JPS588303A - Final value forecasting circuit - Google Patents
Final value forecasting circuitInfo
- Publication number
- JPS588303A JPS588303A JP10532381A JP10532381A JPS588303A JP S588303 A JPS588303 A JP S588303A JP 10532381 A JP10532381 A JP 10532381A JP 10532381 A JP10532381 A JP 10532381A JP S588303 A JPS588303 A JP S588303A
- Authority
- JP
- Japan
- Prior art keywords
- circuit
- value
- final value
- signal
- difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/026—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system using a predictor
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、−次遅れ時定数をもって変化する測定信号の
最終値を予測する、最終値予測回路に関するものである
。さらに詳しくは、−次遅れ時定数が一定で表い測定信
号についてもその最終値を予測する、最終値予測回路に
関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a final value prediction circuit that predicts the final value of a measurement signal that changes with a -order delay time constant. More specifically, the present invention relates to a final value prediction circuit that predicts the final value of a measurement signal with a constant −th lag time constant.
−次遅れ時定数を持って変化する信号を測定したり、あ
るいは測定結果に基づいて制御等を行う場合には、測定
または制御の連応性を高めるために１測定信号の最終値
の予測が必要とされる。従来は、最終゛値予測のために
、同じ時定数の一次進み回路を用いていたが、このよう
な−次□進み回路は、時定数が固定されているので、−
次遅れ時定数が一定不変の場合にしか適用できない。時
定数が変動する測定値に対しては、−次進み回路の時定
数を適応して変化させなければならないが、それを可能
にする手段としては、適切なものがいままでになかった
。- When measuring a signal that changes with a second-order lag time constant or performing control based on the measurement results, it is necessary to predict the final value of one measurement signal in order to improve the coordination of measurement or control. It is said that Conventionally, a linear advance circuit with the same time constant was used to predict the final value, but since the time constant of such a -order advance circuit is fixed, -
It can only be applied when the next lag time constant remains constant. In response to a measurement value whose time constant varies, the time constant of the -next advance circuit must be adaptively changed, but no suitable means has hitherto been available to make this possible.
本発明の目的は、−次遅れ時定数が変動する測定信号に
ついて適用できる最終値予測回路を提供するととＫある
◇
本発明は、測定信号とその予測最終値との差の対数を求
め、これが時間の一次関数になるように予測最終値をフ
ィードパ、り制御するようにしたものである。An object of the present invention is to provide a final value prediction circuit that can be applied to a measurement signal whose -order lag time constant varies. The present invention calculates the logarithm of the difference between the measurement signal and its predicted final value, and The predicted final value is controlled by the feed pattern so that it becomes a linear function of time.
以下、図面によって、本発明の詳細な説明する０まず、
本発明実施例の装置の説明に先立って、本発明の詳細な
説明する〇
一次遅れ時定数丁をもって変化する測定信号ｘ （ｔ）
は、次式によって表わすことができる。Hereinafter, the present invention will be explained in detail with reference to the drawings.
Before explaining the apparatus according to the embodiment of the present invention, a detailed explanation of the present invention will be given.
can be expressed by the following equation.
ただし、ｘｏは１−０のときの初期値、ＸＱＯはｔ−父
のときの最終値である。（１）式の関係を図示すれば、
第１図のようになり、初期値Ｘ。と最終値ｘｏｏとの大
小関係によって、曲線ｍｔたはｂのどちらかになる０
いま、曲線ａの場合について、予測最終値をｘｅＦ）と
し、これと測定信号ｘ （ｔ）との差の自然対数をとる
と、
−ｔ／Ｔ
ｅｎ（ｘ鷹−ｘ（ｔ））中１（睦ｘｏ）ｅ ＋（Ｘ、
Ｆ、−Ｘ（ロ））（２）ここで、もし、Ｘ ニーＸ（Ｘ
ｌとすることができれば、（２）式は
ｅｎＣｘ 品−ｘ（ｔ）） −了＋ｅｎ（訃ｘｏ）
（５）となり、時間の一次関数が得られる。However, xo is the initial value when 1-0, and XQO is the final value when t-father. If we illustrate the relationship of equation (1),
As shown in Figure 1, the initial value is X. Depending on the magnitude relationship between the curve mt and the final value Taking the logarithm, -t/Ten(xtaka-x(t)) 1(mut xo)e +(X,
F, -X (b)) (2) Here, if X knee
If it is possible to set l, equation (2) becomes enC
(5), and a linear function of time is obtained.
このことから逆に１予測最終値ｘＬを制御してそれと測
定信号の現在値との差の自然対数が、時間の一次関数に
）るようＫすることができれば、そのときの予測最終値
は、実際の最終値に一致したものとなるといえる。From this, if we can conversely control the predicted final value xL so that the natural logarithm of the difference between it and the current value of the measurement signal becomes a linear function of time, then the predicted final value will be: It can be said that the value corresponds to the actual final value.
一方、曲線ｂＫついていえば、（２）弐に相当する式は
下記のようになり、
ｅｎ（ｘ（ｔ）−ｘ ＊）−ｅｎｆ（ｘｏ−ｘｏｃ）
ｓ−ｔ／Ｔ＋（ｘｏｏ−ｘ ｏ％）（この式は、（２）
式において、左辺のｘ（Ｌとｘ（ｔ）、右辺第１項のＸ
Ｏｏとｘｏ１第２項のｘ（ＲとＸ■を入れ換えただけの
ものであるので、曲線為の場合と同様なことがいえる。On the other hand, regarding curve bK, the equation corresponding to (2) 2 is as follows, en(x(t)-x*)-enf(xo-xoc)
s-t/T+(xoo-x o%) (This formula is (2)
In the equation, x(L and x(t) on the left side, X in the first term on the right side
Oo and xo1 Since the second term x(R and
このような原理に基づく本発明の実施例は、第２図のよ
うに構成される。第２図において、１は対数変換回路、
２は時間に関する２階の微分回路、５は高ゲインの増幅
回路である。対数変換回路１により、測定信号の現在値
ｘ （ｔ）と増幅回路３の出力信号ｘ、％との差が対数
変換され、この対数変換値が微分回路２によって２階微
分される。微分回路２による微分値は増幅回路３で増幅
され、対数変換回路１の入力に帰還されるとともに、測
定信号の予測最終値ｘ１５％として出力される。対数変
換回路１、微分回路２、増幅回路３からなる閉ループの
伝達関数の極性は負になるように定められ、これによっ
て、第２図の回路系は自己平衡性を持つ回路系とされる
。An embodiment of the present invention based on this principle is constructed as shown in FIG. In Fig. 2, 1 is a logarithmic conversion circuit;
2 is a second order differential circuit with respect to time, and 5 is a high gain amplifier circuit. The logarithmic conversion circuit 1 logarithmically converts the difference between the current value x (t) of the measurement signal and the output signal x,% of the amplifier circuit 3, and this logarithmically converted value is second-order differentiated by the differentiator 2. The differential value produced by the differentiating circuit 2 is amplified by the amplifier circuit 3, fed back to the input of the logarithmic conversion circuit 1, and outputted as the predicted final value x15% of the measurement signal. The polarity of the transfer function of the closed loop consisting of the logarithmic conversion circuit 1, the differentiation circuit 2, and the amplification circuit 3 is set to be negative, thereby making the circuit system of FIG. 2 a self-balancing circuit system.
この回路系が平衡状態にあるとき、増幅回路３の入力信
号は、最小値に々っている。増幅回路５のゲインは十分
高いので、その入力信号は事実上零とみなすことができ
る。増幅回路３の入力信号は、時間に関する２階の微分
回路２の出力信号であるから、これが零であるというこ
とは、２階微分前の信号すなわち対数変換回路１の出力
信号が、時間の一次関数であることを意味する。When this circuit system is in a balanced state, the input signal to the amplifier circuit 3 is close to its minimum value. Since the gain of the amplifier circuit 5 is sufficiently high, the input signal thereof can be regarded as virtually zero. Since the input signal of the amplifier circuit 3 is the output signal of the second-order differentiator circuit 2 with respect to time, the fact that this is zero means that the signal before second-order differentiation, that is, the output signal of the logarithmic conversion circuit 1, is the first-order time-related signal. It means that it is a function.
ｘ （ｔ）の最終値Ｘ□□□に一致したものとなる。す
なわち、最終値Ｘ（ト）の予測値が得られたことＫなる
。The final value of x (t) matches the final value X□□□. In other words, the predicted value of the final value X(g) has been obtained.
測定信号ｘ （ｔ）は、第１図に示すように、初期値Ｘ
ｏと最終値Ｘ（支）の大小関係によって、変化の方向は
、増加と減少のどちらもありうる。そのどちらの場合で
も、予測最終値との差の対数を求められるようＫするた
めに、予測最終値と測定信号の現在値との差は同一極性
（例えば正極性）の信号にしなければ表ら表い。予測最
終値は、測定信号の変化方向が増加である場合は、現在
値よシも大きく、測定信号の変化方向が減少である場合
は、現在値よりも小さいので、どちらの場合の差も極性
を同じにするためには、一方の場合の差の求め方を他方
とは逆にしなければならない。As shown in FIG. 1, the measurement signal x (t) has an initial value X
Depending on the magnitude relationship between o and the final value X (support), the direction of change can be either an increase or a decrease. In either case, in order to obtain the logarithm of the difference from the predicted final value, the difference between the predicted final value and the current value of the measured signal must be a signal of the same polarity (for example, positive polarity). Table. The predicted final value is also larger than the current value when the direction of change of the measured signal is increasing, and is smaller than the current value when the direction of change of the measured signal is decreasing, so the difference in either case is polar. In order to make them the same, the method of finding the difference in one case must be reversed from the other.
また、このように差の求め方を逆にしたのＫともなって
、閉ループの伝達関数の極性を逆にしてループの自己平
衡性を維持する必要がある０そのような手段を備えた実
施例を第３図に示すＯ第５図において、第２図と同様の
部分は同じ記号で表わすが、その他に、差信号の入力経
路および増幅信号の出力経路をそれぞれ２つに分岐して
、それぞれ一方の経路に極性反転回路４，５を挿入し、
連動する２つのスイ、チロ、７によって、経路の切換え
を行うようにしたものである。スイッチ６．７の切換え
は、比較器８により、測定値号の時間微分値の極性すな
わち測定信号の変化方向に基づいて行われ、変化方向が
正の場合はスイッチ６．７を接点１儒に投入し、変化方
向が負の場合は接点２側に投入する。In addition, since the method of calculating the difference is reversed in this way, it is necessary to reverse the polarity of the closed loop transfer function to maintain the self-balanced property of the loop. In Fig. 5 shown in Fig. 3, parts similar to those in Fig. 2 are represented by the same symbols, but in addition, the input path for the difference signal and the output path for the amplified signal are each branched into two, so that one of each Insert polarity inversion circuits 4 and 5 in the path of
The route is switched by two interlocking switches, 7, and 7. The switching of the switch 6.7 is performed by the comparator 8 based on the polarity of the time differential value of the measurement value, that is, the changing direction of the measurement signal.If the changing direction is positive, the switch 6.7 is switched to the contact point 1. If the direction of change is negative, turn on the contact 2 side.
このような回路により、測定信号が増加する場合すなわ
ちＸ品≧ｘ （ｔ）の場合には、ｘ ニー ｘ（ｔ）が
対数変換回路１に入力され、測定信号が減少する場合す
なわちＸ品＜ｘ（ｔ）の場合には、ｘ（ｔ）−ｘＩ：。With such a circuit, when the measurement signal increases, that is, when X product ≧ x (t), x knee If x(t) then x(t)-xI:.
が対数変換回路１に入力されて、どちらの場合も正極性
の信号が入力され、かつ、Ｘ↓の作用方向の変化に合わ
せて、増幅回路３の出力の極性が切換えられて負帰還条
件が維持される。is input to the logarithmic conversion circuit 1, a positive polarity signal is input in both cases, and the polarity of the output of the amplifier circuit 3 is switched in accordance with the change in the direction of action of X↓ to meet the negative feedback condition. maintained.
このような最終値予測回路の応用例としての測定値処理
回路を第４図に示す。第４図において、測定信号の入力
経路は２つに分岐され、その一方に最終値予測回路１０
が挿入され、最終値予測回路１０を経た信号と経ない信
号のどちらかが、スイッチ１１の切換えによって選択出
力されるようになっている。スイッチ１１の切換えは、
最終値予測回路１０を経た信号と軽ない信号との差を、
比較器１２によって基準値Ｖεと比較することＫよって
行われ、差の値が基準値Ｖ、よシ大きいとき、スイッチ
１１を２４１ｇに投入して予測最終値を選らばせ、差の
値が基準値ｖ６ よシ小さいとき、スイッチ１１を１側
に投入して測定値そのものを選択させ石◇基準値ｖ５
は小さな値とされ、これＫよって、測定値の現在値が
最終値からか゛けはなれているときは、予測最終値を出
力し、測定値の現在値が最終値に一致または近い値にな
ったときは、測定値そのものを出力するようＫなってい
る。FIG. 4 shows a measured value processing circuit as an application example of such a final value prediction circuit. In FIG. 4, the input path of the measurement signal is branched into two, one of which has a final value prediction circuit 10.
is inserted, and either the signal that has passed through the final value prediction circuit 10 or the signal that has not passed through the final value prediction circuit 10 is selectively output by switching the switch 11. The switching of the switch 11 is
The difference between the signal that has passed through the final value prediction circuit 10 and the light signal is
A comparison is made with the reference value Vε by the comparator 12, and when the difference value is larger than the reference value V, the switch 11 is turned on to 241g to select the predicted final value, and the difference value becomes the reference value. When the value v6 is too small, turn the switch 11 to the 1 side to select the measured value itself ◇Reference value v5
K is assumed to be a small value. Therefore, when the current value of the measured value is far from the final value, the predicted final value is output, and when the current value of the measured value matches or is close to the final value, the predicted final value is output. is designed to output the measured value itself.
以上の−ように、本発明は、測定信号とその予測最終値
との差の対数を求め、これが時間の一次関数に′なるよ
うに予測最終値をフィードバック制御するようにした。As described above, in the present invention, the logarithm of the difference between the measured signal and its predicted final value is obtained, and the predicted final value is feedback-controlled so that it becomes a linear function of time.
このため、本発明によれば、−次遅れ時定数が一定な測
定信号についてはいうまでもなく、−次遅れ時定数が変
動する測定信号についても適用できる最終値予測回路が
得られる。Therefore, according to the present invention, it is possible to obtain a final value prediction circuit that can be applied not only to measurement signals having a constant -order lag time constant but also to measurement signals whose -order lag time constants vary.
第１図は、−次遅れ時定数を有する測定信号の時間変化
を表わすグラフ、
第２図は、本発明実施例の概念的構成図、第５図は、本
発明の他の実施例の概念的構成図、第４図は、本発明の
応用例の概念的構成図である。
１・・・対数変換回路、２・・・２階微分回路、５・・
・・増幅回路、４，５・・・極性反転回路、６，７・・
・スイッチ、８・・・比較器。
第１図
第２図FIG. 1 is a graph showing the time change of a measurement signal having a -order lag time constant, FIG. 2 is a conceptual block diagram of an embodiment of the present invention, and FIG. 5 is a conceptual diagram of another embodiment of the present invention. Fig. 4 is a conceptual block diagram of an application example of the present invention. 1... Logarithmic conversion circuit, 2... Second order differential circuit, 5...
...Amplification circuit, 4, 5...Polarity inversion circuit, 6,7...
・Switch, 8... Comparator. Figure 1 Figure 2
Claims (1)
める対数変換回路と、この対数変換回路の出力信号に基
づきこの出力信号が時間の一次関数になるように前記予
測最終値を制御するフィードパ、り制御回路とを羨備す
る最終値予測回路。a logarithmic conversion circuit that calculates the logarithm of the difference between the current value of the measured signal and its predicted final value; and a logarithmic conversion circuit that controls the predicted final value based on the output signal of the logarithmic conversion circuit so that the output signal becomes a linear function of time. A final value prediction circuit equipped with a feed control circuit and a feed control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10532381A JPS588303A (en) | 1981-07-06 | 1981-07-06 | Final value forecasting circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10532381A JPS588303A (en) | 1981-07-06 | 1981-07-06 | Final value forecasting circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS588303A true JPS588303A (en) | 1983-01-18 |
| JPS6236562B2 JPS6236562B2 (en) | 1987-08-07 |
Family
ID=14404500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10532381A Granted JPS588303A (en) | 1981-07-06 | 1981-07-06 | Final value forecasting circuit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS588303A (en) |
-
1981
- 1981-07-06 JP JP10532381A patent/JPS588303A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6236562B2 (en) | 1987-08-07 |
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