Control device and control method

Abstract

The invention provides a control device and a control method, which can prevent continuous output of excessive output end operation amount during application of FF operation amount without modeling ofphysical phenomenon. The control device includes: a PID control calculation unit that calculates an operation amount by PID control calculation; an operation amount limiter that limits the operationamount to a value equal to or greater than an operation amount lower limit value and equal to or less than an operation amount upper limit value; an FF operation amount generation unit that outputs arectangular waveform operation amount so as to eliminate disturbances on the basis of the input of a notification signal that starts before the disturbance application time point and ends after the application of the disturbances; an operation amount addition unit that outputs an output end operation amount, which is a result of adding the operation amount output by the operation amount limiter tothe operation amount; an upper and lower limit value changing unit that changes the upper and lower limit values of the anti-integral saturation function of the PID control calculation unit on the basis of the operation amount; and an upper and lower limit value changing unit that changes the upper and lower limit values of the operation amount limiter in accordance with the operation amount.

Description

technical field [0001] The present invention relates to a control device and a control method using feedback control and feedforward control in combination. Background technique [0002] For a long time, in order to counteract the influence of disturbance on the control variable PV, a method of using Feedback (FB) control represented by Proportion Integration Differentiation (PID) control together with Feedforward (FF) control has been proposed (see Patent Document 1). [0003] Among the methods disclosed in Patent Document 1, the following two methods (I) and (II) are roughly divided and proposed. [0004] (I) Based on the trajectory of the control variable PV and the manipulated variable MV of PID control during the trial (only when a disturbance is applied under PID control), the physical model formula of the controlled object obtained from prior knowledge or analysis, and the experimental data Based on the parameter identification results of the physical model, it is a...

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Problems solved by technology

Therefore, in the method (II), there is a possibility that the excessive output terminal manipulation quantity may continue to be output when the application timing of the FF manipulation quantity is shifted or when no disturbance is applied.

[0010] In addition, in the method (I), the peak value of the optimal FF operation amount often exceeds the upper limit of the output end operation amount (the reason is that it becomes obvious due to the effect of a high-pass filter), and at this time There is also the possibility that the waveform shape of the actual output FF manipulated variable deviates from the optimal waveform shape of the FF manipulated variable due to the limitation on the instrument, and the excess output terminal manipulated variable continues to be output.

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