JP7401331B2 - Control device and control method - Google Patents

Description

The present invention relates to a control device and a control method that use both feedback control and feedforward control.

A method of adding a feedforward amount to PID control, which is a typical feedback control (hereinafter referred to as feedforward+feedback control), has been proposed (see Patent Document 1).

In particular, when applying such feedforward + feedback control to a heating device as shown in FIG. 17, the inventor set the lower limit value OL and upper limit value OH of the manipulated variable MV to normal values in order to improve practicality. We have proposed a feedforward method that asymptotically converges the feedforward amount MV_P (Patent Document 2) and a feedforward method that asymptotically converges the feedforward amount MV_P to zero (Patent Document 3).

The heating apparatus in FIG. 17 includes a heat treatment furnace 100 that heats a workpiece to be processed, an electric heater 101, a temperature sensor 102 that measures the temperature inside the heat treatment furnace 100, and a temperature controller that controls the temperature inside the heat treatment furnace 100. 103, a power regulator 104, a power supply circuit 105, and a PLC (Programmable Logic Controller) 106 that controls the entire heating device. The temperature controller 103 calculates the manipulated variable MV so that the temperature PV (controlled variable) measured by the temperature sensor 102 matches the temperature set value SP. The power regulator 104 determines power according to the manipulated variable MV, and supplies the determined power to the electric heater 101 through the power supply circuit 105.

The feedforward+feedback control proposed by the inventor in Patent Document 3 is close to typical feedforward control. The technique proposed by the inventor in Patent Document 3 will be explained using the block diagram of the control system shown in FIG. P in FIG. 18 indicates a controlled object.

The manipulated variable calculation unit 201 receives the set value SP and the controlled variable PV, and calculates the manipulated variable MV by performing a PID control calculation such as the following transfer function equation so that the controlled variable PV matches the set value SP. (In the present invention, the basic operation amount MV) is calculated.
MV=(100/Pb) {1+(1/Tis)+Tds}(SP-PV)
...(1)
Pb is a proportional band, Ti is an integral time, Td is a differential time, and s is a Laplace operator.

When the operation amount addition value FF_P (FF_P≠0), which is the target value of the feedforward addition amount to the basic operation amount MV, is input, the addition amount calculation unit 204 calculates a zero value after approaching the operation amount addition value FF_P. A manipulated variable addition amount MV_P that gradually converges to is calculated. Specifically, the addition amount calculation unit 204 calculates the operation amount addition amount MV_P using the following transfer function equation.
MV_P={Kxs/(1+Tfs) ² }FF_P...(2)

Tf in equation (2) is a parameter that defines the time for gradually converging the manipulated variable addition amount MV_P. Kx is a parameter that defines the size of feedforward. FIG. 19 shows an example of a change in the operation amount addition amount MV_P. In the example of FIG. 19, the operation amount addition value FF_P=50%, the parameter Tf=100sec. , the parameter Kx=275.

When a manipulated variable subtraction value FF_M (FF_M≠0), which is a target value of a feedforward subtraction amount with respect to the basic manipulated variable MV, is input, the subtraction amount calculation unit 205 calculates a zero value after approaching the manipulated variable subtraction value FF_M. A manipulated variable subtraction amount MV_M that gradually converges to is calculated. Specifically, the subtraction amount calculating unit 205 calculates the manipulated variable subtraction amount MV_M using the following transfer function equation.
MV_M={Kxs/(1+Tfs) ² }FF_M...(3)

Tf in equation (3) is a parameter that defines the time for gradually converging the manipulated variable subtraction amount MV_M. The operation amount changing unit 206 adds the operation amount addition amount MV_P calculated by the addition amount calculation unit 204 to the basic operation amount MV calculated by the operation amount calculation unit 201, and further adds the operation amount addition amount MV_P calculated by the addition amount calculation unit 205. The result of subtracting the manipulated variable subtraction amount MV_M is calculated as the manipulated variable MV_F (in the present invention, it is referred to as the actual manipulated variable MV_F).
MV_F=MV+MV_P-MV_M...(4)

The limit processing unit 207 performs a lower limit process that limits the actual manipulated variable MV_F calculated by the manipulated variable changing unit 206 to a value equal to or greater than a predetermined manipulated variable lower limit value OL, and sets the actual manipulated variable MV_F to a predetermined manipulated variable upper limit value OH. Upper limit processing is performed to limit the value to the following values. The actual manipulated variable MV_F' subjected to limit processing by the limit processing unit 207 is output to the controlled object P.

According to the technology proposed in Patent Document 3, the basic operation amount MV is changed by the feedforward amount to reduce defects that occur with discontinuous control such as returning the feedforward amount to 0% after a certain period of time has elapsed. be able to.

However, ordinary operators (control technology users) who are not control technology experts are rarely able to appropriately evaluate the results of feedforward control execution. The feedforward operation amount addition amount (in the present invention, to distinguish it from Patent Document 3, it is referred to as feedforward amount MV_X) must be adjusted while being appropriately evaluated. If the feedforward amount MV_X is inappropriate, the effect of feedforward control will deteriorate. However, it is difficult for ordinary operators who are not experts in control technology to appropriately adjust the feedforward amount MV_X to enhance the effect of feedforward control.

Japanese Patent Application Publication No. 2007-102816 JP2019-101846A Japanese Patent Application Publication No. 2019-101847

The present invention was made to solve the above problems, and an object of the present invention is to provide a control device and a control method that can reasonably estimate an appropriate amount of feedforward.

The control device of the present invention includes a manipulated variable calculation section configured to calculate a first manipulated variable using a set value and a controlled variable as input, and a manipulated variable calculation section that takes a significant value before the application of a disturbance and becomes non-significant after the disturbance is applied. a feedforward calculation section configured to calculate a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable having a value of . a feedforward execution unit configured to add the first feedforward amount to a first manipulated variable; and a second manipulated variable that is configured to add the first feedforward amount to the first manipulated variable. a manipulated variable output unit configured to output to a target; and a manipulated variable output unit configured to output only the first manipulated variable when the first feedforward amount is zero during a prescribed first trial period in which the trigger variable is input. for calculating a second feedforward amount necessary for suppressing the step disturbance, based on the difference between the second manipulated variable before and after the disturbance recovery response when outputted to the controlled object as the second manipulated variable; a first estimation unit configured to estimate a first parameter; and a total amount of the second feedforward amount when it is assumed that the second feedforward amount is output in the first trial period. a total amount calculation unit configured to calculate based on the first parameter, and a total amount of the second feedforward amount from the total amount of change in the second manipulated variable during the first trial period. a second estimator configured to estimate a second parameter for calculating a third feedforward amount necessary for suppressing the impulse disturbance based on the subtraction result; The second feedforward amount calculated based on the first parameter and the second feedforward amount calculated based on the second parameter when the trigger variable is input after the first trial period. The sum with the third feedforward amount is set as the first feedforward amount , and the total amount calculation unit calculates the total amount of the second feedforward amount in a prescribed second trial period in which the trigger variable is input. is calculated based on the first parameter, and the second estimation unit calculates the second amount of change in the second trial period from the total amount of change in the second manipulated variable in the second trial period. The present invention is characterized in that the second parameter is updated based on the result of subtracting the total feedforward amount .

The control device of the present invention also includes a manipulated variable calculation section configured to calculate a first manipulated variable by inputting a set value and a controlled variable, and a manipulated variable calculation section that takes a significant value before the application of the disturbance and after the disturbance is applied. A feedforward calculation section configured to calculate a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable having a non-significant value, and a feedforward amount calculated by the operation amount calculation section. a feedforward execution unit configured to add the first feedforward amount to the first manipulated variable; and a second manipulated variable that is configured to add the first feedforward amount to the first manipulated variable. a manipulated variable output unit configured to output the first manipulated variable to a controlled object; Calculation of the second feedforward amount necessary for suppressing the step disturbance based on the difference between the second manipulated variable before and after the disturbance recovery response when only the second manipulated variable is output to the controlled object as the second manipulated variable. a first estimation unit configured to estimate a first parameter for the second feedforward amount, and the second feedforward amount when it is assumed that the second feedforward amount is output in the first trial period; a total amount calculation unit configured to calculate the total amount of the second feedforward amount based on the first parameter; a second estimator configured to estimate a second parameter for calculating a third feedforward amount necessary for suppressing impulse disturbance based on the result of subtracting the total amount; The forward calculation unit calculates the amount based on the second feedforward amount calculated based on the first parameter and the second parameter when the trigger variable is input after the first trial period. The sum of the third feedforward amount and the third feedforward amount is defined as the first feedforward amount, and the second feedforward amount is an amount that gradually converges from zero to the value of the first parameter, and the second feedforward amount is an amount that gradually converges from zero to the value of the first parameter. The first parameter is Kx1, the time constant that defines the time to gradually converge the second feedforward amount is Tf, the coefficient for adjusting the time constant is A, the trigger variable is FF_X, and the Laplace operator is s. When this happens, it is characterized by being calculated by [Kx1/{(1+ATfs)(1+(2.0-A)Tfs)}]FF_X.
The control device of the present invention also includes a manipulated variable calculation section configured to calculate a first manipulated variable by inputting a set value and a controlled variable, and a manipulated variable calculation section that takes a significant value before the application of the disturbance and after the disturbance is applied. A feedforward calculation section configured to calculate a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable having a non-significant value, and a feedforward amount calculated by the operation amount calculation section. a feedforward execution unit configured to add the first feedforward amount to the first manipulated variable; and a second manipulated variable that is configured to add the first feedforward amount to the first manipulated variable. a manipulated variable output unit configured to output the first manipulated variable to a controlled object; Calculation of the second feedforward amount necessary for suppressing the step disturbance based on the difference between the second manipulated variable before and after the disturbance recovery response when only the second manipulated variable is output to the controlled object as the second manipulated variable. a first estimation unit configured to estimate a first parameter for the second feedforward amount, and the second feedforward amount when it is assumed that the second feedforward amount is output in the first trial period; a total amount calculation unit configured to calculate the total amount of the second feedforward amount based on the first parameter; a second estimator configured to estimate a second parameter for calculating a third feedforward amount necessary for suppressing impulse disturbance based on the result of subtracting the total amount; The forward calculation unit calculates the amount based on the second feedforward amount calculated based on the first parameter and the second parameter when the trigger variable is input after the first trial period. The sum of the third feedforward amount and the third feedforward amount is defined as the first feedforward amount, and the third feedforward amount is an amount that gradually converges to zero after approaching the value of the second parameter. , the second parameter is Kx2, the time constant that defines the time to gradually converge the third feedforward amount is Tf, the coefficient for adjusting the time constant is A, the trigger variable is FF_X, and the Laplace operator It is characterized in that it is calculated by [Kx2s/{(1+ATfs)(1+(2.0-A)Tfs)}]FF_X, where is s.

Further, in one configuration example of the control device of the present invention, the first estimating unit is characterized in that the difference between the second operation amount before and after the disturbance recovery response is the value of the first parameter. It is something.
Further, in one configuration example of the control device of the present invention, the second estimator subtracts the total amount of the second feedforward amount from the total amount of change in the second manipulated variable, and The present invention is characterized in that a value obtained by multiplying the calculation cycle of the operation amount and the first, second, and third feedforward amounts by the result of the subtraction is set as the value of the second parameter.

Further, the control method of the present invention includes a first step of calculating a first manipulated variable by inputting a set value and a control amount, and a value that becomes a significant value before the application of the disturbance and becomes a non-significant value after the application of the disturbance. a second step of calculating a first feedforward amount necessary for suppressing the disturbance according to the input of a trigger variable; and a third step of adding the first feedforward amount to the first manipulated variable. a fourth step of outputting a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable to the controlled object; The second manipulated variable before and after the disturbance recovery response when only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during the trial period. a fifth step of estimating a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance based on the difference; and a fifth step of estimating the second feedforward amount in the first trial period. a sixth step of calculating the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output; and the amount of change in the second manipulated variable during the first trial period. a seventh step of estimating a second parameter for calculating the third feedforward amount necessary for suppressing the impulse disturbance, based on the result of subtracting the total amount of the second feedforward amount from the total amount of , an eighth step of calculating the total amount of the second feedforward amount based on the first parameter in a prescribed second trial period in which the trigger variable is input; a ninth step of updating the second parameter based on a result of subtracting the total amount of the second feedforward amount from the total amount of change in the second manipulated variable during the second trial period. , the second step includes, when the trigger variable is input after the first trial period, the second feedforward amount calculated based on the first parameter and the second parameter. The present invention is characterized by including the step of setting the sum of the third feedforward amount and the third feedforward amount calculated based on the above as the first feedforward amount.

Further, the control method of the present invention includes a first step of calculating a first manipulated variable by inputting a set value and a control amount, and a value that becomes a significant value before the application of the disturbance and becomes a non-significant value after the application of the disturbance. a second step of calculating a first feedforward amount necessary for suppressing the disturbance according to the input of a trigger variable; and a third step of adding the first feedforward amount to the first manipulated variable. a fourth step of outputting a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable to the controlled object; The second manipulated variable before and after the disturbance recovery response when only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during the trial period. a fifth step of estimating a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance based on the difference; and a fifth step of estimating the second feedforward amount in the first trial period. a sixth step of calculating the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output; and the amount of change in the second manipulated variable during the first trial period. a seventh step of estimating a second parameter for calculating the third feedforward amount necessary for suppressing the impulse disturbance, based on the result of subtracting the total amount of the second feedforward amount from the total amount of The second step includes calculating the second feedforward amount calculated based on the first parameter and the second feedforward amount when the trigger variable is input after the first trial period. The second feedforward amount includes the step of setting the sum of the third feedforward amount calculated based on the parameter as the first feedforward amount, and the second feedforward amount changes from zero to the value of the first parameter. It is an amount that gradually converges, and the first parameter is Kx1, the time constant that defines the time for gradually converging the second feedforward amount is Tf, the coefficient for adjusting the time constant is A, and the trigger variable. When FF_X is FF_X and Laplace operator is s, it is characterized by being calculated by [Kx1/{(1+ATfs)(1+(2.0-A)Tfs)}]FF_X.
Further, the control method of the present invention includes a first step of calculating a first manipulated variable by inputting a set value and a control amount, and a value that becomes a significant value before the application of the disturbance and becomes a non-significant value after the application of the disturbance. a second step of calculating a first feedforward amount necessary for suppressing the disturbance according to the input of a trigger variable; and a third step of adding the first feedforward amount to the first manipulated variable. a fourth step of outputting a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable to the controlled object; The second manipulated variable before and after the disturbance recovery response when only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during the trial period. a fifth step of estimating a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance based on the difference; and a fifth step of estimating the second feedforward amount in the first trial period. a sixth step of calculating the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output; and the amount of change in the second manipulated variable during the first trial period. a seventh step of estimating a second parameter for calculating the third feedforward amount necessary for suppressing the impulse disturbance, based on the result of subtracting the total amount of the second feedforward amount from the total amount of The second step includes calculating the second feedforward amount calculated based on the first parameter and the second feedforward amount when the trigger variable is input after the first trial period. The step includes the step of setting the sum of the third feedforward amount calculated based on the parameter as the first feedforward amount, and the third feedforward amount approaches the value of the second parameter. It is an amount that gradually converges to zero, the second parameter is Kx2, the time constant that defines the time for gradually converging the third feedforward amount is Tf, the coefficient for adjusting the time constant is A, The trigger variable is calculated by [Kx2s/{(1+ATfs)(1+(2.0-A)Tfs)}]FF_X, where FF_X is the trigger variable and s is the Laplace operator.

Further, in one configuration example of the control method of the present invention, the fifth step includes a step of setting the difference between the second operation amount before and after the disturbance recovery response as the value of the first parameter. That is.
In one configuration example of the control method of the present invention, the seventh and ninth steps subtract the total amount of the second feedforward amount from the total amount of change in the second manipulated variable, and 1 operation amount and the first, second, and third feedforward amounts, the method is characterized by including the step of setting a value of the second parameter to a value obtained by multiplying the calculation result of the subtraction result. It is.

According to the present invention, by providing the first estimating section, the total amount calculating section, and the second estimating section, an appropriate first feedforward amount can be determined based on the execution result (trial result) of disturbance recovery control. It can be reasonably estimated. As a result, the present invention can enhance the effect of feedforward control.

Further, in the present invention, the second estimation unit subtracts the total amount of the second feedforward amount in the second trial period from the total amount of change in the second manipulated variable in the second trial period. By updating the second parameter based on the subtraction result, the first feedforward amount can be estimated with even higher accuracy.

FIG. 1 is a block diagram showing the configuration of a control device according to an embodiment of the present invention. FIG. 2 is a block diagram of a control system according to an embodiment of the present invention. FIG. 3 is a flowchart illustrating the operation of the control device according to the embodiment of the present invention. FIG. 4 is a flowchart illustrating the operation of the control device according to the embodiment of the present invention. FIG. 5 is a diagram showing an example of a change in the feedforward amount according to the embodiment of the present invention. FIG. 6 is a diagram showing an example of a change in the feedforward amount according to the embodiment of the present invention. FIG. 7 is a diagram showing an example of a change in the feedforward amount according to the embodiment of the present invention. FIG. 8 is a diagram showing simulation results when only feedback control is executed without executing feedforward control in the embodiment of the present invention. FIG. 9 is a diagram showing simulation results when only feedback control is executed without executing feedforward control in the embodiment of the present invention. FIG. 10 is a diagram showing simulation results when only feedback control is executed without executing feedforward control in the embodiment of the present invention. FIG. 11 is a diagram showing simulation results when feedforward control and feedback control are executed in the embodiment of the present invention. FIG. 12 is a diagram showing simulation results of the feedforward amount when feedforward control and feedback control are executed in the embodiment of the present invention. FIG. 13 is a diagram showing simulation results when feedforward control and feedback control are executed in the embodiment of the present invention. FIG. 14 is a diagram showing simulation results of the feedforward amount when feedforward control and feedback control are executed in the embodiment of the present invention. FIG. 15 is a diagram showing another example of the feedforward amount. FIG. 16 is a block diagram showing an example of the configuration of a computer that implements a control device according to an embodiment of the present invention. FIG. 17 is a block diagram showing the configuration of the heating device. FIG. 18 is a block diagram of a feedback+feedforward control system. FIG. 19 is a diagram showing an example of a change in the amount of operation amount addition in feedback+feedforward control.

[Principle of the invention 1]
In the present invention, the disturbance recovery response to which the technique proposed in Patent Document 3 is particularly applicable is targeted. The applicable disturbances are roughly divided into two types: impulse disturbances and step disturbances.

The impulse disturbance is a disturbance that causes almost no change in the actual manipulated variable MV_F at the time of settling before and after the disturbance recovery response, and is a temporary shock-like disturbance. The step disturbance is a disturbance that causes a noticeable change in the actual manipulated variable MV_F at the time of settling before and after the disturbance recovery response, and is a disturbance that causes a change in the equilibrium point itself of the settling state. Note that the technique proposed in Patent Document 3 is particularly suitable for impulse disturbances.

If there is only an impulse disturbance, the feedforward amount MV_X can be optimized using the total amount of change ΔMV_imp of the actual manipulated variable MV_F in disturbance recovery control (control for returning the controlled variable PV to the set value SP) using only feedback control as a guide. Furthermore, if there is only a step disturbance, the feedforward amount MV_X can be optimized using the actual operation amount difference ΔMV_stp before and after the disturbance recovery response by only feedback control as a guide. Particularly difficult to adjust is a disturbance in which both an impulse disturbance and a step disturbance occur simultaneously (referred to as a mixed disturbance in the present invention).

As a result of intensive research, the inventor found that it is possible to estimate a substantially appropriate feedforward amount MV_X using the following procedures (I), (II), or procedures (I) to (III). Note that the present invention is based on the premise that since the timing of applying the disturbance is known, the timing of applying the feedforward operation can be automatically determined.

Furthermore, the present invention is based on the premise that by employing, for example, PID control as feedback control, the parameter Tf of the time for converging the feedforward amount MV_X can be uniquely and automatically determined based on the PID parameter that is the controller parameter. do.

(I) Execute at least disturbance recovery control using feedback control (or disturbance recovery control using only feedback control), and estimate the feedforward amount MV_X1 required for the step disturbance using the actual manipulated variable difference ΔMV_stp before and after the disturbance recovery response as a guide. Theoretically, the appropriate feedforward amount MV_X1 is proportional to the actual manipulated variable difference ΔMV_stp.

(II) In the disturbance recovery control executed in (I) above, the total amount of change ΔMV_all of the actual manipulated variable MV_F is calculated, and the total amount MV_X1_all of the feedforward amount MV_X1 necessary for the step disturbance estimated in (I) is subtracted. The feedforward amount MV_X2 required for impulse disturbance is estimated using the total amount of change ΔMV_imp of the manipulated variable MV_F as a guide. Theoretically, the appropriate feedforward amount MV_X2 is approximately proportional to the total amount of change ΔMV_imp of the actual manipulated variable MV_F. That is, in the present invention, it is sufficient to confirm one disturbance recovery response.

[Principle of the invention 2]
By the above procedures (I) and (II), it is possible to approximately appropriately estimate the feedforward amount MV_X. However, when a mixed disturbance occurs, it is not always possible to obtain a guideline for estimating the feedforward amount MV_X2 required for the impulse disturbance with high accuracy after steps (I) and (II) are completed. . Therefore, it is preferable to add the following step (III).

(III) Execute the disturbance recovery control again using the feedforward control (feedforward amount MV_X1) and feedback control for the step disturbance estimated in at least (I) above, and calculate the actual manipulated variable MV_F by subtracting the total amount MV_X1_all of the feedforward amount MV_X1. The feedforward amount MV_X2 required for the impulse disturbance is estimated using the total amount of change ΔMV_imp as a guide. Theoretically, the appropriate feedforward amount MV_X2 is proportional to the total amount of change ΔMV_imp of the actual manipulated variable MV_F.

That is, in the present invention, in order to make the feedforward amount MV_X particularly highly accurate, it is sufficient to check the disturbance recovery response twice as described above. The fact that only two trials are required makes it a reasonable and efficient procedure.

[Example]
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a control device according to an embodiment of the present invention. The control device includes a manipulated variable calculation unit 1 which calculates a basic manipulated variable MV (first manipulated variable) by PID calculation using set value SP and controlled variable PV as input, and a manipulated variable calculation unit 1 that calculates a basic manipulated variable MV (first manipulated variable) by PID calculation, and a A feedforward calculation unit 2 that calculates a feedforward amount MV_X (first feedforward amount) necessary for suppressing disturbance according to the input of a trigger variable FF_X that becomes a non-significant value after application, and a manipulated variable calculation unit 1 The feedforward execution unit 3 adds a feedforward amount MV_X to the basic manipulated variable MV calculated by the above to obtain an actual manipulated variable MV_F (second manipulated variable).

In addition, the control device calculates the actual manipulated variable difference before and after the disturbance recovery response when the controlled object outputs the actual manipulated variable MV_F including at least the basic manipulated variable MV during the prescribed first trial period in which the trigger variable FF_X is input. Based on ΔMV_stp, a step correspondence estimation unit 4 (first estimation part), a total amount calculation part 5 that calculates the total amount MV_X1_all of the feedforward amount MV_X1 based on the parameter Kx1 when it is assumed that the feedforward amount MV_X1 is output in the first trial period, and The total amount of the feedforward amount MV_X1 is subtracted from the total amount of change ΔMV_all of the manipulated variable MV_F, and based on this subtraction result ΔMV_imp, the feedforward amount MV_X2 (third feedforward amount) necessary for suppressing the impulse disturbance is calculated. The impulse correspondence estimating unit 6 (second estimating unit) estimates a parameter Kx2 (second parameter) for . In addition, in this embodiment, as an example of the actual manipulated variable MV_F that includes at least the basic manipulated variable MV, a mode will be described in which only the basic manipulated variable MV is output to the controlled object as the actual manipulated variable MV_F in a state where the feedforward amount MV_X is zero. do.

Furthermore, the control device includes an estimation result output unit 7 that sets the estimation results of the step correspondence estimation unit 4 and the impulse correspondence estimation unit 6 to the feedforward calculation unit 2, and an actual manipulated variable MV_F calculated by the feedforward execution unit 3. A limit processing unit 8 that performs limit processing to limit the manipulated variable to a value that is greater than or equal to the manipulated variable upper limit OL and less than or equal to the manipulated variable upper limit OH, and outputs the limit-processed actual manipulated variable MV_F' (second manipulated variable) to the controlled object. A manipulated variable output section 9 is provided. However, if the operation of the actual manipulated variable MV_F is limited to the range from the manipulated variable lower limit value OL to the manipulated variable upper limit value OH, the limit processing section may not be provided, and the present invention does not require the operation of the actual manipulated variable MV_F. This can be particularly effectively applied when the amount of operation is limited to the range from the lower limit of the manipulated variable OL to the upper limit of the manipulated variable OH.
FIG. 2 is a block diagram of the control system of this embodiment. P in FIG. 2 indicates a controlled object.

Next, the operation of the control device of this embodiment will be explained with reference to FIGS. 3 and 4. The set value SP (for example, temperature set value) is set by an operator of the control device or the like, and is input to the manipulated variable calculation unit 1 (step S100 in FIG. 3).

The controlled variable PV (for example, a temperature measurement value) is measured by a measuring device (for example, a temperature sensor that measures the temperature of a heated object) not shown, and is input to the manipulated variable calculating section 1 (step S101 in FIG. 3).

The manipulated variable calculation unit 1 receives the set value SP and the controlled variable PV, and calculates the basic manipulated variable MV by performing a PID calculation such as the following transfer function equation so that the controlled variable PV matches the set value SP. (Step S102 in FIG. 3).
MV=(100/Pb) {1+(1/Tis)+Tds}(SP-PV)
...(5)
Pb is a proportional band, Ti is an integral time, Td is a differential time, and s is a Laplace operator.

The feedforward calculation unit 2 calculates the feedforward amount MV_X when performing feedforward control, and the trigger variable FF_X becomes 1 (a significant value) before the application of a disturbance and becomes 0 (a non-significant value) after the application of the disturbance. is 0 (NO in step S103 in FIG. 3), it is assumed that only feedback control is performed and feedforward control is not executed, and the feedforward amount MV_X is set to 0 (step S104 in FIG. 3).

The feedforward execution section 3 calculates the result of adding the feedforward amount MV_X calculated by the feedforward calculation section 2 to the basic operation amount MV calculated by the operation amount calculation section 1 as the actual operation amount MV_F (Fig. 3 Step S105).
MV_F=MV+MV_X...(6)

Here, since MV_X=0, MV_F=MV. The limit processing unit 8 performs a lower limit process that limits the actual manipulated variable MV_F calculated by the feedforward execution unit 3 to a value greater than or equal to a predetermined manipulated variable lower limit value OL, and a lower limit process that limits the actual manipulated variable MV_F to a predetermined manipulated variable upper limit value OH. Upper limit processing is performed to limit the value to the following value (step S106 in FIG. 3).
IF MV_F<OL THEN MV_F'=OL...(7)
IF MV_F>OH THEN MV_F'=OH...(8)
In other words, the limit processing unit 8 sets the actual manipulated variable MV_F'=OL when the actual manipulated variable MV_F is smaller than the manipulated variable lower limit value OL, and sets the actual manipulated variable MV_F' to OL when the actual manipulated variable MV_F is larger than the manipulated variable upper limit value OH. =OH.

The manipulated variable output section 9 outputs the actual manipulated variable MV_F' subjected to limit processing by the limit processing section 8 to the controlled object (step S107 in FIG. 3). The output destination of the actual manipulated variable MV_F' is an operation unit (not shown) such as a heater or a valve. In the case of a heater, the actual output destination of the actual manipulated variable MV_F' is a power regulator (not shown) that supplies power to the heater.

The control device executes the processing of steps S100 to S107 in FIG. 3 every control cycle until the control is terminated, for example, by an instruction from an operator (YES in step S108 in FIG. 3).

Next, the operation when the trigger variable FF_X becomes 1 (a significant value) will be explained. This example assumes that the timing of feedforward control can be automatically determined because the timing of disturbance application is known. In order to suppress such disturbances, a trigger variable FF_X=1 is automatically input to the control device from an external device at a prescribed timing.

For example, in a chemical manufacturing apparatus, there is a situation where the temperature inside the furnace fluctuates when the door of the chemical manufacturing furnace is opened. In this case, the control device (external device) that controls the temperature of the furnace sends the trigger variable FF_X=1 to the control device of this embodiment at a time before the timing of opening the furnace door (timing of applying disturbance). Send.

Similarly, in a reflow oven where the set point SP (temperature set point) is constant, there is a situation where the temperature fluctuates as a printed circuit board to be soldered is periodically inserted. In this case, the control device (external device) that controls the conveyance of the printed circuit board triggers the control device of this embodiment at a time before the timing at which the printed circuit board is introduced into the reflow oven (timing of applying disturbance). Send variable FF_X=1.

Further, the external device sets the trigger variable FF_X to 0 (a non-significant value) after a predetermined period of time after the application of the disturbance ends.
The timing to set the trigger variable FF_X to 1 before the disturbance application timing will be described later.

When the trigger variable FF_X becomes 1 from 0 (YES in step S103 in FIG. 3), the step correspondence estimating unit 4 calculates the period of the first disturbance recovery control in which the trigger variable FF_X becomes 1 (first trial period). (YES in step S109 in FIG. 3), the feedforward calculation unit 2 outputs the feedforward amount MV_X=0 (FIG. 3 Step S110).

The processing in steps S111 to S113 in FIG. 3 is the same as the processing in steps S105 to S107. Then, the step correspondence estimation section 4 and the impulse correspondence estimation section 6 store the actual manipulated variable MV_F' calculated by the feedforward execution section 3 and processed by the limit processing section 8 together with the time (step S114 in FIG. 3).

If the step correspondence estimating unit 4 determines that the actual manipulated variable MV_F' has stabilized in the first disturbance recovery control when the trigger variable FF_X becomes 1 (YES in step S115 in FIG. 3), the step correspondence estimation unit 4 calculates the actual The operation amount difference ΔMV_stp is calculated (step S116 in FIG. 3). The actual manipulated variable difference ΔMV_stp is the set value of the actual manipulated variable MV_F' when it is determined that the actual manipulated variable MV_F' has been stabilized in step S115, and the actual manipulated variable MV_F' before the disturbance is applied (the actual manipulated variable MV_F' immediately before the trigger variable FF_X becomes 1). (set value).

Then, the step correspondence estimation unit 4 estimates the appropriate value of the parameter Kx1 for calculating the feedforward amount MV_X1 necessary for suppressing the step disturbance as shown in the following equation (step S117 in FIG. 3).
Kx1=ΔMV_stp...(9)
That is, in this embodiment, the step correspondence estimation unit 4 uses the actual manipulated variable difference ΔMV_stp as it is as the parameter Kx1.

The estimation result output unit 7 sets the value of the parameter Kx1 estimated by the step correspondence estimation unit 4 to the feedforward calculation unit 2 (step S118 in FIG. 3). In this way, the estimated value of the parameter Kx1 may be automatically set in the feedforward calculation unit 2, or the value of the parameter Kx1 may be displayed on the screen for the operator to confirm, and then the operator can manually set the value of the parameter Kx1 to the feedforward calculation unit 2. It may be set to 2. By setting the parameter Kx1, the feedforward calculation unit 2 can sequentially calculate the feedforward amount MV_X1 as described later.

The formula for calculating the feedforward amount MV_X1 necessary for suppressing step disturbance is as follows.
MV_X1
= [Kx1/{(1+ATfs)(1+(2.0-A)Tfs)}]FF_X
...(10)

Further, the formula for calculating the feedforward amount MV_X2 necessary for suppressing impulse disturbance is as shown in the following formula.
MV_X2
= [Kx2s/{(1+ATfs)(1+(2.0-A)Tfs)}]FF_X
...(11)

In equations (10) and (11), Tf is a parameter (time constant) that defines the time for gradually converging the feedforward amounts MV_X1 and MV_X2. The time constant Tf can be set in advance based on information such as the feedback control system.

A in equations (10) and (11) is a coefficient (A is a real number greater than 0) that adjusts the balance of the time constant Tf. In this embodiment, A=1.0.
As described above, the parameter Kx1 is a value estimated by the step correspondence estimation unit 4, and is substantially the target value of the amount of addition/subtraction of the feedforward amount to the basic operation amount MV. According to equation (10), the feedforward amount MV_X1 gradually converges from the zero value to the value of the parameter Kx1.

In addition, Kx2 in equation (11) is a parameter for calculating the feedforward amount MV_X2 necessary for suppressing impulse disturbance, and is the total amount of feedforward additions and subtractions to the basic operation amount MV (the amount of additions and subtractions in each control cycle). (integrated value) is essentially the target value. According to equation (11), after the total amount (integrated value of each control period) of the feedforward amount MV_X2 approaches the value of the parameter Kx2, the feedforward amount MV_X2 itself gradually converges to a zero value.
Note that Equation (10) and Equation (11) are stored in the feedforward calculation unit 2.

Next, the total amount calculation unit 5 determines the setting of the actual manipulated variable MV_F' when it is assumed that the feedforward amount MV_X1 necessary for suppressing the step disturbance is output in the first disturbance recovery control when the trigger variable FF_X becomes 1. The total amount MV_X1_all of the feedforward amount MV_X1 up to (the integrated value of the addition and subtraction amounts in each control period) is calculated (step S119 in FIG. 3). Since the value of the parameter Kx1 has been estimated by the step correspondence estimation unit 4, the feedforward amount MV_X1 that is output from the time when the trigger variable FF_X becomes 1 can be calculated using the above equation (10).

The impulse response estimating unit 6 calculates whether the trigger variable FF_X becomes 1 and the actual operation amount MV_F' before the disturbance is applied (the set value of the actual operation amount MV_F' immediately before the trigger variable FF_X becomes 1). The total amount of change ΔMV_all (integrated value of the amount of change in each control cycle) of the actual manipulated variable MV_F' in the disturbance recovery control is calculated based on the stored time-series data of the actual manipulated variable MV_F' (step S120 in FIG. 3). ). Note that in this embodiment, the actual manipulated variable MV_F includes only the basic manipulated variable MV, so MV_F=MV.

Subsequently, the impulse correspondence estimation unit 6 calculates the total amount of change ΔMV_imp by subtracting the total amount MV_X1_all of the feedforward amount MV_X1 calculated by the total amount calculation unit 5 from the total amount of change ΔMV_all of the actual manipulated variable MV_F' calculated in step S120. (Step S121 in FIG. 3).
ΔMV_imp=ΔMV_all−MV_X1_all (12)

Furthermore, the impulse correspondence estimating unit 6 estimates the appropriate value of the parameter Kx2 for calculating the feedforward amount MV_X2 necessary for suppressing the impulse disturbance as shown in the following equation (step S122 in FIG. 3).
Kx2=ΔMV_imp×dt...(13)

In Equation (13), dt is a control period (calculation period of basic operation amount MV and feedforward amounts MV_X1, MV_X2, MV_X), and the unit is sec. It is.

The estimation result output unit 7 sets the value of the parameter Kx2 estimated by the impulse correspondence estimation unit 6 to the feedforward calculation unit 2 (step S123 in FIG. 3). In this way, the estimated value of the parameter Kx2 may be automatically set in the feedforward calculation unit 2, or the value of the parameter Kx2 may be displayed on the screen for the operator to confirm, and then the operator can manually set the value of the parameter Kx2 to the feedforward calculation unit 2. It may be set to 2. By setting the parameter Kx2, the feedforward calculation unit 2 can sequentially calculate the feedforward amount MV_X2.

The processing from steps S109 to S123 becomes a processing flow corresponding to the steps (I) and (II) above. As a result, it is possible to estimate appropriate values of the parameters Kx1 and Kx2 that are practically acceptable. Note that the processing in steps S116 to S123 only needs to be performed once when the actual manipulated variable MV_F' is stabilized.
As described above, the trigger variable FF_X returns from 1 to 0 at a prescribed timing after the disturbance application ends.

Next, when the trigger variable FF_X becomes 1 from 0 (YES in step S103), the feedforward calculation unit 2 calculates the period of the second disturbance recovery control (second trial period) during which the trigger variable FF_X becomes 1. ) (YES in step S124 in FIG. 4), in order to execute feedforward+feedback control, the feedforward amount MV_X1 necessary for suppressing the step disturbance is calculated using equation (10) (step S125 in FIG. 4). Simultaneously with calculating the feedforward amount MV_X1, the feedforward calculation unit 2 calculates the feedforward amount MV_X2 necessary for suppressing the impulse disturbance using equation (11) (step S126 in FIG. 4).

Then, the feedforward calculation unit 2 calculates the feedforward amount MV_X by adding the feedforward amount MV_X1 and MV_X2 as shown in the following equation (step S127 in FIG. 4).
MV_X=MV_X1+MV_X2...(14)

The processing in steps S128 to S130 in FIG. 4 is the same as the processing in steps S105 to S107. Then, the step correspondence estimation section 4 and the impulse correspondence estimation section 6 store the actual manipulated variable MV_F' calculated by the feedforward execution section 3 and processed by the limit processing section 8 together with the time (step S131 in FIG. 4).

In the second disturbance recovery control in which the trigger variable FF_X becomes 1, the total amount calculation unit 5 calculates the amount of the actual operation amount MV_F' by the time the actual operation amount MV_F' is settled (YES in step S132 in FIG. 4). The total amount MV_X1_all of the feedforward amounts MV_X1 calculated by the feedforward calculation unit 2 is calculated (step S133 in FIG. 4).

The impulse correspondence estimating unit 6 calculates the value of the second time when the trigger variable FF_X becomes 1, with respect to the actual manipulated variable MV_F' before the disturbance is applied (the set value of the actual manipulated variable MV_F' immediately before the trigger variable FF_X becomes 1). The total amount of change ΔMV_all of the actual manipulated variable MV_F' in the disturbance recovery control is calculated based on the stored time series data of the actual manipulated variable MV_F' (step S134 in FIG. 4).

Subsequently, the impulse correspondence estimation unit 6 calculates the total amount of change ΔMV_imp by subtracting the total amount MV_X1_all of the feedforward amount MV_X1 calculated in step S133 from the total amount of change ΔMV_all of the actual manipulated variable MV_F' calculated in step S134 ( FIG. 4 step S135).

Further, the impulse correspondence estimating unit 6 estimates the appropriate value of the parameter Kx2 using equation (13) based on the total amount of change ΔMV_imp calculated in step S135 (step S136 in FIG. 4).

The estimation result output unit 7 updates the value of the parameter Kx2 set in the feedforward calculation unit 2 to the value newly estimated by the impulse correspondence estimation unit 6 (step S137 in FIG. 4). The value of the parameter Kx2 may be updated automatically in this manner, or the value of the parameter Kx2 may be displayed on the screen for the operator to confirm and then manually updated by the operator.

The processing from steps S124 to S137 becomes a processing flow corresponding to the procedure (III) above. Note that the processing in steps S133 to S137 only needs to be performed once when the actual manipulated variable MV_F' is stabilized.

The processing in steps S138 to S143 in the case of the third and subsequent disturbance recovery control in which the trigger variable FF_X becomes 1 is the same as that in steps S125 to S130, so a description thereof will be omitted.

FIG. 5 is a diagram showing an example of a change in the feedforward amount MV_X1, FIG. 6 is a diagram showing an example of a change in the feedforward amount MV_X2, and FIG. 7 is a diagram showing an example of a change in the feedforward amount MV_X. In the examples of FIGS. 5 to 7, Kx1=20.0, Kx2=3304.0, Tf=15.0sec. It is said that Note that the above-mentioned total amount (integrated value of each control period) is an amount corresponding to the area surrounded by the curves in FIGS. 5 to 7.

Hereinafter, the effects of this example will be verified through simulation. In the example below, the controlled object has a process gain of 10.0 and a process time constant of 400.0 sec. , process dead time 20.0 sec. Assume that the control system can be approximated by the first-order lag transfer function of That is, the model formula Gp of the controlled object can be written as the following formula.
Gp=10.0exp(-20.0s)/(1+400.0s)...(15)

Further, the PID parameters set in the manipulated variable calculating section 1 are set such that the proportional band Pb=60% and the integral time Ti=120.0 sec. , differential time Td=10.0 sec. And so. The control period dt is 1.0 sec. It is.

The start timing of feedforward control, that is, the timing of changing the trigger variable FF_X from 0 to 1, can be set based on the differential time Td. Specifically, it is appropriate that the time is αTd before the disturbance is applied (the coefficient α is a real number larger than 0, for example, 0.7). Differential time Td=10.0sec. In this case, the feedforward control start timing is 7.0 sec. from the time of disturbance application. Becomes the front. However, the coefficient α is a value that can be finely adjusted as appropriate.

Similarly, the time constant Tf can be set based on the differential time Td. Specifically, it is appropriate that Tf=βTd (coefficient β is a real number larger than 0, for example, 0.4). Differential time Td=10.0sec. In the case of time constant Tf=4.0sec. becomes. However, the coefficient β is a value that can be finely adjusted as appropriate.

8 to 10 are diagrams showing examples of disturbance recovery responses to which this embodiment is applied, and show the control amount PV and actual manipulated variable when temperature is controlled only by feedback control without performing feedforward control. It is a figure which shows the example of a change of MV_F' (= operation amount MV).

In FIG. 8, 100 sec. The simulation results of the disturbance recovery response by feedback control are shown when an impulse disturbance is applied at the point in time. Before and after the disturbance recovery response, the actual manipulated variable MV_F' (=manipulated variable MV) at the time of settling remains almost unchanged.

In FIG. 9, 100 sec. The simulation results of the disturbance recovery response by feedback control are shown when a step disturbance is applied at the point in time. There is a noticeable change in the actual manipulated variable MV_F' (= manipulated variable MV) at the time of settling before and after the disturbance recovery response.

In FIG. 10, 100 sec. The simulation results of the disturbance recovery response by feedback control are shown when a mixed disturbance is applied at the point in time. This simulation result corresponds to the result of the first control in which the trigger variable FF_X becomes 1. Since the mixed application includes a step disturbance, there is a noticeable change in the actual manipulated variable MV_F' (=manipulated variable MV) at the time of settling before and after the disturbance recovery response.

In the example of FIG. 10, the set value of the actual manipulated variable MV_F' after the disturbance recovery response is 45.0% compared to the actual manipulated variable MV_F'=30.0% before the disturbance is applied, so the actual manipulated variable difference ΔMV_stp=15 .0%. The step correspondence estimation unit 4 estimates the parameter Kx1=15.0 using equation (9) (step S117 in FIG. 3).

In the example of FIG. 10, the total amount of change ΔMV_imp, which is obtained by subtracting the total amount of feedforward amount MV_X1 from the total amount of change ΔMV_all of the actual manipulated variable MV_F', is 768.2%. The impulse correspondence estimation unit 6 estimates the parameter Kx2=768.2 using equation (13) (step S122 in FIG. 3).

In FIG. 11, 100 sec. FIG. 12 shows simulation results of the disturbance recovery response by feedforward control and feedback control when a mixed disturbance is applied at the time of FIG. 11. FIG. 12 shows the simulation results of the feedforward amount MV_X in the case of FIG. These simulation results correspond to the results of the second control in which the trigger variable FF_X became 1.

The start timing of the feedforward control, that is, the timing when the trigger variable FF_X is changed from 0 to 1, is 7.0 sec. from the time of disturbance application. Previous 93sec. It is now at the point of . In the example of FIG. 11, the total amount of change ΔMV_imp, which is obtained by subtracting the total amount of feedforward amount MV_X1 from the total amount of change ΔMV_all of the actual manipulated variable MV_F', is 745.5%. The impulse correspondence estimation unit 6 estimates the parameter Kx2=745.5 using equation (13) (step S136 in FIG. 4). Compared to the first control in which the trigger variable FF_X is 1, a more accurate estimated value can be calculated.

In FIG. 13, 100 sec. FIG. 14 shows the simulation results of the disturbance recovery response by feedforward control and feedback control when a mixed disturbance is applied at the time point , and FIG. 14 shows the simulation results of the feedforward amount MV_X in the case of FIG. These simulation results are the first time when the trigger variable FF_X becomes 1, the second time Kx1 = 15.0, Kx2 = 745.5 are set, and the third time when the trigger variable FF_X becomes 1. corresponds to the result of control.

As a comparison of control results, FIG. 10 shows the results of only feedback control, and FIG. 13 shows the results of control that combines feedforward control and feedback control to which the feedforward amount MV_X estimated in this example is applied. . It can be seen that in the example of FIG. 10, the control amount PV decreases significantly due to the mixing disturbance, whereas in the example of FIG. 13, the influence of the mixing disturbance can be almost suppressed.

Note that the present invention is applicable within the scope of the technical idea of the present invention even when the characteristics of the feedforward amount MV_X are replaced with a function or pattern substantially equivalent to that in FIG. For example, the feedforward amount MV_X may be set to a polygonal line pattern as shown in FIG.

Furthermore, in this embodiment, an example of a disturbance in which the control amount PV decreases with respect to the set value SP is explained, but the present invention can also deal with a disturbance in which the control amount PV increases with respect to the set value SP. be. When a disturbance that increases the controlled variable PV occurs, the actual manipulated variable difference ΔMV_stp, the total change amount ΔMV_all of the actual manipulated variable MV_F', the total amount MV_X1_all of the feedforward amount MV_X1, the parameters Kx1, Kx2, and the feedforward amounts MV_X1, MV_X2 becomes a negative value.

Further, in this embodiment, adjustment is performed during the second trial period, but this adjustment may not be performed. If the adjustment in the second trial period is not to be performed, the processes in steps S125 to S137 may be omitted, and the processes in steps S138 to S143 may be executed in the second and subsequent disturbance recovery controls when the trigger variable FF_X becomes 1. .

The control device described in this embodiment can be realized by a computer including a CPU (Central Processing Unit), a storage device, and an interface, and a program that controls these hardware resources. An example of the configuration of this computer is shown in FIG.

The computer includes a CPU 300, a storage device 301, and an interface device (I/F) 302. For example, a temperature sensor and a power regulator are connected to the I/F 302. In such a computer, a program for implementing the control method of this embodiment is stored in the storage device 301. The CPU 300 executes the processing described in this embodiment according to the program stored in the storage device 301.

The present invention can be applied to a control device.

DESCRIPTION OF SYMBOLS 1... Operation amount calculation part, 2... Feedforward calculation part, 3... Feedforward execution part, 4... Step correspondence estimation part, 5... Total amount calculation part, 6... Impulse correspondence estimation part, 7... Estimation result output part, 8... Limit processing section, 9... Manipulated amount output section.

Claims (10)

a manipulated variable calculation unit configured to calculate a first manipulated variable by inputting the set value and the control amount;
a feedforward configured to calculate a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable that takes a significant value before the application of the disturbance and takes a non-significant value after the application of the disturbance; A calculation section,
a feedforward execution unit configured to add the first feedforward amount to the first operation amount calculated by the operation amount calculation unit;
a manipulated variable output unit configured to output to a controlled object a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable;
When only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during a prescribed first trial period in which the trigger variable is input. a first parameter configured to estimate a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance, based on a difference between the second manipulated variable before and after the disturbance recovery response; Estimating section;
A total amount calculation unit configured to calculate the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output in the first trial period. and,
Based on the result of subtracting the total amount of the second feedforward amount from the total amount of change in the second manipulated variable during the first trial period, calculate the third feedforward amount necessary for suppressing the impulse disturbance. a second estimation unit configured to estimate a second parameter for calculation,
The feedforward calculation unit is configured to calculate, when the trigger variable is input after the first trial period, the second feedforward amount calculated based on the first parameter and the second parameter. The sum of the calculated third feedforward amount is the first feedforward amount ,
The total amount calculation unit calculates the total amount of the second feedforward amount based on the first parameter in a prescribed second trial period in which the trigger variable is input,
The second estimation unit is based on the result of subtracting the total amount of the second feedforward amount in the second trial period from the total amount of change in the second manipulated variable in the second trial period. A control device that updates the second parameter . a manipulated variable calculation unit configured to calculate a first manipulated variable by inputting the set value and the control amount;
a feedforward configured to calculate a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable that takes a significant value before the application of the disturbance and takes a non-significant value after the application of the disturbance; A calculation section,
a feedforward execution unit configured to add the first feedforward amount to the first operation amount calculated by the operation amount calculation unit;
a manipulated variable output unit configured to output to a controlled object a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable;
When only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during a prescribed first trial period in which the trigger variable is input. a first parameter configured to estimate a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance, based on a difference between the second manipulated variable before and after the disturbance recovery response; Estimating section;
A total amount calculation unit configured to calculate the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output in the first trial period. and,
Based on the result of subtracting the total amount of the second feedforward amount from the total amount of change in the second manipulated variable during the first trial period, calculate the third feedforward amount necessary for suppressing the impulse disturbance. a second estimation unit configured to estimate a second parameter for calculation,
The feedforward calculation unit is configured to calculate, when the trigger variable is input after the first trial period, the second feedforward amount calculated based on the first parameter and the second parameter. The sum of the calculated third feedforward amount is the first feedforward amount,
The second feedforward amount is an amount that gradually converges from zero to the value of the first parameter, and the first parameter is set to Kx1, and the time for gradually converging the second feedforward amount is set as Kx1. When the prescribed time constant is Tf, the coefficient for adjusting the time constant is A, the trigger variable is FF_X, and the Laplace operator is s, [Kx1/{(1+ATfs)(1+(2.0-A)Tfs) }] A control device characterized in that the calculation is performed using FF_X. a manipulated variable calculation unit configured to calculate a first manipulated variable by inputting the set value and the control amount;
a feedforward configured to calculate a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable that takes a significant value before the application of the disturbance and takes a non-significant value after the application of the disturbance; A calculation section,
a feedforward execution unit configured to add the first feedforward amount to the first operation amount calculated by the operation amount calculation unit;
a manipulated variable output unit configured to output to a controlled object a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable;
When only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during a prescribed first trial period in which the trigger variable is input. a first parameter configured to estimate a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance, based on a difference between the second manipulated variable before and after the disturbance recovery response; Estimating section;
A total amount calculation unit configured to calculate the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output in the first trial period. and,
Based on the result of subtracting the total amount of the second feedforward amount from the total amount of change in the second manipulated variable during the first trial period, calculate the third feedforward amount necessary for suppressing the impulse disturbance. a second estimation unit configured to estimate a second parameter for calculation,
The feedforward calculation unit is configured to calculate, when the trigger variable is input after the first trial period, the second feedforward amount calculated based on the first parameter and the second parameter. The sum of the calculated third feedforward amount is the first feedforward amount,
The third feedforward amount is an amount that gradually converges to zero after approaching the value of the second parameter, where the second parameter is Kx2 and the third feedforward amount is gradually converged. When Tf is the time constant that defines the time to set the time constant, A is the coefficient that adjusts the time constant, FF_X is the trigger variable, and s is the Laplace operator, [Kx2s/{(1+ATfs)(1+(2.0-A )Tfs)}]FF_X. The control device according to any one of claims 1 to 3 ,
The control device is characterized in that the first estimator sets the difference between the second operation amount before and after the disturbance recovery response as the value of the first parameter. The control device according to any one of claims 1 to 4 ,
The second estimation unit subtracts the total amount of the second feedforward amount from the total amount of change in the second manipulated variable, and calculates the difference between the first manipulated variable and the first, second, and third amounts. A control device characterized in that the value of the second parameter is set as a value obtained by multiplying the calculation cycle of the feedforward amount by the subtraction result. a first step of calculating a first manipulated variable using the set value and the controlled amount as input;
a second step of calculating a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable that takes a significant value before the application of the disturbance and takes a non-significant value after the application of the disturbance;
a third step of adding the first feedforward amount to the first manipulated amount;
a fourth step of outputting a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable to the controlled object;
When only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during a prescribed first trial period in which the trigger variable is input. a fifth step of estimating a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance, based on a difference between the second operation amount before and after the disturbance recovery response;
a sixth step of calculating the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output in the first trial period;
Based on the result of subtracting the total amount of the second feedforward amount from the total amount of change in the second manipulated variable during the first trial period, calculate the third feedforward amount necessary for suppressing the impulse disturbance. a seventh step of estimating a second parameter for calculation ;
an eighth step of calculating the total amount of the second feedforward amount based on the first parameter in a prescribed second trial period in which the trigger variable is input;
updating the second parameter based on the result of subtracting the total amount of the second feedforward amount calculated in the eighth step from the total amount of change in the second manipulated variable during the second trial period; a ninth step of
The second step is based on the second feedforward amount calculated based on the first parameter and the second parameter when the trigger variable is input after the first trial period. A control method comprising the step of setting the sum of the calculated third feedforward amount as the first feedforward amount. a first step of calculating a first manipulated variable using the set value and the controlled amount as input;
a second step of calculating a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable that takes a significant value before the application of the disturbance and takes a non-significant value after the application of the disturbance;
a third step of adding the first feedforward amount to the first manipulated amount;
a fourth step of outputting a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable to the controlled object;
When only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during a prescribed first trial period in which the trigger variable is input. a fifth step of estimating a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance, based on the difference between the second operation amount before and after the disturbance recovery response;
a sixth step of calculating the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output in the first trial period;
Based on the result of subtracting the total amount of the second feedforward amount from the total amount of change in the second manipulated variable during the first trial period, calculate the third feedforward amount necessary for suppressing the impulse disturbance. a seventh step of estimating a second parameter for calculation,
The second step is based on the second feedforward amount calculated based on the first parameter and the second parameter when the trigger variable is input after the first trial period. including the step of setting the sum of the third feedforward amount and the calculated third feedforward amount as the first feedforward amount,
The second feedforward amount is an amount that gradually converges from zero to the value of the first parameter, and the first parameter is set to Kx1, and the time for gradually converging the second feedforward amount is set as Kx1. When the prescribed time constant is Tf, the coefficient for adjusting the time constant is A, the trigger variable is FF_X, and the Laplace operator is s, [Kx1/{(1+ATfs)(1+(2.0-A)Tfs) }] A control method characterized by being calculated by FF_X. a first step of calculating a first manipulated variable using the set value and the controlled amount as input;
a second step of calculating a first feedforward amount necessary for suppressing the disturbance in response to an input of a trigger variable that takes a significant value before the application of the disturbance and takes a non-significant value after the application of the disturbance;
a third step of adding the first feedforward amount to the first manipulated amount;
a fourth step of outputting a second manipulated variable obtained by adding the first feedforward amount to the first manipulated variable to the controlled object;
When only the first manipulated variable is output to the controlled object as the second manipulated variable with the first feedforward amount being zero during a prescribed first trial period in which the trigger variable is input. a fifth step of estimating a first parameter for calculating a second feedforward amount necessary for suppressing the step disturbance, based on the difference between the second operation amount before and after the disturbance recovery response;
a sixth step of calculating the total amount of the second feedforward amount based on the first parameter, assuming that the second feedforward amount is output in the first trial period;
Based on the result of subtracting the total amount of the second feedforward amount from the total amount of change in the second manipulated variable during the first trial period, calculate the third feedforward amount necessary for suppressing the impulse disturbance. a seventh step of estimating a second parameter for calculation,
The second step is based on the second feedforward amount calculated based on the first parameter and the second parameter when the trigger variable is input after the first trial period. including the step of setting the sum of the third feedforward amount and the calculated third feedforward amount as the first feedforward amount,
The third feedforward amount is an amount that gradually converges to zero after approaching the value of the second parameter, where the second parameter is Kx2 and the third feedforward amount is gradually converged. When Tf is the time constant that defines the time to set the time constant, A is the coefficient that adjusts the time constant, FF_X is the trigger variable, and s is the Laplace operator, [Kx2s/{(1+ATfs)(1+(2.0-A )Tfs)}]FF_X. In the control method according to any one of claims 6 to 8 ,
The control method is characterized in that the fifth step includes the step of setting the difference between the second operation amount before and after the disturbance recovery response as the value of the first parameter. The control method according to any one of claims 6 to 9 ,
The seventh and ninth steps subtract the total amount of the second feedforward amount from the total amount of change in the second manipulated variable, and calculate the difference between the first manipulated variable and the first, second, and second manipulated variables. 3. A control method comprising the step of multiplying the calculation cycle of the feedforward amount by the subtraction result as the value of the second parameter.

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