JPH0469712A - Positioning controller - Google Patents

Abstract

PURPOSE:To smoothly execute the positioning of a a running position of an operating part by allowing the operating part to execute a running operation in the forward and the backward directions in accordance with polarity of an operating signal. CONSTITUTION:A signal processing part 23 monitors a state that a three-position control part 8 outputs an operating signal, and also, a position signal outputted in connection with its running operation from an operating part 2 is inputted, and when the operating signal does not appear, this position signal is outputted as a feedback signal, and when the operating signal appears, a correction feedback signal is outputted to the operating part 2 without passing through a signal delay element. Subsequently, when the three-position control part outputs the operating signal and the operating part 2 starts the running operation corresponding to the operating signal, the correction feedback signal is inputted as a feedback signal to a deviation arithmetic part 6, and when the operating signal has positive polarity, the operating part 2 is allowed to execute the running operation in the forward direction, and when the polarity is opposite, it is allowed to execute the running operation in the backward direction. In such a way, even if a signal delay element exists in a signal transmission line of the operating signal and the position signal, positioning of a running position of the operating part can be executed smoothly.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention provides a feedback control system with an operating section such as an electric valve in an automatic control device, thereby controlling the positioning of the operating section using a three-position variable. The positioning control device 1%, which is a so-called position control system, is configured to control the operation signal input to the operation section and the operating position of the operation section as a feedback signal in the feedback control system outputted by this operation section. The present invention relates to a control device capable of smoothly performing the above-mentioned positioning even if a signal delay element having a large delay time exists in a signal transmission path that transmits at least one of a position signal and a position signal.

[Conventional technology]

FIG. 2 is an explanatory diagram of the configuration of a conventional electric valve opening positioning control device 1. As shown in FIG. In the figure, reference numeral 2 denotes an electric valve main body 2a whose rotational speeds in the forward and reverse directions are the same predetermined constant value, and which is used for valve opening positioning;
A motor-operated valve 4 includes a valve opening transmitter 3 which detects the valve opening θ as the operating position of the main body 2a and outputs a valve opening signal 3a representing the opening θ. τ3 is a signal delay time in the element 4, which is a signal delay element present in the signal transmission path 5 to be transmitted. Then.

This element 4 inevitably occurs due to the length of the transmission line 5, or due to a signal processing device installed in the middle of the transmission line 5. The device is, for example, a device that uses the signal 3a to perform processing different from the positioning of the electric valve 2.

A setting signal 7 for setting the above-mentioned valve opening θ to a desired set value θS and a feedback signal 41 which is the valve opening signal 3a passed through the signal delay element 4 as an output signal of the signal delay element 4 are input to 6. , and the difference between the value S of signal 7 and the value Q of signal 4a (S-Q
)=D, a deviation calculation unit 8 is configured to output a deviation signal 6a having a deviation value defined by D;

Fortunately, if the value of the signal 6m is equal to or greater than the predetermined deviation upper limit value Dh, where Dh>O, the open signal 8a as a positive polarity operation signal is generated.
When the value of the signal 6a is below a predetermined deviation lower limit value Dt where Dt<0, a close signal 8b as an operation signal of the opposite polarity is output, and if the value is between Dh and Dt. 9.10 is a three-position control section that performs a three-position control operation that outputs neither the open signal 8a nor the close signal 8b (here, Dh=DtK is set), and 9.10 is the signal 8a * 8b, respectively.
Signal delay element 4 is added to signal transmission line 1i0.120 that transmits
The respective signal delay times τ1. due to the same causes as in the case of . C in FIG. 2 indicates that when the output signal 9a of the element 9, which is the opening signal 8a that has passed through the delay element 9, is input to the electric valve body 28, the electric valve body 2a performs the valve opening operation, and the electric valve body 2a
The element 10 is the closing signal 8b which passed through the delay element 10.
The electric valve 2 is configured such that when the output signal 10a is input, the main body 2a performs a valve closing operation. The above-mentioned positioning control device 1 is composed of an opening transmitter 3, a deviation calculation section 6, and a control section 8.

[Problem to be solved by the invention]

Since the positioning control device I is constructed as described above, the delay elements 4.9. Delay time τ1 to τ3 in IQIC
are both short times, the motor-operated valve 2 is
It is clear that the valve opening θ can be positioned at or near the opening θS corresponding to the value 8vc of the setting signal 7.
for example.

If the delay times τ1 to τ3 are all long, the valve 2
is opened by the open signal 8a output from the control device 8, and the deviation gradually decreases from a large positive value, and as a result, if D enters the dead zone Δl at time t1, then the open signal 8a at time t1 disappears, but the delayed element output signal 9a
continues to be input to the valve 2 after time t1, the opening degree θ continues to increase, and as a result, the value Q of the feedback signal 4a
continues to increase with a further delay, so when the signal value Q is about to stop increasing with the disappearance of the signal ga, the deviation of (S-Q)-D becomes the deviation because Q has become too large. A phenomenon in which the value is below the lower limit value Dt may occur. Then, if such a phenomenon occurs, D
Since is less than Dt, the control unit 8 naturally outputs the closing signal 8b and the electric valve 2 closes, and from then on, the valve opening degree θ, which decreases with the closing operation of the valve 2, changes over time. After a delay, the value Qvc of the signal 4a appears and D becomes equal to or higher than the upper limit value Dh again, so the valve 2 opens again. Therefore, in such a case, so-called hunting occurs in which the valve 2 repeatedly opens and closes violently. Become. Then.

Such frequent opening and closing operations of the valve 2 result in a delay time τ1 to T3.
b - It is clear from the above that at least one of these is likely to occur over a long period of time.

That is, in the positioning control device 1 described above.

If at least one of the times τ1 to τ3 is a long time, the value Q of the signal 4a is likely to go too far when the control unit 8 performs a control operation, and hunting may occur in the positioning operation of the valve opening θ. , Shitakatsu °C, the above-mentioned control device 1
In the above, nine signal delay elements with long signal delay times are connected to the signal transmission path 5.
, 11.0.120, there is a problem that the valve opening degree θ cannot be smoothly determined.

An object of the present invention is to provide an open 2 close signal 8F from the control unit 8 even if there is a transmission line 5, 110, 120 VC signal delay element.
+, 8b is output, immediately the deviation function # and section 6 change over time in the same manner as the change over time of the valve opening O that would appear if the signal sa*sb was directly input to the electric valve 2. The object of the present invention is to enable smooth positioning of L° C. and θ so that a dummy signal that changes over time is inputted as a feedback signal in °C.

[Means to solve section moe]

According to the present invention, a deviation calculation unit receives a setting signal and a feedback signal and outputs a deviation signal whose signal value is a deviation of the feedback signal with respect to the setting signal; a signal cutoff section that is provided on a signal transmission path that transmits the deviation signal and that immediately cuts off transmission of the deviation signal on the signal transmission path for a predetermined period of time when the first signal is input;

When the deviation signal is inputted through the signal cutoff section and the deviation is above a predetermined deviation upper limit value, a positive polarity operation signal is output, and when the deviation is below a predetermined deviation lower limit value, a reverse polarity operation is performed. a first control section that performs a three-position control operation that outputs a signal and does not output the operation signal when the deviation is between the deviation upper limit value and the deviation lower limit value;
The first part monitors the state in which the operation signal is outputted, and if a position signal representing the operation position of the operation part that the operation part outputs in conjunction with the operation operation is input, and the operation signal does not appear, the position is determined. When the signal is output as the feedback signal and the operation signal appears, the position signal changes over time in the same manner as the position signal changes over time when the operation signal is inputted to the operation unit without going through the signal delay element. By outputting a corrected feedback signal that changes automatically as the feedback signal and inputting the previously appearing signal, the operation section is caused to perform the operation operation, and the operation position of the operation section is adjusted according to the value of the setting signal. This is a positioning control device that makes the operating section move in the positive direction when the other polarity is present. If the polarity is reversed, the positioning control device is configured to send a signal that causes the operating section to perform the driving operation in the opposite direction.

[Effect]

With the above configuration, when the first control section outputs the operation signal and the operation section starts the driving operation according to the operation signal,
A corrected feedback signal is input to the deviation calculation section as a feedback signal, but this corrected feedback signal is as large as the number MM gummy that this sweeping section outputs when the operating signal is input manually to the operating section without going through a signal delay element. - Since it is clear that the feedback signal is a signal, in this case, the value of the feedback signal is less likely to have an overshoot phenomenon as in the feedback signal value Q in the positioning control device engineering described above, and therefore, the operation of the operating unit is less likely to occur. Hunting is less likely to occur during operation.

Therefore, according to this positioning control device, even if there is a signal delay element with a long signal delay time in the signal transmission path of the operation signal or position signal, the operation position of the operation part can be determined smoothly. .

h1 Example] FIG. 1 is a block diagram of an embodiment of the present invention, and in this figure, the same parts as in FIG. 2 [the same symbols as in FIG. 2 are attached.

Now, in FIG.
Always monitor the status of esb output.

If the control section 8 does not output any of the signals 8at and 8b, the signal becomes H level, and when the control section 8 outputs any of the signals 8a*81), the signal becomes L level.The control section 8 outputs the signal 5atsb. If neither is outputting, L
The binary signal 11b becomes H level when the control unit 8 outputs either signal Ba or 8b, and the control unit 8
When the control section 8 outputs no signal 5assb, it becomes M level, and when the control section 8 outputs signal 8a, it becomes H level, and when the control section 8 outputs signal 8b, it becomes L level.The ternary signal tic is output. Second control unit.

12 is a signal transmission line 1 that transmits the deviation signal 6a to the control unit 8.
3, and the signal 11a is input, and the signal 1
A signal cutoff section 14 opens the signal transmission path 13 immediately when the signal 1a changes from L level to H level, and then closes the transmission path 13 after a predetermined time T0 has elapsed; 14 passes through the signal delay element 4. When the output signal 4a of the element 4, which is the valve opening signal 3a, the corrected feedback signal 21a, which will be described later, and the binary signal 11b are input, and the signal 11b is at L level, the signal 4a is output as the feedback signal 14a. 11b
is at H level, the corrected feedback signal 21a is sent to the feedback signal 14.
This is a signal switching unit configured to output as a.

Then, 15 is a feedback signal 14a and a synchronization signal generator 16.
The synchronizing signal 16a outputted by the constant value setting device 17 at a predetermined synchronization Δt and the constant value signal 17a outputted by the constant value setter 17 are input, and the value (G
+β) A first arithmetic unit 18 configured to repeat an operation of outputting a sum signal 15a having a sum signal 15a in synchronization with a synchronization signal 16a;
is a sum signal output section consisting of an arithmetic unit 15, a signal generator 16, and a setter 17, where the signal value β is a positive constant value that is changeably set in the setter 17Vc. Also, 19
are the feedback signal 14a, the synchronization signal 16a, and the constant value signal 17a.
is input, and repeats the operation of outputting a difference signal 19a having a value (G - β) obtained by subtracting the value β of the signal 17a from the value G of the signal 14a in synchronization with the signal 16a. , 20 is a difference signal output section consisting of an arithmetic unit 19, a signal generator 16, and a setter 17, and 21 is a sum signal 15a.
When the difference signal 19a and the third signal 11C are input and the signal 11C is at H level, the sum signal 15a is output as the above-mentioned corrected feedback signal 21a, and the signal 11CI! ＞'' - A signal selection section which outputs the difference signal 19a as a signal 21a as a signal 21a and outputs no signal at all when the signal 11C is at the M level. 22 is a signal selection section that does not include the main body 2a of the electric valve 2. 23 is a valve opening positioning control device for the motor-operated valve 2, which is composed of various parts.In addition, 23 is a second control part 11 and a sum signal output part 18.
, the difference signal output section 20 , the signal selection section 21 , and the signal switching section 14
This is a signal processing section consisting of.

Since the positioning control device 22 is configured as described above, when the deviation, which is the value of the deviation signal 6a, is between the deviation upper limit value Dh and the deviation limit value Dt, the control unit 8 outputs the operation signal 8.
a# 1.1 lb, IIC that does not output any 8b
are at H level and L level and 1M level, respectively, so the delay element output signal 41 is inputted as the feedback signal 14a to the calculation unit 6&C. Then, the control device 2
2, the dead zone Δ1 of the control section 8, which is equal to 1Dh-Dzl, is set to be quite small. The value G is the value S of the setting signal 7 at this time. Therefore, the opening degree θ0 of the valve body 2a corresponding to the valve opening signal value P is equal to the set signal value S.
0 is almost equal to the valve opening set value θSO. Therefore, the operation signals 8 a e 8 b are now applied to the second control unit 11 without passing through the delay elements 9 and 10 as shown in the figure.
For example, suppose that the positioning control device 22 is configured so that the value S is inputted to So, and the deviation becomes equal to or greater than the upper limit value Dh because the value S of the setting signal 7 suddenly changes stepwise from So at time t2. Since the control unit 8 immediately outputs the open signal 811, the control unit 11 is not delayed (successively, the levels of the °C output signal 11b and IIC are both set to H level, and the signal 111 is set to L level, and as a result, the signal selection unit 21 Since the sum signal 15B is output as the corrected feedback signal 21a, the signal switching section 14 inputs the sum signal 15a outputted by the selection section 21 to the calculation section 6 as the feedback signal 14a.

However, in this case, since the sum signal output section 18 is configured as described above, since the control section 8 does not output the signal 8ae8b, the levels of the signals t1b and 11c become L level and M level, respectively. When the temperature is ℃, the sum signal is 15.
The value of a is (pe+β), so when the sum signal 15a is output from the signal switching unit 4 as described above, the value G of the feedback signal 14a changes from Po to (Po+β).
) will suddenly change. Then, if the state in which the sum signal 15a is output from the switching unit 14 as the signal 14a at °C continues, the value of the signal 15a becomes the sum of the current feedback signal value G and the constant value β every time the period Δ[ elapses. Because it will be.

In the control device 22, the value is set to P as described above. From (P0
+β) After the time when Ic suddenly changes, the feedback signal value G increases stepwise, and in this case, the amount of increase in G per unit time is the unit of the value P of the valve opening signal 3a due to the rotation of the valve body 2a. The constant value β is set to be equal to the amount of increase per hour.

In the control device 22, when the signal value G increases as described above, the deviation decreases stepwise over time because in this case the set signal value S suddenly changes stepwise. Yes ℃
, when this bias ilD eventually enters the dead zone Δ1 of the control unit 8 at time t3, the open signal 8a disappears, and the signal 11
al l1bl IIC levels are H, L, respectively.
At this time, from 1 time 13 to the above-mentioned predetermined time To
Since the signal cut-off unit 12 cuts off the transmission of the deviation signal 6a during the period, the signal 11b becomes L level at time t3, and the second delay element output signal 4a is input to the deviation calculation unit 6. Due to the existence of the delay element 9.4, the amount of increase in the value Q of the output signal 4a as a result of the output of the open signal 8a from the control section 8 at time t2 is small due to the presence of the delay element 9.4, and therefore the deviation is again greater than Dh. Even if such a situation occurs, it almost never occurs that the control section 8 outputs the signal 8a again.

Then, in this control device 22, the set signal value S
When suddenly changes as described above, the signal value G, which changes over time in the same manner as the change over time of the value P of the valve opening signal 3a due to 20 rotations of the electric valve, is affected by the action of the sum signal output section 18. The signal delay element 9.4 is immediately inputted to the deviation calculation unit 6 regardless of the presence or absence of the signal delay element 9.4, and as a result, the deviation immediately begins to decrease stepwise over time. .4, the decrease in VcD is not delayed, and therefore the phenomenon of excessive feedback signal value G is less likely to occur. Therefore, according to this control device 22, even if at least one of the signal delay elements 9.4 exists, the valve opening degree θ
This means that the positioning can be performed smoothly without causing any pinching.

The above explanation was related to the case where a change in deviation occurs such that the control unit 8 outputs the open signal 8a, but a change in J) occurs such that the control unit 8 outputs the close signal 8b. It is obvious that the present control device 22 can perform smooth positioning at θ even in such a case.

Further, in the control device 22, the sum signal output section 18 and the difference signal output section 20 each have the above-described configuration, but both of these output sections 18 and 20 have the feedback signal 14a and the synchronization signal 16a. In addition to inputting the constant value signal 17a and the second signal 11b, when the signal 11b is at the L level, the values of the sum signal 15a and the difference signal 193 are always G, and the signal 11b is at the H level. Even if both output sections 18 and 20 are configured so that the value of signal 15a becomes (G + β) and the value of signal 19a becomes (G - β), smooth positioning of the valve opening θ can be performed. This is clear from the above.

〔Effect of the invention〕

As described above, the present invention includes: a deviation calculation unit that receives a setting signal and a feedback signal and outputs a deviation signal whose signal value is the deviation of the feedback signal with respect to the setting signal; and a signal transmission line that transmits the deviation signal. a signal cutoff section that is provided in the signal cutoff section and immediately cuts off transmission of the deviation signal in the signal transmission path for a predetermined period of time when the first signal is input; If the deviation is greater than or equal to a predetermined deviation upper limit value, a positive polarity operation signal is output; if the deviation is greater than or equal to a predetermined deviation upper limit value, a reverse polarity operation signal is output; and the deviation is between the deviation upper limit value and the deviation lower limit value. a first control section that performs a three-position control operation in which no operation signal is output;
The first control section monitors the state in which the operation signal is output, and if a position signal representing the operation position of the operation section outputted by the operation section in conjunction with the operation operation is input and no operation signal appears, the position signal is output. is output as a feedback signal, and when the operation signal appears, the correction feedback changes over time in the same manner as the change over time that the position signal shows when the operation signal is input to the operation unit without going through the signal delay element. A positioning control device that outputs and outputs a signal as a feedback signal to cause the operation section to perform the operation operation so that the operation position of the operation section becomes a position according to the value of the setting signal, the control device comprising: The signal seems to be a signal that causes the operating unit to operate in the forward direction when the operating signal has the positive polarity, and causes the operating unit to operate in the opposite direction when the operating signal has the opposite polarity. A positioning control device was constructed.

Therefore, with the above configuration, when the first control section outputs an operation signal and the °C operation section starts operating according to the operation signal, the correction feedback signal is input to the deviation calculation section as a feedback signal. However, it is clear that this corrected feedback signal is a dummy signal of the position signal output from the operating section when the operating signal is input to the operating section without going through the signal delay element, so in this case, the feedback signal is As a result, an overshoot phenomenon such as the feedback signal value Q in the positioning control device 1 described above is less likely to occur.2 Therefore, hunting in the operating operation of the operating section is less likely to occur. Therefore, according to this positioning control device, even if there is a signal delay element with a long signal delay time in the signal transmission path of the operation signal or position signal, the operation position of the operation part can be smoothly determined. be.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of the configuration of an embodiment of the present invention. FIG. 2 is a diagram illustrating the configuration of a conventional electric valve opening positioning control device. 1.22...Electric valve valve opening positioning control device (
Positioning control device), 2...Electric valve (operation unit)
, 3a... Valve opening signal (position signal), 5.13
．． 110.120...Signal transmission line, 6...
... Deviation calculation section, 6a ... Deviation signal, 7...
...Setting signal, 8...Third position quantity control section (first
control unit), 8a...Open signal (positive polarity operation signal)
, 8b...close signal (reverse polarity operation signal), lla
...First signal.

Claims (1)

[Claims] 1) a deviation calculating section to which a setting signal and a feedback signal are input and outputting a deviation signal whose signal value is the deviation of the feedback signal with respect to the setting signal; a signal cutoff section that immediately blocks transmission of the deviation signal in the signal transmission path for a predetermined time when a signal is input; If the deviation is greater than or equal to the upper limit value, a positive polarity operation signal is output; if the deviation is less than or equal to a predetermined deviation lower limit value, an opposite polarity operation signal is outputted, and the deviation is between the deviation upper limit value and the deviation lower limit value. a first control unit that performs a three-position control operation in which the operation signal is not output; and a first control unit that monitors the state in which the operation signal is output, and the operation that the operation unit outputs in conjunction with the driving operation; When a position signal representing the operating position of the part is input and the operation signal does not appear, the position signal is output as the feedback signal, and when the operation signal appears, the operation signal causes a signal delay element to be transmitted to the operation part. outputs as the feedback signal a corrected feedback signal that changes over time in the same manner as the change over time that the position signal shows when inputted without intervening, and when the operating signal that has appeared disappears, the first and a signal processing section that outputs a signal, and by inputting the operation signal to the operation section, the operation section is caused to perform the operation operation, and the operation position of the operation section is adjusted according to the value of the setting signal. The positioning control device is configured to cause the operating portion to perform the driving operation in the forward direction when the operating signal has the positive polarity and when the operating signal has the opposite polarity. and a signal for causing the operating section to perform the driving operation in the opposite direction.