanatory diagram showing the relationship between the target value T _tgt and the measured values T _M , T _S-1 , T _S-2 .
In Figure 11, with respect to change of the desired value T _tgt, lowering of the temperature by the master controller 10 and the slave controller 20 ₂ indicates an example is steep. Therefore, after the start of execution of the target value update at time t _1, the difference value [Delta] T _S-2 according to the measured value T _S-2 of the slave controller 20 ₂ is larger than the allowable difference value Val .. That is, the measured value T _{S- 2} of the slave controller 202 is below the allowable lower limit value.
Further, after the start of the execution of the target value update at the time t _2, the difference value [Delta] T _M of the measurement value T _M of the master controller 10 is larger than the allowable difference value Val. That is, the measured value T _M of the master controller 10 is below the allowable lower limit value.
In the example of FIG. 11, the target value control unit 16 stops the execution of the target value update program at time t ₁ after starting the execution of the target value update program.
Thus, it becomes a constant value to the target value _{T tgt} is not changed, since the target value _{T tgt} is not lowered, measurements _{T M} measured values _{T S-2} and the master controller 10 of the slave controller 20 ₂ is gradually The target value T _tgt is approached and they come to coincide with each other. As a result, at time t _3, both the measured values T _M and the measured value T _S-2 is equal to or higher than the allowable lower limit.

In the first embodiment, the example in which the number of controlled objects 1 is one is shown, but the master controller 10 and the slave controllers 20 ₁ and 20 ₂ may control the temperatures of different controlled objects 1. ..
In addition, in the first embodiment, an example in which the target value T _tgt is 1 is shown, but the master controller 10 and the slave controllers 20 ₁ and 20 ₂ measure the measured values T _M , T _S-1 , and T _S-. The temperature of the controlled object 1 may be controlled so that ₂ matches different target values T _tgt .

In the first embodiment, the state control device includes three controllers, and among the three controllers included in the state control device, one controller is the master controller 10 and the remaining two controllers are slave controllers 20 ₁ and 20 _2. An example is described.
The number of slave controllers included in the state control device is not limited to two, and the state control device may include one slave controller or three or more slave controllers.

Embodiment 2.
In the second embodiment, an example in which the master controller 10 has substantially the same configuration as the slave controllers 20 ₁ and 20 ₂ will be described.
When the master controller 10 has substantially the same configuration as the slave controllers 20 ₁ and 20 ₂ , it is necessary to separately provide a controller 60 that changes the target value T _tgt with the passage of time.
In the second embodiment, an example in which the controller 60 is provided separately from the master controller 10 will be described.

12 is a block diagram showing a state control device according to a second embodiment of the present invention.
In FIG. 12, the controller 60 executes the target value update program to change the target value T _tgt with the passage of time.
FIG. 12 shows an example in which the controller 60, the master controller 10, and the slave controllers 20 ₁ and 20 ₂ are cascade-connected. That is, the controller 60, the master controller 10, and the slave controllers 20 ₁ and 20 ₂ are connected in cascade.
However, the connection form is not limited to the cascade connection. Therefore, the control unit 60 and the master controller 10 is connected, the controller 60 and the slave controller 20 ₁ is connected and the controller 60 and the slave controller 20 ₂ may be a form of connection is connected.

13 is a block diagram showing a controller 60 of the state control device according to the second embodiment of the present invention, and FIG. 14 is a hardware block diagram showing a hardware configuration example of the controller 60.
In FIG. 13, the measurement value receiving section 61 is realized by the measurement value receiving circuit 71 shown in FIG. 14, for example.
The measurement value receiving unit 61 receives the measurement values T _M , T _S-1 , and T _S-2 transmitted from the master controller 10, respectively.

The difference value calculation unit 62 is realized by the difference value calculation circuit 72 shown in FIG. 14, for example.
The difference value calculation unit 62 has a difference value ΔT between the respective measured values T _M , T _S-1 , T _S-2 received by the measured value receiving unit 61 and the target value T _tgt output from the target value output unit 65. Calculate _M , ΔT _S-1 , and ΔT _S-2 .
The judgment unit 63 is realized by the judgment circuit 73 shown in FIG. 14, for example.
The determination unit 63 compares the difference values ΔT _M , ΔT _S-1 , and ΔT _S-2 calculated by the difference value calculation unit 62 with the allowable difference value Val of the measured value with respect to the target value T _tgt , and the difference value ΔT _It is determined whether or not a difference value larger than the allowable difference value Val exists in _M , ΔT _S-1 , and ΔT _S-2 .

The target value control unit 64 is realized by the target value control circuit 74 shown in FIG. 14, for example, and carries out a target value control process for controlling the target value T _tgt .
That is, the target value control unit 64 starts execution of the target value update program that changes the target value T _tgt with the passage of time.
After starting the execution of the target value update program, the target value control unit 64 continues execution of the target value update program when the determination unit 63 determines that there is no difference value larger than the allowable difference value Val. , The change of the target value T _tgt is continued.
When the determination unit 63 determines that the difference value larger than the allowable difference value Val exists, the target value control unit 64 stops the execution of the target value update program to stop the change of the target value T _tgt .
When the determination unit 63 determines that there is no difference value larger than the allowable difference value Val after stopping the execution of the target value update program, the target value control unit 64 restarts the execution of the program to set the target value. Restart the change in T _tgt .
The target value output unit 65 is realized by the target value output circuit 75 shown in FIG. 14, for example.
The target value output unit 65 outputs the target value T _tgt after the target value control processing by the target value control unit 64 to the difference value calculation unit 62, and also transmits the target value T _tgt after the target value control processing to the master controller 10. ..

In FIG. 13, each of the measured value receiving unit 61, the difference value calculating unit 62, the determining unit 63, the target value control unit 64, and the target value output unit 65, which are the constituent elements of the controller 60, are dedicated as shown in FIG. It is supposed to be realized by the hardware of. That is, it is assumed that the measurement value receiving circuit 71, the difference value calculating circuit 72, the determining circuit 73, the target value control circuit 74, and the target value output circuit 75 are realized.
The measurement value reception circuit 71, the difference value calculation circuit 72, the determination circuit 73, the target value control circuit 74, and the target value output circuit 75 are, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC. , FPGA, or a combination thereof.
However, the components of the controller 60 are not limited to those realized by dedicated hardware, and the controller 60 may be realized by a computer as shown in FIG. 6, for example.
When the controller 60 is implemented by a computer, for example, the computer may execute the processing procedure of the measurement value receiving unit 61, the difference value calculating unit 62, the determining unit 63, the target value control unit 64, and the target value output unit 65. The program may be stored in the memory 51 shown in FIG. 6, for example, and the processor 52 of the computer may execute the program stored in the memory 51.

16 is a block diagram showing a master controller 10 of a state control device according to Embodiment 2 of the present invention, and FIG. 17 is a hardware block diagram showing a hardware configuration example of the master controller 10.
16, the measurement value acquisition unit 81 of the master controller 10 is realized by, for example, the measurement value acquisition circuit 91 shown in FIG.
The measured value acquisition unit 81 acquires the measured value T _M indicating the temperature of the controlled object 1 output from the temperature sensor 2 _M, and also measures the measured values T _S-1 and T _S-2 transmitted from the slave controller 20 _1. To receive.
The measurement value transmission unit 82 of the master controller 10 is realized by, for example, the measurement value transmission circuit 92 shown in FIG. 17, and the measurement values T _M , T _S−1 , and T _S− output from the measurement value acquisition unit 81. ₂ is transmitted to the controller 60.

The target value receiving unit 83 of the master controller 10 is realized by, for example, the target value receiving circuit 93 shown in FIG.
The target value reception unit 83 receives the target value T _tgt after the target value control processing transmitted from the target value output unit 65 of the controller 60, outputs the target value T _tgt to the state control unit 84, and Transfer T _tgt to slave controller 20 ₁ .
The state controller 84 of the master controller 10 is realized by the state control circuit 94 shown in FIG. 17, for example.
The state control unit 84 outputs the heat quantity of the heater 3 _M so that the measured value T _M acquired by the measured value acquisition unit 81 matches the target value T _tgt after the target value control process output from the target value receiving unit 83. Is controlled to control the temperature of the controlled object 1.

In FIG. 16, the measurement value acquisition unit 81, the measurement value transmission unit 82, the target value reception unit 83, and the state control unit 84, which are the constituent elements of the master controller 10, are realized by dedicated hardware as shown in FIG. It is supposed to be done. That is, it is assumed that it is realized by the measurement value acquisition circuit 91, the measurement value transmission circuit 92, the target value reception circuit 93, and the state control circuit 94.
The measurement value acquisition circuit 91, the measurement value transmission circuit 92, the target value reception circuit 93, and the state control circuit 94 are, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or A combination of these is applicable.
However, the constituent elements of the master controller 10 are not limited to those realized by dedicated hardware, and the master controller 10 may be realized by a computer as shown in FIG. 6, for example.
When the master controller 10 is realized by a computer, for example, a program for causing a computer to execute the processing procedure of the measurement value acquisition unit 81, the measurement value transmission unit 82, the target value reception unit 83, and the state control unit 84 is illustrated in FIG. The program may be stored in the memory 51 shown in FIG. 1 and the processor 52 of the computer may execute the program stored in the memory 51.

Next, the operation will be described.
The configuration is substantially the same as that of the first embodiment except that the device that executes the target value update program is the controller 60 instead of the master controller 10.
The operations of the slave controllers 20 ₁ and 20 ₂ are the same as those in the first embodiment, and thus detailed description thereof will be omitted.
FIG. 15 is a flowchart showing the processing procedure of the controller 60.
FIG. 18 is a flowchart showing the processing procedure of the master controller 10.
The operations of the controller 60 and the master controller 10 will be described below with reference to FIGS. 15 and 18.

First, the target value control unit 64 of the controller 60 starts execution of the target value update program (step ST21 in FIG. 15).
As a result, the target value T _tgt is changed over time.

The measurement value acquisition unit 81 of the master controller 10 acquires the measurement value T _M indicating the temperature of the control target 1 output from the temperature sensor 2 _M every time a preset time elapses, and also the slave controller 20 ₁ The measurement values T _S-1 and T _S-2 transmitted from are received (step ST31 in FIG. 18).
The measurement value acquisition unit 81 outputs the measurement values T _M , T _S-1 , and T _S-2 to the measurement value transmission unit 82, and outputs the measurement value T _M to the state control unit 84.
Measured value transmission section 82 of the master controller 10, measurements _T M from the measured value obtaining section _81, when receiving the _{T S-1, T S-} 2 , the measured value _{T M,} the _{T S-1, T S-} 2 It transmits to the controller 60 (step ST32 of FIG. 18).

Measured value receiver 61 of the controller 60, slave controller ₂₀₁ measurements transmitted from _{T M, T S-1,} receives a _{T S-2,} the measured value _{T M, T S-1,} T S- ₂ is output to the difference value calculation unit 62 (step ST22 in FIG. 15).
When the difference value calculation unit 62 of the controller 60 receives the measurement values T _M , T _S-1 , and T _S-2 from the measurement value receiving unit 61, as shown in the above equations (1) to (3), Difference values ΔT _M , ΔT _S-1 , ΔT _S-2 between the measured values T _M , T _S-1 , T _S-2 and the target value T _tgt output from the target value output unit 65 are calculated (Fig. 15 step ST23).

When the difference value calculation unit 62 calculates the difference values ΔT _M , ΔT _S-1 , ΔT _S-2 , the determination unit 63 of the controller 60 calculates the difference values ΔT _M , ΔT _S-1 , ΔT _S-2 and the target value. The allowable difference value Val of the measured value with respect to the value T _tgt is compared with each other.
Then, the determination unit 63 refers to the comparison result of the difference values ΔT _M , ΔT _S-1 , ΔT _S-2 and the allowable difference value Val, and determines the difference values ΔT _M , ΔT _S-1 , ΔT _S-2 . It is determined whether or not there is a difference value larger than the allowable difference value Val, and the determination result is output to the target value control unit 64 (step ST24 in FIG. 15).

When the determination result of the determination unit 63 indicates that there is no difference value larger than the allowable difference value Val (step ST24 in FIG. 15: No), the target value control unit 64 of the controller 60 sets the target value. The execution of the update program is continued (step ST25 in FIG. 15).
In the example of FIG. 9, after the execution of the target value updating program is started, the execution of the target value updating program is continued until before the time t ₁ .

The target value control unit 64 executes the target value update program when the determination result of the determination unit 63 indicates that there is a difference value larger than the allowable difference value Val (step ST24 in FIG. 15: Yes). To stop the change of the target value T _tgt (step ST26 in FIG. 15).
In the example of FIG. 9, after the execution of the target value updating program is started, the execution of the target value updating program is stopped at time t ₁ .

After the execution of the target value update program is stopped, the target value control unit 64 indicates that the determination result of the determination unit 63 indicates that there is no difference value larger than the allowable difference value Val (step ST24 in FIG. 15: If No), the execution of the target value update program is restarted (step ST25 in FIG. 15).
In the example of FIG. 9, the execution of the target value update program is restarted at time t ₃ .

The target value output unit 65 of the controller 60 outputs the target value T _tgt after the target value control processing by the target value control unit 64 to the difference value calculation unit 62, and also masters the target value T _tgt after the target value control processing. It transmits to the controller 10 (step ST27 of FIG. 15).
The target value receiving unit 83 of the master controller 10 receives the target value T _tgt after the target value control processing transmitted from the target value output unit 65 of the controller 60, and outputs the target value T _tgt to the state control unit 84. (Step ST33 of FIG. 18).
The target value receiving unit 83 transfers the target value _{T tgt} slave controller 20 ₁ (step ST34 in FIG. 18).

The state control unit 84 of the master controller 10 sets the output heat amount of the heater 3 _M so that the measured value T _M output from the measured value acquisition unit 81 matches the target value T _tgt output from the target value receiving unit 83. By controlling, the temperature of the controlled object 1 is controlled (step ST35 of FIG. 18).

Hereinafter, the processes of steps ST22 to ST28 in FIG. 15 are repeatedly executed until the execution of the target value update program is completed, and when the execution of the target value update program is completed, the series of processes of the controller 60 are ended.
Further, the processes of steps ST31 to ST36 in FIG. 18 are repeatedly executed until the execution of the target value update program is completed, and when the execution of the target value update program is completed, the series of processes of the master controller 10 are ended.
Moreover, until the execution of the target value update is completed, the process of step ST11~ST15 8 is repeated, the execution of the target value update is completed, the series of processing of the slave controllers 20 _1, 20 ₂ is terminated To do.

As is clear from the above, even when the controller 60, not the master controller 10, executes the target value update program, as in the first embodiment, the execution of the target value update program is completed. The effect that the tracking accuracy of the measured values T _M , T _S-1 , and T _S-2 with respect to the target value T _tgt at the stage can be improved can be obtained.

As described above, the content of the present invention has been described based on the embodiment, but the content of the present invention is not limited to the content of the embodiment, and the content described in the claims and the equivalent range thereof. Of course, it can be changed within.

1 control object, 2 _M , 2 _S-1 , 2 _S-2 temperature sensor, 3 _M , 3 _S-1 , 3 _S-2 heater, 10 master controller, 11 measured value acquisition part, 12 state control part, 13 measurement value receiving unit, 14 a difference value calculation unit, 15 determining unit, 16 reference value control unit, 17 a target value output _section, 20 1, 20 ₂ slave controller, 21 measured value acquisition unit, 22 measurement value transmission section 23 a target value received Section, 24 state control section, 31 measured value acquisition circuit, 32 state control circuit, 33 measured value receiving circuit, 34 difference value calculation circuit, 35 determination circuit, 36 target value control circuit, 37 target value output circuit, 41 measured value acquisition Circuit, 42 measurement value transmitting circuit, 43 target value receiving circuit, 44 state control circuit, 51 memory, 52 processor, 60 controller, 61 measurement value receiving section, 62 difference value calculating section, 63 judging section, 64 target value control section , 65 target value output unit, 71 measured value receiving circuit, 72 difference value calculation circuit, 73 determination circuit, 74 target value control circuit, 75 target value output circuit, 81 measured value acquisition unit, 82 measured value transmitting unit, 83 target value Reception unit, 84 State control unit, 91 Measurement value acquisition circuit, 92 Measurement value transmission circuit, 93 Target value reception circuit, 94 State control circuit.

Claims (4)

Obtaining a measured value indicating the state of the controlled object, so that the measured value matches a target value that changes over time, a plurality of controllers that control the state of the controlled object,
A difference value calculation unit that calculates a difference value between each of the measured values and the target value acquired by the plurality of controllers,
Among the plurality of difference values calculated by the difference value calculation unit, a determination unit that determines whether or not there is a difference value larger than the allowable difference value of the measured value with respect to the target value,
When it is determined by the determination unit that there is no difference value larger than the allowable difference value, the change of the target value is continued, and the determination unit determines that there is a difference value larger than the allowable difference value. And a target value control unit that executes a target value control process for stopping the change of the target value ,
Of the plurality of controllers, one controller is a master controller and the remaining controllers are slave controllers,
The slave controller is a measurement value acquisition unit that acquires a measurement value indicating the state of the control target, a measurement value transmission unit that transmits the measurement value acquired by the measurement value acquisition unit, and the master controller is transmitted. A target value receiving unit that receives the target value, and a state control that controls the state of the control target so that the measurement value acquired by the measurement value acquiring unit matches the target value received by the target value receiving unit. Section and
The master controller is
A measurement value acquisition that includes the difference value calculation unit, the determination unit, and the target value control unit, acquires a measurement value indicating the state of the control target, and outputs the acquired measurement value to the difference value calculation unit Unit, the measurement value acquired by the measurement value acquisition unit to match the target value, a state control unit for controlling the state of the control target, and receives the measurement value transmitted from the slave controller, A measurement value receiving unit that outputs the received measurement value to the difference value calculation unit, and a target value output unit that outputs the target value after the target value control processing by the target value control unit to the state control unit and the slave controller. A state control device comprising: If the target value control unit determines that there is no difference value larger than the allowable difference value by the determination unit after starting the execution of the program for changing the target value with the passage of time, By continuing the execution of the program, the change of the target value is continued, and when it is determined by the determination unit that there is a difference value larger than the allowable difference value, by stopping the execution of the program, After stopping the change of the target value, after stopping the execution of the program, if it is determined by the determination unit that there is no difference value larger than the allowable difference value, by restarting the execution of the program, 2. The state control device according to claim 1, wherein the change of the target value is restarted. A plurality of controllers obtain a measurement value indicating the state of the control target, the measurement value to match the target value that changes with the passage of time, control the state of the control target,
The difference value calculation unit calculates a difference value between each of the measurement values acquired by the plurality of controllers and the target value,
The determination unit determines whether or not there is a difference value larger than the allowable difference value of the measured value with respect to the target value among the plurality of difference values calculated by the difference value calculation unit,
When the target value control unit determines that the difference value larger than the allowable difference value does not exist by the determination unit, the change of the target value is continued, and the difference value larger than the allowable difference value by the determination unit. When it is determined that there is a target value control process for stopping the change of the target value ,
Of the plurality of controllers, one controller is a master controller and the remaining controllers are slave controllers,
The slave controller includes a measurement value acquisition unit, a measurement value transmission unit, a target value reception unit, and a state control unit,
The measured value acquisition unit acquires a measured value indicating the state of the control target,
The measurement value transmission unit transmits the measurement value acquired by the measurement value acquisition unit,
The target value receiving unit receives the target value transmitted from the master controller,
The state control unit controls the state of the control target so that the measurement value acquired by the measurement value acquisition unit matches the target value received by the target value receiving unit,
The master controller includes the difference value calculation unit, the determination unit and the target value control unit, a measurement value acquisition unit, a state control unit, a measurement value receiving unit, a target value output unit,
The measurement value acquisition unit acquires a measurement value indicating the state of the control target, and outputs the acquired measurement value to the difference value calculation unit,
The state control unit controls the state of the control target so that the measurement value acquired by the measurement value acquisition unit matches the target value,
The measurement value receiving unit receives the measurement value transmitted from the slave controller, and outputs the received measurement value to the difference value calculation unit,
The state control method, wherein the target value output unit outputs the target value after the target value control processing by the target value control unit to the state control unit and the slave controller. A measurement value acquisition unit that acquires a measurement value indicating the state of the controlled object,
A state control unit that controls the state of the control target so that the measurement value acquired by the measurement value acquisition unit matches the target value that changes with the passage of time,
A measured value indicating the state of the controlled object matches the target value, and a measured value receiving unit that receives the measured value from a slave controller that controls the state of the controlled object,
A difference value calculation unit that calculates a difference value between the measurement value received by the measurement value acquisition unit and the measurement value received by the measurement value reception unit, and the target value,
Among the plurality of difference values calculated by the difference value calculation unit, a determination unit that determines whether or not there is a difference value larger than the allowable difference value of the measured value with respect to the target value,
When it is determined by the determination unit that there is no difference value larger than the allowable difference value, the change of the target value is continued, and the determination unit determines that there is a difference value larger than the allowable difference value. In this case, a target value control unit that carries out a target value control process for stopping the change of the target value,
A master controller used in a state control device, comprising: a target value after the target value control processing by the target value control unit is output to the state control unit and the slave controller.

Images