JPS61803A - Control method of constant feed ware - Google Patents
Control method of constant feed wareInfo
- Publication number
- JPS61803A JPS61803A JP12098184A JP12098184A JPS61803A JP S61803 A JPS61803 A JP S61803A JP 12098184 A JP12098184 A JP 12098184A JP 12098184 A JP12098184 A JP 12098184A JP S61803 A JPS61803 A JP S61803A
- Authority
- JP
- Japan
- Prior art keywords
- flow rate
- target flow
- control
- value
- change
- 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.)
- Pending
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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は定流量排出するコンスタントフィードウェアの
制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling constant feedware discharging at a constant rate.
コンスタントフィードウェアは第１図に示すように計量
装置（１）を介して支持された計量ホッパ（２）と、こ
の計量ホッパ（２）の底部に排出装置として装備Ｆ（Ｓ
Ｐ）に近づけるに必要な制御電圧値を算出する制御装置
本体（４）と、制御電圧値に応じて前記スクリューフィ
ーダ（３）の駆動モータ（５）の電力制御を実行するド
ライブ回路（６）とから構成されている。As shown in Figure 1, constant feedware consists of a weighing hopper (2) supported through a weighing device (1), and a discharging device F (S) installed at the bottom of this weighing hopper (2).
A control device main body (4) that calculates the control voltage value necessary to approach P), and a drive circuit (6) that executes power control of the drive motor (5) of the screw feeder (3) according to the control voltage value. It is composed of.
従来、制御装置本体（４）は次のように構成されている
。つまり、目標設定流量値Ｆが安定した定常状態では、
Ｖ＝に、ε十に２Ｊ’ｅｄｔ＋ｙ −■但
し、Ｋ、、 Ｋ２は比例定数、εは（Ｆ（ｓｐ）−ΔＷ
）、ｒは目標流量設定値で決まる一定値であり、ｙ＝ｏ
とすることもできる。このようにして閉ループによる’
ＰＩ制御が実行されている。Conventionally, the control device main body (4) is configured as follows. In other words, in a steady state where the target set flow rate value F is stable, V = ε + 2J'edt + y -■ However, K, K2 is a proportional constant, and ε is (F (sp) - ΔW
), r is a constant value determined by the target flow rate setting value, and y=o
It is also possible to do this. In this way 'by closed loop'
PI control is being executed.
また、第２図に示す起動時においては、定常時と同様の
ＰＩ制御を実行していたのでは特性ａのように立ち上が
遅くまたオーバシュートを伴うため、従来では起動直後
に限って次のようにして比例配分によって制御電圧Ｖが
決められている。つまり、スクリュフィーダ（３）の最
大流量設定Ｆｍａｘを得るに必要な設定制御電圧をＶｍ
ａｘ ｓ起動時の目標流量設定値Ｆ（ｓｐ）ｏ とし
た場合には、Ｖ＝Ｖｍａｘ −Ｆ（ｓｐ）０ ／ Ｆｍ
ａｘ −■で決められ、起動時から一定時間Ｔ、は
第２式で決定された制御電圧でドライブ回路（６）を介
して駆動モータ（５）を運転して一定時間後に第１式の
制御電圧によるＰＩ制御が実行されている。このように
起動時に第２式の制御電圧で運転すると第２図の特性す
のようにオーバーシュートが−なくＰＩ制御よりもすみ
やかな立ち上がり特性が得られる。Furthermore, at the time of startup shown in Fig. 2, if the same PI control as in the steady state was executed, the startup would be slow and overshoot as shown in characteristic a. The control voltage V is determined by proportional distribution as follows. In other words, the setting control voltage required to obtain the maximum flow rate setting Fmax of the screw feeder (3) is Vm
If the target flow rate setting value at startup is F(sp)o, then V=Vmax -F(sp)0/Fm
ax - ■, and for a certain period of time T from the time of startup, the drive motor (5) is operated via the drive circuit (6) with the control voltage determined by the second equation, and after a certain period of time, the control according to the first equation is performed. PI control using voltage is being executed. In this manner, when the motor is operated at the control voltage of the second formula at startup, there is no overshoot and a more rapid start-up characteristic than under PI control can be obtained, as shown in the characteristic diagram of FIG.
しかし従来の制御方法〔第４図参照〕では、起動直後に
は第２式で運転されるものの、起動後で一定時間Ｔ１の
経過後は作業終了までＰ１制御に切換えられてしまうた
め、第８図のように運転途中で目標流量設定値がＦ（Ｓ
Ｐ）０からＦ（ＳＰ）に大きく変動した場合には特性Ｃ
のように追従性能が悪化する欠点を有しているのが現状
である。However, in the conventional control method [see Fig. 4], although the operation is performed in the second type immediately after startup, after a certain period of time T1 has elapsed after startup, the control is switched to the P1 control until the end of the work. As shown in the figure, the target flow rate set value is F(S) during operation.
P) If there is a large change from 0 to F(SP), characteristic C
At present, it has the disadvantage of poor tracking performance.
そこで本発明は定常運転中に目標流量設定値が大きく変
動しても速やかに変更後の目標流量設定値に追従させる
ことができるコンスタントフィードウェアの制御方法を
提供することを目的とする。SUMMARY OF THE INVENTION An object of the present invention is to provide a constant feedware control method that can quickly follow a changed target flow rate setting value even if the target flow rate setting value fluctuates greatly during steady operation.
本発明のコンスタントフィードウェアの制御方法は、計
量ホッパを支持する計量装置の計量値変化に基づいて排
出量が目標流量設定値に近づくよう前記計量ホッパの排
出装置を運転するに必要な制御電圧値を算出して閉ルー
プ制御すると共に前記目標流量設定値の変化量をチェッ
クし、この変化量が規定値を越えた直後には前記閉ルー
プ制御を中止してそれまでの閉ループ制御期間における
制御電圧値の単位目標流量設定値当りの平均値と変更後
の目標流量設定値とで決まる所定制御電圧値で排出装置
を運転することを特徴とする。The constant feedware control method of the present invention provides a control voltage value necessary to operate the discharge device of the weighing hopper so that the discharge amount approaches a target flow rate setting value based on a change in the measured value of the metering device supporting the weighing hopper. The amount of change in the target flow rate set value is checked, and immediately after the amount of change exceeds the specified value, the closed loop control is stopped and the control voltage value in the previous closed loop control period is changed. It is characterized in that the discharge device is operated at a predetermined control voltage value determined by the average value per unit target flow rate setting value and the changed target flow rate setting value.
本発明では閉ループ制御に一旦移行した場合であっても
、目標流量設定値が大きく変化した際には閉ループ制御
を中止して、変更後の目標流量設定値だけではな（てそ
れまでの閉ループ制御中に求めたデータをもとに制御電
圧値を決定して運転を実行するため、運転途中で目標流
量設定値ならび°に処理原料の性状が変化しても、その
時々の目標流量設定値に沿った高精度の定流量排出を期
待できるものである。In the present invention, even if the system has once shifted to closed-loop control, if the target flow rate set value changes significantly, the closed-loop control is stopped and the target flow rate set value after the change is not used alone. Since the control voltage value is determined based on the data obtained during operation and the operation is executed, even if the target flow rate setting value or the properties of the raw material to be processed change during operation, the target flow rate setting value at that time will not change. Highly accurate constant flow discharge can be expected.
以下、本発明の制御方法を第５図と第６図に示す具体的
な一実施例に基づいて説明する。The control method of the present invention will be explained below based on a specific embodiment shown in FIGS. 5 and 6.
第５図は制御装置本体（４）のフローチャートを示し、
起動直後の一定時間Ｔ、は（ａ １） →（ａ−２）
−＋（ａ−Ｊ）のルーチンを実行して（ａ−８）で算出
される（Ｖｍａｘ−Ｆ（ＳＰ）Ｎ／ Ｆｍａｘ ）の制
御電圧でドライブ回路（６）を介して駆動モータ（５）
が運転される。ここで（ａ−８）におけるＦ（ＳＰ）Ｎ
” Ｆ（ＳＰ）ｏである。起動後で（ａ−２）で一致が
検出されると第１式に基づいて制御電圧を算出してドラ
イブ回路（６）を介して駆動モータ（５）を運転（ａ−
４）Ｌ／、次いで一定間隔（毎秒４回）で繰り返してサ
ンプリングしているデータのうちの前回の目標流量設定
値Ｆ（ＳＰ）Ｎ−１と最新の目標流量設定値Ｆ（ＳＰ）
Ｎから変化量を算出し、これ′を規定値の（Ｆｍａｘ・
０．０５）と比較して変化量の大小を判定〔ａ−５）す
る。第６図に示すように、起動後で設定変更が行われた
時刻ｔに達するまでは（ａ−５）を経てデータ収集（ａ
−６）を実行して（ａ−４）を実行するルーチンが繰り
返し実行されて駆動モータ（５）は閉ループ制御されて
いる。FIG. 5 shows a flowchart of the control device main body (4),
The fixed time T immediately after startup is (a 1) → (a-2)
-+(a-J) routine is executed to drive the drive motor (5) via the drive circuit (6) with the control voltage of (Vmax-F(SP)N/Fmax) calculated in (a-8).
is driven. Here, F(SP)N in (a-8)
"F(SP)o. If a match is detected in (a-2) after startup, the control voltage is calculated based on the first equation and the drive motor (5) is activated via the drive circuit (6). Driving (a-
4) L/, then the previous target flow rate setting value F(SP)N-1 and the latest target flow rate setting value F(SP) of the data repeatedly sampled at fixed intervals (4 times per second)
Calculate the amount of change from N, and set this as the specified value (Fmax・
0.05) to determine the magnitude of the amount of change [a-5). As shown in FIG. 6, data collection (a-5) is performed after startup until time t is reached when the settings are changed.
-6) and then (a-4) are repeatedly executed, and the drive motor (5) is controlled in a closed loop.
前記（ａ−６）では（ａ−４）で使用した毎回（毎秒４
回）の目標流量値を読み込んで最新の過去８０回の時刻
ｔに達して（ａ−５）で変化量が大きいと判定された場
合には、（ａ−６）でのデータ収集が８０回に達してい
るかをチェック（ａ−’？）して、収集が完了していな
い場合には、（ａ−１）に戻って一定時間Ｔ。In (a-6) above, each time used in (a-4) (4 per second
When reading the target flow rate value of 80 times) and reaching time t of the latest past 80 times, if it is determined that the amount of change is large at (a-5), data collection at (a-6) is performed 80 times. Check whether the collection has been completed (a-'?), and if the collection is not completed, return to (a-1) and wait for a certain period of time T.
は変更後の最新の目標流量設定値Ｆ（ＳＰ）に応じて比
例配分で求まる（ａ−８）の制御電圧値（Ｖｍａｘ−Ｆ
（ｓｐ）／ Ｆｍａｘ）で運転される。（ａ−２）でＴ
、の経過が検出されると再び（ａ−４）→（ａ−５）→
（ａ−６）のルーチンが実行される。is the control voltage value (Vmax-F
(sp)/Fmax). T in (a-2)
When the progress of , is detected, (a-4) → (a-5) → again
The routine (a-6) is executed.
（Ｂ＝５ ）で変化量が大きいと判定され、か″）Ｃａ
−７：）で８０回分のデータ収集が完了していると判定
された場合には（ａ−８）→（ａ−４） （ａ−１０）
のルーチンを実行して、一定時間は（ａ−４）での
閉ループ制御を中止して（ａ−１０）による運転が実行
される。（ａ−１０）では（ａ−６）で収集したデータ
と変更後の最新の目標流量設定値Ｆ（ｓｐ）Ｎとによっ
て算出される制御電圧ＣＦ（ＳＰ）Ｎ ・ Σ■／Σ
Ｆ（ｓｐ））によってスクリューＮ−８１Ｎ−８１
フィーダ（３）が運転される。(B=5), it is determined that the amount of change is large,
-7:) If it is determined that data collection for 80 times has been completed, (a-8) → (a-4) (a-10)
After executing the routine, the closed loop control in (a-4) is stopped for a certain period of time, and the operation in (a-10) is executed. In (a-10), the control voltage CF(SP)N ・Σ■/Σ is calculated from the data collected in (a-6) and the latest target flow rate setting value F(sp)N after the change.
The screw N-81N-81 feeder (3) is operated by F(sp)).
（ａ−９）でＴ１の経過が検出されると（ａ−４）に戻
って閉ループ制御が再開される。なお、（ａ−１０〕実
行後に閉ループ制御への移行時には（ａ−６）で収集さ
れている過去のデータは一旦クリアされてから（ａ−６
）が実行される。When the passage of T1 is detected in (a-9), the process returns to (a-4) and closed loop control is restarted. Note that when transitioning to closed-loop control after executing (a-10), the past data collected in (a-6) is cleared once, and then (a-6
) is executed.
このように（ａ−４）→（ａ−５）→（ａ−６）の閉ル
ープ制御中であっても（ａ−５）で目標流量設定値の変
化量をチェックして、ＰＩ制御を実行したのでは排出流
量変化の立ち上がりが遅れるような変化値の大きい場合
には変更後の目標流量設定値に応じて（ａ−１０）で決
定される制御電圧によって駆動モータ（５）が運転され
るため、第６図の特性ｄのよう゛にオーバーシュートの
ない速やかな追従が期待できる。In this way, even during the closed loop control of (a-4) → (a-5) → (a-6), the amount of change in the target flow rate set value is checked in (a-5) and PI control is executed. If the change value is large enough to delay the rise of the discharge flow rate change, the drive motor (5) is operated by the control voltage determined in (a-10) according to the changed target flow rate set value. Therefore, rapid tracking without overshoot can be expected as shown in characteristic d in FIG.
上記実施例では、起動直後の（ａ−８）実行期間と（ａ
−４）実行直後の（ａ−８）の実行期間ならびに（ａ−
１０）の実行期間は共に時間Ｔ１としたが、これは必ず
しも同じ長さにする必要はない。In the above embodiment, (a-8) execution period immediately after startup and (a
-4) Execution period of (a-8) immediately after execution and (a-
Although the execution periods of 10) are both time T1, they do not necessarily have to be the same length.
第５図のフローチャートには図示されていないが、計量
ホッパ（２）内の原料が下限レベルに達して計量ホッパ
（２）への原料補給実行中は、（ａ−６）でデータ収集
が完了している場合には原料補給完了まで（ａ−１０）
で求まる所定制御電圧値で運転し、（ａ−６）でデータ
収集が完了していない場合には原料補給完了まで（ａ−
８）で求まる制御電圧値で運転される。Although not shown in the flowchart of Fig. 5, when the raw material in the weighing hopper (2) reaches the lower limit level and the raw material is being replenished to the weighing hopper (2), data collection is completed at (a-6). If so, until the raw material supply is completed (a-10)
If the data collection is not completed in (a-6), the operation is performed at the predetermined control voltage value determined by (a-6) until the raw material replenishment is completed.
It is operated with the control voltage value found in 8).
また、（ａ−４）→（ａ−５）→（’ａ−６）のルーチ
ン実行時には流量異常ならびに積算偏差異常の発生がチ
ェックされており、このような異常が発生した場合には
その回のデータを（ａ−６）で収集しないよう構成して
（ａ−１０）で決定される所定制御電圧の信頼性低下が
防止されている。Also, when the routine (a-4) → (a-5) → ('a-6) is executed, the occurrence of flow rate abnormality and integrated deviation abnormality is checked, and if such an abnormality occurs, the This data is configured not to be collected in (a-6), thereby preventing a decrease in reliability of the predetermined control voltage determined in (a-10).
以上説明のように本発明の制御方法によると、起動後で
一旦閉ループ制御に移行した後であっても目標流量設定
値が規定値以上に変化した場合には、閉ループ制御を中
止して変更後の目標流量設定値等によって決められる所
定制御電圧値で運転するため、運転中の目標流量設定値
の変更も起動時と同様に迅速に追従できる。As explained above, according to the control method of the present invention, if the target flow rate setting value changes beyond the specified value even after transitioning to closed-loop control after startup, closed-loop control is stopped and the change is made. Since the device operates at a predetermined control voltage value determined by the target flow rate setting value, etc., changes in the target flow rate setting value during operation can be quickly followed in the same way as at startup.
更に、前記所定制御電圧値は変更後の目標流量設定値だ
けを変数として決定するのではなく、それまでの閉ルー
プ制御中の目標流量設定値とその制御電圧値とを加味し
てその都度決定されるため、処理原料の性状がばらつい
て排出装置の最大流量が起動時のそれと異なる場合であ
っても極めて適切な運転を期待できるものである。Furthermore, the predetermined control voltage value is not determined only with the changed target flow rate set value as a variable, but is determined each time by taking into account the target flow rate set value and its control voltage value during the previous closed loop control. Therefore, even if the properties of the raw material to be treated vary and the maximum flow rate of the discharge device differs from that at startup, extremely appropriate operation can be expected.
第１図はコンスタントフィードウェアの構成図、第２図
は従来の起動時の制御特性図、第８図は運転中に目標流
量設定値が変更された場合の従来の制御特性図、第４図
は制御装置本体の従来のフローチャート図、第５図と第
６図は本発明の具体的な一実施例を示し、第５図は本発
明の制御方法を実行する制御装置本体のフローチャート
図、第６図は運転中に目標流量設定値が変更された場合
の制御特性図である。
（１）・・・計量装置、（２）・・・計量ホッパ、（３
）・・・スクリューフィーダ〔排出装置〕、（４）・・
・制御装置本体、Ｆ（ＳＰ）Ｏ、Ｆ（ＳＰ）Ｎ −−・
目標流量設定値、Σ Ｆ（ＳＰ）・・・閉ループ制御中
の過去８０回の目標流量設定値の積算値、
Σ ■・・・閉ループ制御中の過去３０回の制御電圧値
の積算値Figure 1 is a configuration diagram of constant feedware, Figure 2 is a conventional control characteristic diagram at startup, Figure 8 is a conventional control characteristic diagram when the target flow rate setting value is changed during operation, and Figure 4 5 and 6 show a specific embodiment of the present invention, and FIG. 5 is a flowchart of the control device that executes the control method of the present invention. FIG. 6 is a control characteristic diagram when the target flow rate setting value is changed during operation. (1)...Weighing device, (2)...Weighing hopper, (3
)...Screw feeder [discharge device], (4)...
・Control device body, F(SP)O, F(SP)N ---
Target flow rate set value, Σ F(SP)...Accumulated value of the past 80 target flow rate settings during closed-loop control, Σ■...Accumulated value of the past 30 control voltage values during closed-loop control
Claims (1)
いて排出量が目標流量設定値に近づくよう前記計量ホッ
パの排出装置を運転するに必要な制御電圧値を算出して
閉ループ制御すると共に前記目標流量設定値の変化量を
チェックし、この変化量が規定値を越えた直後には前記
閉ループ制御を中止してそれまでの閉ループ制御期間に
おける制御電圧値の単位目標流量設定値当りの平均値と
変更後の目標流量設定値とで決まる所定制御電圧値で排
出装置を運転するコンスタントフィードウェアの制御方
法。 ２、所定制御電圧値を、閉ループ制御期間の最近の過去
ｎ回の目標流量設定値の和をΣ＾Ｎ＾−＾１＿Ｎ＿−＿
（＿ｎ＿＋＿１＿）Ｆ＿（＿Ｓ＿Ｐ＿）、前記過去ｎ回
の制御電圧値の和をΣ＾Ｎ＾−＾１＿Ｎ＿−＿（＿ｎ＿
＋＿１＿）Ｖ、変更後の目標流量設定値をＦ＿（＿Ｓ＿
Ｐ＿）＿Ｎとした場合に、〔Ｆ＿（＿Ｓ＿Ｐ＿）＿Ｎ・
Σ＾Ｎ＾−＾１＿Ｎ＿−＿（＿ｎ＿＋＿１＿）Ｖ／Σ＾
Ｎ＾−＾１＿Ｎ＿−＿（＿ｎ＿＋＿１＿）Ｆ＿（＿Ｓ＿
Ｐ＿）〕の比例配分によつて決定することを特徴とする
特許請求の範囲第１項記載のコンスタントフィードウェ
アの制御方法。 ３、閉ループ制御を、ＰＩ制御によつて実行することを
特徴とする特許請求の範囲第１項記載のコンスタントフ
ィードウェアの制御方法。[Claims] 1. Calculate the control voltage value necessary to operate the discharge device of the weighing hopper so that the discharge amount approaches the target flow rate setting value based on the change in the measured value of the metering device that supports the weighing hopper. At the same time, the amount of change in the set value of the target flow rate is checked, and immediately after this amount of change exceeds a specified value, the closed loop control is stopped and the unit target flow rate of the control voltage value during the closed loop control period up to that point is stopped. A constant feedware control method in which a discharge device is operated at a predetermined control voltage value determined by an average value per set value and a target flow rate set value after change. 2. The predetermined control voltage value is the sum of the target flow rate settings for the last n times in the closed loop control period.
(_n_+_1_)F_(_S_P_), the sum of the control voltage values of the past n times is Σ^N^-^1_N_-_(_n_
+_1_)V, the target flow rate setting value after change is F_(_S_
P_)_N, [F_(_S_P_)_N・
Σ^N^-^1_N_-_(_n_+_1_)V/Σ^
N^-^1_N_-_(_n_+_1_)F_(_S_
2. The method of controlling constant feedware according to claim 1, wherein the method is determined by proportionately distributing P_)]. 3. The constant feedware control method according to claim 1, wherein the closed loop control is performed by PI control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12098184A JPS61803A (en) | 1984-06-13 | 1984-06-13 | Control method of constant feed ware |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12098184A JPS61803A (en) | 1984-06-13 | 1984-06-13 | Control method of constant feed ware |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61803A true JPS61803A (en) | 1986-01-06 |
Family
ID=14799825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12098184A Pending JPS61803A (en) | 1984-06-13 | 1984-06-13 | Control method of constant feed ware |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61803A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4931192A (en) * | 1989-03-22 | 1990-06-05 | The University Of Tennessee Research Corporation | Method for the disposal of hazardous non-polar organic wastes |
| JP2018147218A (en) * | 2017-03-06 | 2018-09-20 | 株式会社堀場エステック | Fluid control device and fluid control device program |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57111702A (en) * | 1980-12-29 | 1982-07-12 | Yokogawa Hokushin Electric Corp | Process control device |
| JPS57176405A (en) * | 1981-04-24 | 1982-10-29 | Matsushita Electric Ind Co Ltd | Process controlling method |
-
1984
- 1984-06-13 JP JP12098184A patent/JPS61803A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57111702A (en) * | 1980-12-29 | 1982-07-12 | Yokogawa Hokushin Electric Corp | Process control device |
| JPS57176405A (en) * | 1981-04-24 | 1982-10-29 | Matsushita Electric Ind Co Ltd | Process controlling method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4931192A (en) * | 1989-03-22 | 1990-06-05 | The University Of Tennessee Research Corporation | Method for the disposal of hazardous non-polar organic wastes |
| JP2018147218A (en) * | 2017-03-06 | 2018-09-20 | 株式会社堀場エステック | Fluid control device and fluid control device program |
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