JPH07219601A - Adjuster - Google Patents

Abstract

PURPOSE:To prevent a reset windup which is caused by the continuation of integral control arithmetic operation by judging whether or not integral correction is necessary by an integral correction judging means and providing a correction coefficient selecting means which corrects or does not correct the speed type control arithmetic signal of an I control arithmetic means. CONSTITUTION:The integral correction judging means 6 when judging that the integral correction is necessary multiplies the speed type control arithmetic signal of the I control arithmetic means 5 by a correction coefficient obtained by an integral correction coefficient arithmetic means 14 to perform the integral correction. Further, the integral correction judging means 6 when judging that the integral correction is not necessary multiplies the speed type control arithmetic signal of the I control arithmetic means 5 by a noncorrection coefficient 1 obtained by a noncorrection coefficient setting means 15, so that no correction is performed. Those outputs are selected by a correction coefficient selecting means 16 and multiplied by an integral operation correcting means 17 to perform the integral correction. Consequently, even when the integral control arithmetic operation is carried on, the reset windup can be prevented.

Description

Detailed Description of the Invention

[0001]

The present invention relates to a PI or PID (P:
The present invention relates to a proportional, I: integral, D: derivative) adjusting device, and more particularly to an adjusting device having a function of correcting the integration time.

[0002]

2. Description of the Related Art This type of PI or PID controller is
It has been used extensively in all industrial fields since the history of control, and it is no longer possible without control devices in each industrial field without PI or PID regulators.

In the conventional adjusting device, various adjustment calculation methods are adopted, but with the passage of time, the analog adjustment calculation method is shifting to the digital adjustment calculation method.
The trend will not change in the future, and it forms the basis of plant operation control systems.

The basic formula of this PI adjustment calculation is represented by the following formula. MV (S) = Kp {1+ (1 / T _I・ s) + (T _D・ s) / (1 + η ・ T _D・ s)} ・ E (s) (1) where MV (s): Operation Signal, E (s): deviation signal (control deviation), Kp: proportional gain, T _I : integration time, T _D : differential time, s: Laplace operator, 1 / η: differential gain.

When the equation (1) is converted into the equation for the velocity type operation, the equation (2) is obtained. Note that the differential adjustment calculation operation will be added as necessary.
The adjustment calculation operation will be omitted, and the PI adjustment calculation operation will be described exclusively.

[0006] _{△ MV n = K P {(} e n -e n-1) + (△ t / T I) · e n} ... (2) MV n = MV n-1 + △ MV n ... (3) In the above equation, ΔMV _n : change amount of operation signal, MV _n : current operation signal, MV _n−1 : previous operation signal, e _n : current control deviation, e _n−1 : previous control deviation, Δt: It is a control interval.

Therefore, as is clear from the above description,
The PID adjustment device executes a PID adjustment calculation on the control deviation, applies the obtained adjustment calculation signal to the control target as an operation signal, and controls so that the control deviation becomes zero.

By the way, each PID term in such a PID adjustment calculation operation has characteristics as shown in FIG. As is clear from this figure, the P adjustment calculation operation outputs a signal proportional to the magnitude of the current control deviation, and when the control deviation e = 0, the P adjustment calculation operation output (K
_P · e) = 0, on the other hand, the D adjustment calculation operation outputs a signal proportional to the rate of change of the control deviation, and when the control deviation does not change, that is, when the control deviation is constant, the D adjustment calculation operation output (K _P・ T _D・ (de / dt)} = 0,
Both the P and D adjustment arithmetic operations have a reference point of zero.

However, the I adjustment calculation operation outputs a signal proportional to the cumulative value of the past control deviations, and is specified when the control deviation has a specific value like the P adjustment calculation operation and the D adjustment calculation operation. It does not have a standard of taking a value, and it is indeterminate.

What can be said from the above description is that, for example, when the target value SV changes and the control amount PV follows the target value SV, if the control deviation e = SV-PV becomes zero, the P adjustment calculation is performed. The operation and the D adjustment calculation operation also become zero, but since the I adjustment calculation operation is a signal proportional to the integrated value of the past control deviation, it increases or decreases in one direction until the polarity of the control deviation e changes. Therefore, depending on the size of the integration time T _I , over-accumulation, that is, reset wind-up occurs, the polarity of the control deviation changes, and the excessive accumulation is cut off, causing overshoot or hunting of the control amount PV. Deteriorate controllability. Above all, the larger the dead time, the more severe the above phenomenon.

FIG. 8 is a diagram showing a functional configuration of a conventional PI adjusting device using the speed type arithmetic expressions represented by the above equations (2) and (3). Leads to a controlled variable PV _n detected by the target value SV _n and the control amount detection means 51 in the figure deviation calculation unit 52, the control deviation e _n = SV _n -PV _n the seek velocity type proportional regulation computing section 53 And the velocity type integral adjustment calculation means 54. Here, the speed-type proportional adjustment calculation means 5
In _{3 △ P n = e n -e} n-1 becomes subjected to regulation operation, whereas, in the velocity type integral controller calculating means _{54 △ I n = (△ t} /
T _I) · e _n becomes performs adjustment operation, the adjusting operation output △ P
_{The n} and ΔI _n are supplied to the adding means 55.

In the adding means 55, (ΔP _n + ΔI _n )
After performing the addition calculation, the proportional gain means 56 multiplies the addition calculation output (ΔP _n + ΔI _n ) by the proportional gain K _P to obtain the velocity type signal ΔMV _n, and then the velocity type / position type The signal is applied to the signal converting means 57, and the arithmetic processing of MV _n = MV _n-1 + ΔMV _n is executed to convert it into a position type signal. Then, the position type signal obtained by the velocity type / position type signal converting means 57 is applied to the controlled object 58, and the control amount detecting means 5
The control amount PV _n from 1 and the target value SV _n are controlled to be equal to each other, that is, the control deviation e _n = SV _n −PV _n is controlled to zero.

[0013]

By the way, in the PID adjusting device as described above, each item of the PID has characteristics, and the I adjustment calculation operation is different from the other items by its essence, and the control deviation e _n is a specific value. At that time, it takes a fixed specific value, that is, it does not return to the reference value, and it becomes a completely indeterminate state.

As a result, the I adjustment calculation operation has the above-mentioned characteristics. As a result, in the PID feedback control system, the integral adjustment calculation operation is continued until the control deviation becomes zero. On the other hand, when the integration time is set so that the controllability when the control deviation e _n is small is optimized while having an excellent function of eliminating the control deviation e _n , the control deviation e _n is large and the dead time becomes large. However, there is a problem that reset windup (over-integration) occurs, the response becomes large, an overshoot or hunting phenomenon occurs, and controllability deteriorates.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an adjusting device which prevents reset windup caused by the continuation of the integral adjusting operation. Another object of the present invention is to provide an adjusting device which eliminates overshoot and hunting phenomenon and improves controllability.

[0016]

In order to solve the above-mentioned problems, the invention according to claim 1 is such that the control deviation between the controlled variable from the controlled object and the target value of this controlled variable is zero.
PI or PID adjustment calculation means for performing I or PID adjustment calculation is provided, and at least the I adjustment calculation means performs speed type adjustment calculation and then converts it into a position type signal, and uses it as an adjustment calculation signal from another adjustment calculation means. In the adjusting device for adding and applying to the controlled object as an operation signal, an integral correction coefficient calculating means for varying a correction coefficient according to a change amount of the control amount, an uncorrected coefficient setting means for setting an uncorrected coefficient, and Integral correction determining means for determining the necessity of integral correction from the control deviation, and the I adjustment using the correction coefficient obtained by the integral correction coefficient calculating means when the integral correction determining means determines that integral correction is necessary. When the speed-type adjustment calculation signal of the calculating means is modified and the integral correction determining means determines that there is no need for integral correction, the I adjustment performance is calculated using the uncorrected coefficient of the uncorrected coefficient setting means. The velocity type regulating operation signal means is a regulating device provided with a correction factor selecting means to unmodified.

The invention according to claim 2 has the same constitutional requirements as the invention according to claim 1, but a particularly different part is replaced by a change amount of a control amount which is an input of the integral correction coefficient computing means. This is a configuration in which the variation coefficient is used and the correction coefficient is varied according to the variation in the control deviation.

The invention according to claim 3 has the same constitutional requirements as the invention according to claim 1, but the particularly different portion is replaced by the change amount of the control amount which is an input to the integration time correction coefficient computing means. The control coefficient is used, and the modification coefficient is varied according to the control deviation.

Next, the inventions corresponding to claims 4 and 5 serve as integral correction determining means which is a constituent element of the inventions corresponding to claims 1 to 3, and determine the absolute value of the present control deviation and the previous control deviation. Provide a direction determination means that compares the absolute value and determines that there is a need for integration correction when the control deviation is in the convergence direction this time, and determines that there is no need for integration correction when the control deviation is in the expansion direction this time, or The absolute value of the current control deviation is compared with the absolute value of the previous control deviation, and when the current control deviation is in the direction of convergence, it is determined that there is a need for integration correction, and when the current control deviation is in the direction of expansion, there is no need for integration correction. The direction determination means for determining that the current control deviation and the previous control deviation are multiplied to determine whether the current control deviation has changed beyond the target value. The uncorrected coefficient It is a structure in which a deviation state change determining means for the unmodified a velocity type regulating operation signal I regulatory calculating means using a non-correction factor constant means.

[0020]

Therefore, in the invention corresponding to claim 1, by taking the above means, the PI including at least the speed type I adjustment calculation based on the control deviation between the controlled variable from the controlled object and the target value. Alternatively, the PID adjustment calculation is executed to obtain an operation signal to be applied to the controlled object. At this time, when the integral correction determining means determines that the integral correction is necessary from the control deviation, the correction coefficient selecting means integrates the integration time. The correction coefficient output from the correction coefficient calculation means is selected, and the integration time is corrected by multiplying the speed type adjustment calculation signal of the I adjustment calculation means to correct the integration time, whereby the integration adjustment calculation is performed when the change rate of the response is large or the deviation is large. As the output becomes smaller and the rate of change or deviation of the response gradually becomes smaller, it approaches the original integral adjustment calculation output. On the other hand, when it is judged that integration correction is not necessary, the correction coefficient selection Then, the correction coefficient 1 output from the uncorrected coefficient setting means is selected, and the integration time is uncorrected by multiplying it by the speed type adjustment operation signal of the I adjustment operation means, thereby preventing reset windup and responding. Controllability can be improved by suppressing overshoot and hunting phenomena.

Next, the invention according to claims 2 and 3 uses the change amount of the control deviation or the control deviation in place of the change amount of the control amount fetched by the integral correction coefficient calculating means, and other effects are obtained. This is similar to the invention corresponding to claim 1.

Further, in the invention corresponding to claim 4, the absolute value of the present control deviation is compared with the absolute value of the previous control deviation as the integral correction determining means, and the integral correction is required when the control deviation is in the convergence direction. Since the correction coefficient output from the integral correction coefficient calculation means is selected and the output of the I adjustment calculation means is corrected, the integral adjustment calculation output is reduced when the response change rate is large or the deviation is large. Overintegration can be suppressed. On the other hand, when it is determined that there is no need for integral correction when the control deviation is in the expansion direction, the uncorrected coefficient of the uncorrected coefficient setting means is selected and the original I Since the adjustment calculation is executed, the controlled variable quickly settles to the target value,
Overshoot and hunting phenomena can be eliminated.

Further, in the invention according to claim 5, the direction judging means constituting the integral correction judging means compares the absolute value of the present control deviation with the absolute value of the previous control deviation, and the control deviation is in the convergence direction. When it is determined that there is a need for integral correction, and when the control deviation is in the expanding direction, it is determined that there is no need for integral correction, and it is the output of the correction coefficient or uncorrected coefficient setting means that is the output of the integral correction coefficient calculating means. The uncorrected coefficient is selected, but especially when the current control deviation changes from the product of the current control deviation and the previous control deviation by the deviation state change judging means to exceed the target value, priority is given to the output of the direction judging means. And select the uncorrected coefficient of the uncorrected coefficient setting means,
Since the control target is controlled quickly using the original integral adjustment calculation output, reset windup can be prevented, response overshoot and hunting phenomenon can be suppressed, and controllability can be improved.

[0024]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a functional configuration diagram showing a first embodiment of the present invention. In the figure, reference numeral 1 denotes a deviation calculation means for obtaining a deviation e _n between the target value SV _n and the control amount PV _n from the control amount detection means 3 installed on the controlled object 2 side, that is, a deviation calculation means obtained here. The control deviation e _n is supplied to the speed-type proportional adjustment calculation means 4, the speed-type integral adjustment calculation means 5, and the integral correction determination means 6, respectively. The velocity type proportional regulation computing section 4 performs _{△ P n = e n -e n} -1 ... (4) comprising calculation by using the current control deviation e _n and the preceding control deviation e _n-1, a proportional regulating operation The signal ΔP _n is output.
The velocity type integral controller calculating means _{5, △ I n = (△ t} / T I) · e n ... (5) comprising performs the operation, and outputs the integral controller operation signal △ I _n.
However, in the equation (5), Δt is a control interval and T _I is an integration time. Further, the integral correction judging means 6 judges the necessity of integral correction from the control deviation, and specifically has a configuration as shown in FIG. 2 or 3. The specific configuration of the integral correction determining means 6 will be described later.

[0025] 7 is a adding means adds the integral controller operation signal △ I _n proportional regulating operation signal △ P _n and the speed-type integration regulating calculation means 5 of velocity type proportional regulation computing section 4, the proportional gain means 8 Send to. The proportional gain means 8 multiplies the output of the adding means 7 by a proportional gain K _P to obtain a velocity type signal ΔM.
After obtaining V _n , it is introduced into the velocity type / position type signal converting means 9, where it is converted into a position type signal and applied to the controlled object 2 as an operation signal MV _n .

In addition, this control device is
difference calculation means 11 for calculating a difference △ PV _n between _n and the previous control amount PV _n-1, square operation unit 12 for squaring the output of the difference calculating means 11, the output of the square operation unit 12 △ P
From V _n ² and the constant C, a correction coefficient δ = C / (C + ΔPV _n
² )), which is a correction coefficient calculating means 13 for calculating the change amount of the control amount, and an integral correction coefficient calculating means 14 for changing the correction coefficient, an uncorrected coefficient setting means 15 for setting an uncorrected coefficient 1, and an integration. The correction coefficient selecting means 16 for selecting either the correction coefficient from the integral correction coefficient calculating means 14 or the correction coefficient from the non-correction coefficient setting means 15 according to the output of the correction determining means 6, and the correction coefficient selecting means 16 Integral operation correction means 17 is provided for performing integral correction by multiplying the output of the speed type integral adjustment calculation means by the selected correction coefficient.

That is, the integral correction judgment means 6 multiplies the speed type adjustment calculation signal of the I adjustment calculation means 5 by the correction coefficient obtained by the integral correction coefficient calculation means 14 when it is judged that integration correction is necessary. And perform integral correction. Further, the integral correction determining means 6 multiplies the speed type adjustment calculation signal of the I adjustment calculating means 5 by the uncorrected coefficient 1 by the uncorrected coefficient setting means 15 when it is determined that there is no need for the integral correction to make the correction uncorrected. Is.

Specifically, the integral correction judging means 6 delays the control deviation e ⁿ as shown in FIG.
^The delay means 21 for extracting ^n-1 and the absolute value means 2 for extracting the absolute values of the present control deviation e ⁿ and the previous control deviation e ^n-1
2 and the comparison judgment means 23 for comparing the absolute value of the current control deviation with the absolute value of the previous control deviation to judge whether the control deviation is in the converging direction or the expanding direction. When the absolute value of the control deviation is small, it is determined that the control deviation is in the direction of convergence, and the correction coefficient selecting means 16 selects cb side to output the optimum correction coefficient. On the other hand, when the absolute value of the control deviation is large this time, control is performed. It is judged that the deviation is in the direction of expansion, the correction coefficient selecting means 16 selects the side c-a, the uncorrected coefficient 1 is taken in, multiplied by the integral adjusting calculation signal of the speed integral adjusting calculating means 5, and the speed integral adjusting operation is performed. The output of the means 5 is used as it is.

Further, as another integral correction judging means 6,
As shown in FIG. 3, a deviation state change judging means 24 is provided in addition to a direction judging means having a delay means 21, an absolute value means 22, a comparison judging means 23 and the like. This deviation state change judging means 24 is the last-time control deviation e obtained from the delay means 21.
^n-1 and multiplier 24a for multiplying the current control deviation e ⁿ
And the multiplication value e ^n-1 · e obtained from the multiplication means 24a
^{When n} is greater than or equal to zero, that is, greater than zero, it has the same sign, and when it is less than zero, the control amount has a different sign when it crosses over the target value. It is composed of a code discriminating means 24b for discriminating the state of straddling the target value and an inverting means 24c for inverting the output of the code discriminating means 24b.

In addition, the integration correction judging means 6 takes in the outputs of both means 23 and 24b to perform a logical product operation, and the logical product operation to take in the outputs of both means 24c and 25 to perform a logical sum operation. Means 26 are provided.

Next, the operation of the apparatus configured as described above will be described. Here, the general operation of the PI control system will be omitted, and the operation of the characteristic components of the device of the present invention will be described.

First, the control amount PV ⁿ detected by the control amount detection means 3 is sent to the integration correction coefficient calculation means 14 in addition to the deviation calculation means 1. From here, the integration correction coefficient difference calculating means 11, this control amount constituting part of the arithmetic means 14 PV ⁿ and the previous control amount PV ^{n-1 Tokyo, △ PV n = PV n -PV} n-1 ... (6 ) Is performed to calculate the difference of the control amount or the change amount of the control amount Δ
After determining the PV ^n, leads to variation △ PV ⁿ of the control amount to the square operation unit 12, wherein by performing the squaring △ PV ⁿ
Ask for ² . Further, the correction coefficient calculation means 13 uses the square value ΔPV ^{n 2} of the change in the control amount and the constant C to perform the calculation δ = C / (C + ΔPV _n ² ) (7) to obtain the correction coefficient. Find δ.

Therefore, as is apparent from the equation (7), the correction coefficient δ decreases when the change amount ΔPV _n of the control amount is large, and conversely, the correction coefficient δ decreases when the change amount ΔPV _n of the control amount decreases. Grows larger. Incidentally, FIG. 4 is a diagram showing the relationship between the variation ΔPV _n of the control amount and the correction coefficient δ when the constant C is changed.

At this time, the integral correction judging means 6 judges whether or not to correct the integral adjustment calculation output. As shown in FIG. 2, this time the control deviation e ⁿ and the delay means 21.
From the previous control deviation e ^n-1 from the absolute value means 22,
Absolute value respectively | e ⁿ |, | after obtaining the two absolute values in comparative determination unit ^{23 | | e n-1 e} n |, | e n-1 | investigate what was magnitude relationship. Where | e ⁿ | <| e ^n-1
When |, that is, when the control deviation e ⁿ is small this time, it is determined that the control deviation e ⁿ is in the converging direction, a "0" signal is output, and the correction coefficient selecting means 16 is provided to the correction coefficient calculating means 13 as shown in the drawing. It is connected to the output side and outputs a correction coefficient δ (α) that changes depending on the change amount ΔPV ⁿ of the control amount to correct the I adjustment calculation output. In this, the I adjustment calculation output is multiplied by a correction coefficient δ (α) of 1 or less, and an appropriate I adjustment calculation operation is performed.

On the other hand, when | e ⁿ | <| e ^n-1 |, that is, when the control deviation e ⁿ is large this time, it is determined that the control deviation e ⁿ is in the expanding direction, and "1" is output to correct it. The coefficient selecting means 16 is connected to the non-correction coefficient setting means 15 side and outputs the correction coefficient 1 (α) to execute the original I adjustment calculation operation without correcting the I adjustment calculation output.

As a result, the reset windup can be prevented by the optimum I adjustment calculation when the control deviation is in the convergent direction, and the integration time is increased by increasing the integration time of the I adjustment calculation when the control deviation is in the expanding direction. As a result, overshoot and hunting phenomenon can be eliminated and controllability can be improved.

Further, in the integral correction judging means 6 of another construction, as shown in FIG. 3, the present control deviation e _n and the previous control deviation e _n-1 from the delay means 21 are introduced into the multiplying means 24a, After determining e _n · e _n−1 by the above, the code discriminating means 2
At 4b, it is checked whether the control deviation e _n exceeds the target value line based on the sign of e _n · e _n-1 . That is, e _n · e _n-1
When ≧ 0, it is determined that they are the same code and the “1” signal is output from the code discriminating means 24b. When e _n · e _n-1 <0, it is determined that they are different codes and the code discriminating means 24b outputs “0”. Output a signal.

As a result, when e _n · e _n-1 <0, the output of the code discriminating means 24b is "0", the output of the inverting means 24c is "1", and the logical sum means 26 outputs "1". The correction coefficient selection means 16 takes in the uncorrected coefficient 1 of the uncorrected coefficient setting means 15 and outputs it.

On the other hand, the absolute value means 22 and the comparison judgment means 23 output "1" from the means 23 when | e ⁿ | ≧ | e ^n-1 |, and | e ⁿ | <| e ^n-1 When |, the means 23 outputs “0”. Therefore, the integration correction determination means 6 of FIG. 3 performs the following operation.

A. When the control deviation is increasing (increasing),
That is, when e _n · e _n-1 > 0 and | e ⁿ | ≧ | e ^n-1 | ... 1 b. When the control deviation is in the direction of convergence, that is, when e _n · e _n-1 > 0 and | e ⁿ | <| e ^n-1 | When the polarities of the previous control deviation and the current control deviation are different,
That is, e _n · e _n-1 <0 ... 1 holds.

Therefore, according to the configuration of the above embodiment, the I adjustment calculation output is multiplied by a correction coefficient of 1 or less depending on whether the control deviation is in the converging direction or the expanding direction, or The original I adjustment calculation output is output without correction,
Since the optimum integration adjustment calculation operation is performed, overwinding does not occur even if the deviation is large and the dead time is large, and reset windup can be prevented, and the response is large and overshoot and hunting phenomena are eliminated. be able to.

Moreover, when the control amount exceeds the target value, the I-adjustment calculation output is immediately uncorrected, so that the original I-adjustment calculation operation works in the direction of convergence and the settling to the target value can be performed quickly. Next, a second embodiment of the device of the present invention will be described with reference to FIG.

In the second embodiment, as the input signal of the integral correction coefficient computing means 14, instead of the variation amount ΔPV _n of the control amount, the variation amount Δ of the control deviation from the speed type proportional adjustment computing means 4 is used.
captures e _n, or control from the deviation operation means 1 deviation e _n
After determining the variation △ e _n of the control deviation by the difference calculation takes in directly, a configuration for introducing a variation △ e _n of the control deviation to the square operation unit 12, other configurations are the first embodiment Since it is the same as the above, it is omitted.

The operation of this embodiment is based on the change amount Δe of the control deviation.
_{The description} is omitted because it is the same as the first embodiment except that the correction coefficient δ is calculated by handling _n . Further, a third embodiment of the device of the present invention will be described with reference to FIG.

The third embodiment has a construction in which the control deviation e _n is taken in as an input signal of the integral correction coefficient calculation means 14 instead of the change amount ΔPV _n of the control amount and introduced into the square calculation means 12. , And other configurations are the same as those in the first embodiment, and a description thereof will be omitted.

The operation of this embodiment is the same as that of the first embodiment except that the correction coefficient δ is obtained by handling the control deviation e _n, and the description thereof is omitted. In addition, the present invention can be modified in various ways without departing from the scope of the invention.

[0047]

As described above, according to the present invention, the I adjustment calculation output is corrected according to whether the control deviation is in the convergence direction or the expansion direction, so that the reset windup is performed even if the integral adjustment calculation operation is continued. It is possible to prevent the overshoot of the response and the hunting phenomenon, and to improve the controllability.

[Brief description of drawings]

FIG. 1 is a functional configuration diagram showing a first embodiment of an adjusting device according to the present invention.

FIG. 2 is a configuration diagram showing a specific example of integration correction determination means.

FIG. 3 is a configuration diagram showing another specific example of the integral correction determining means.

FIG. 4 is a diagram showing how to determine a correction coefficient for a change in a control amount.

FIG. 5 is a functional configuration diagram showing a second embodiment of the adjusting device according to the present invention.

FIG. 6 is a functional configuration diagram showing a third embodiment of the adjusting device according to the present invention.

FIG. 7 is a diagram illustrating the characteristics of each PID item.

FIG. 8 is a diagram showing a configuration of a conventional PI adjustment device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Deviation calculation means, 2 ... Control object, 4 ... Speed type proportional adjustment calculation means, 5 ... Speed type integral adjustment calculation means, 6 ... Integration correction determination means, 14 ... Integration correction coefficient calculation means, 15 ... Uncorrected coefficient setting Means, 16 ... Correction coefficient selecting means, 17 ... Integral operation correcting means, 24 ... Deviation state change judging means.

Claims (5)

[Claims] 1. A PI or PID that makes a control deviation between a controlled variable from a controlled object and a target value of this controlled variable zero.
(P: proportional, I: integral, D: derivative) PI that performs adjustment calculation
Alternatively, a PID adjustment calculation means is provided, and at least the I adjustment calculation means performs speed type adjustment calculation, and then converts it into a position type signal, and adds it with the adjustment calculation signal from another adjustment calculation means to add the control object as the operation signal. In the adjusting device for applying to, the integral correction coefficient computing means for varying the modification coefficient according to the change amount of the control amount, the uncorrected coefficient setting means for setting the uncorrected coefficient, and the necessity of integral correction from the control deviation. And the correction coefficient obtained by the integral correction coefficient computing means when the integral correction determining means determines that there is a need for integral correction. And the integral correction determining means determines that there is no need for integral correction, the speed type adjustment calculation signal of the I adjustment calculation means is uncorrected using the uncorrected coefficient of the uncorrected coefficient setting means. An adjusting device comprising: a positive correction coefficient selecting means. 2. A PI or PID adjustment calculation means for performing a PI or PID adjustment calculation for making a control deviation between a controlled variable from a controlled object and a target value of this controlled quantity zero, and at least an I adjustment calculation means. Is a speed type adjustment calculation, then converted into a position type signal, added to the adjustment calculation signal from other adjustment calculation means and applied to the control target as an operation signal, in the change amount of the control deviation. Integral correction coefficient computing means for varying the correction coefficient according to the correction coefficient, uncorrected coefficient setting means for setting an uncorrected coefficient, integral correction determination means for determining the necessity of integral correction from the control deviation, and integral correction determination means. When it is determined that there is a need for integration correction, the correction coefficient obtained by the integration correction coefficient calculation means is used to correct the speed type adjustment calculation signal of the I adjustment calculation means, and the integration correction determination means calculates the product. When it is determined that there is no need for correction, there is provided correction coefficient selection means for making the speed type adjustment calculation signal of the I adjustment calculation means uncorrected by using the uncorrected coefficient of the uncorrected coefficient setting means. Adjusting device. 3. A PI or PID adjustment calculation means for performing a PI or PID adjustment calculation that makes a control deviation between a controlled variable from a controlled object and a target value of this controlled variable zero, and at least an I adjustment calculation means. Is a speed type adjustment calculation, is converted into a position type signal, is added to an adjustment calculation signal from another adjustment calculation means, and is applied to the control target as an operation signal, which is corrected according to the control deviation. Integral correction coefficient calculating means for varying the coefficient, uncorrected coefficient setting means for setting an uncorrected coefficient, integral correction determining means for determining the necessity of integral correction from the control deviation, and integral correction determining means for integrating correction When it is determined that there is a need to correct the speed type adjustment calculation signal of the I adjustment calculation means by using the correction coefficient obtained by the integral correction coefficient calculation means, the integration correction determination means determines the integration correction. When it is determined that there is no need, there is provided correction coefficient selecting means for making the speed type adjustment calculation signal of the I adjustment calculating means uncorrected by using the uncorrected coefficient of the uncorrected coefficient setting means. apparatus. 4. The integral correction determining means compares the absolute value of the current control deviation with the absolute value of the previous control deviation, and determines that integral correction is necessary when the current control deviation is in the direction of convergence.
4. The adjusting device according to claim 1, further comprising direction determining means for determining that there is no need for integral correction when the current control deviation is in an expanding direction. 5. The integral correction determining means compares the absolute value of the current control deviation with the absolute value of the previous control deviation, and determines that integral correction is necessary when the current control deviation is in a convergence direction.
When the current control deviation is in the expanding direction, the direction determining means determines that integration correction is not necessary, and whether or not the current control deviation has exceeded the target value from the product of the current control deviation and the previous control deviation. When the value exceeds the target value, the deviation that makes the speed type adjustment calculation signal of the I adjustment calculation means uncorrected by using the uncorrected coefficient of the uncorrected coefficient setting means in preference to the output of the direction judgment means The adjusting device according to any one of claims 1 to 3, further comprising state change determining means.