Control device

Abstract

The invention provides a control device which performs feedback control on a control object through a plurality of physical quantities. When a physical quantity for feedback control is switched, a target value of the switched physical quantity is calculated using the switched inverse transfer function.

Description

Technical Field

[0001] The present invention relates to a control device. Background Art

[0002] There are control devices that can perform feedback control on a controlled object through multiple physical quantities. For example, Patent Document 1 discloses a control device that has control units of multiple systems respectively corresponding to multiple physical quantities, and thus can perform feedback control on a controlled object through multiple physical quantities.

[0003] When switching the physical quantity used for feedback control, sometimes the operation amount input to the controlled object changes discontinuously. This discontinuous change in the operation amount sometimes causes an impact on the controlled object. Therefore, in the control device disclosed in Patent Document 1, the operation amounts are stored in sequence, and when switching the physical quantity used for feedback control, the immediately preceding stored operation amount among the stored operation amounts is output to the controlled object, thereby preventing the discontinuous change in the operation amount when switching the systems of the control units. However, in the control device disclosed in Patent Document 1, the switching during the stop of the controlled object is targeted, and the switching during the operation of the controlled object is not targeted.

[0004] Patent Document 1: Japanese Patent No. 5841795 Gazette Summary of the Invention

[0005] An object of the present invention is to perform feedback control on a controlled object through multiple physical quantities.

[0006] In order to solve the above problems, an information processing method according to an embodiment of the present invention is executed by a computer in order to perform feedback control on a controlled object through multiple physical quantities. When switching the physical quantity used for the feedback control, the inverse transfer function after the switching is used to calculate the target value of the physical quantity after the switching.

[0007] When switching the physical quantity used for the feedback control from a first physical quantity to a second physical quantity, the target value of the second physical quantity is calculated based on the operation amount corresponding to the difference between the target value and the control amount of the first physical quantity and the control amount of the second physical quantity.

[0008] When switching the physical quantity used for the feedback control from the second physical quantity to the first physical quantity, the target value of the first physical quantity is calculated based on the operation amount corresponding to the difference between the target value and the control amount of the second physical quantity and the control amount of the first physical quantity.

[0009] The information processing device according to an embodiment of the present invention calculates the target values of a plurality of physical quantities in order to perform feedback control on a controlled object by using the plurality of physical quantities. When switching the physical quantity used for the feedback control, the inverse transfer function after the switching is used to calculate the target value of the physical quantity after the switching.

[0010] When switching the physical quantity used for the feedback control from the first physical quantity to the second physical quantity, the target value of the second physical quantity is calculated based on the operation amount corresponding to the difference between the target value and the control amount of the first physical quantity and the control amount of the second physical quantity.

[0011] When switching the physical quantity used for the feedback control from the second physical quantity to the first physical quantity, the target value of the first physical quantity is calculated based on the operation amount corresponding to the difference between the target value and the control amount of the second physical quantity and the control amount of the first physical quantity.

[0012] The control device according to an embodiment of the present invention performs feedback control on a controlled object. The control device includes: the information processing device; a first control unit; a second control unit; and a switching unit. The information processing device outputs the target values of the first physical quantity and the second physical quantity. The first control unit receives the input of the target value of the first physical quantity and the control amount, and outputs an operation amount corresponding to the difference between the input target value of the first physical quantity and the control amount. The second control unit receives the input of the target value of the second physical quantity and the control amount, and outputs an operation amount corresponding to the difference between the input target value of the second physical quantity and the control amount. The switching unit switches between a first state and a second state. The first state is a state in which the operation amount output from the first control unit is input to the controlled object. The second state is a state in which the operation amount output from the second control unit is input to the controlled object. If the physical quantity used for the feedback control is the first physical quantity, it is the first state. If the physical quantity used for the feedback control is the second physical quantity, it is the second state.

[0013] According to the present invention, it is possible to perform feedback control on a controlled object by using a plurality of physical quantities. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 FIG. is a diagram showing a control device 100 according to an embodiment of the present invention.

[0015] Figure 2 FIG. is a diagram for explaining the control of the controlled object 200 by the control device 100.

[0016] Figure 3 FIG. is a diagram showing an example of the processing operation of the control device 100.

[0017] Figure 4 This is a diagram showing another example of the control device 100.

[0018] Figure 5 This is a diagram for explaining the control of the control object 200 by another example of the control device 100. Detailed implementation mode

[0019] <Control device 100>

[0020] Figure 1 This is a diagram showing the control device 100 according to an embodiment of the present invention. The control device 100 includes an input unit 110, a target value output unit 120, a first control unit 130-1, a second control unit 130-2, a switching unit 140, and a switching control unit 150.

[0021] Figure 2 The control of the control device 100 over the control object 200 is described. As Figure 2 shown, the control quantity Pv1(s) of the first physical quantity and the control quantity Pv2(s) of the second physical quantity different from the first physical quantity are input to the control device 100. Then, as Figure 2 shown, the control device 100 outputs the operation quantity Mv1(s) based on the control quantity Pv1(s) of the first physical quantity or the operation quantity Mv2(s) based on the control quantity Pv2(s) of the second physical quantity to the control object 200. That is, the control device 100 performs feedback control on the control object 200 using the first physical quantity or the second physical quantity. The control quantity Pv1(s) of the first physical quantity and the control quantity Pv2(s) of the second physical quantity are measured by sensors, for example.

[0022] The control object is, for example, a vibrator (e.g., the vibrator of a test device). When the control object 200 is the vibrator of a test device, for example, the first physical quantity is displacement (e.g., the displacement of a workpiece caused by the vibrator), and the second physical quantity is load (e.g., the load applied by the vibrator to the workpiece).

[0023] The input unit 110 is an input device such as a button, a keyboard, a touch panel, a microphone, etc. that accepts information input. As described above, the control device 100 performs feedback control on the control object through the first physical quantity or the second physical quantity. Therefore, the control modes of the control device 100 include a first mode of performing feedback control on the control object 200 through the first physical quantity and a second mode of performing feedback control on the control object 200 through the second physical quantity. The input unit 110 accepts the input of an instruction for switching the control mode of the control device 100.

[0024] The target value output unit 120 outputs the target value Sv1(s) of the first physical quantity and the target value Sv2(s) of the second physical quantity. The target value Sv1(s) of the first physical quantity output from the target value output unit 120 is input to the first control unit 130-1, and the target value Sv2(s) of the second physical quantity output from the target value output unit 120 is input to the second control unit 130-2. The target value output unit 120 includes, for example, an information processing device such as a computer.

[0025] The first control unit 130-1 receives the input of the target value Sv1(s) of the first physical quantity and the control quantity Pv1(s), and outputs the operation quantity Mv1(s) of the controlled object 200. As Figure 2 shown, the first control unit 130-1 has a comparison unit 131-1 and a control unit 132-1. The comparison unit 131-1 receives the input of the target value Sv1(s) of the first physical quantity and the control quantity Pv1(s), and outputs the difference (control deviation e1) between the target value Sv1(s) of the first physical quantity and the control quantity Pv1(s) to the control unit 132-1 (e1(s) = Sv1(s) - Pv1(s)). The control unit 132-1 receives the input of the difference between the target value Sv1(s) of the first physical quantity and the control quantity Pv1(s), and outputs the operation quantity Mv1(s) based on this difference. The control unit 132-1 is, for example, a controller that performs PID control.

[0026] Here, when using the transfer function G1(s) of the feedback control based on the first physical quantity (the control unit 132-1 of the first control unit 130-1), the relationship between the target value Sv1(s) of the first physical quantity, the control quantity Pv1(s), and the operation quantity Mv1(s) output from the first control unit 130-1 is as follows.

[0027] [Equation 1]

[0028] Mv1(s) = G1(s)·(Sv1(s) - Pv1(s)) (1)

[0029] The second control unit 130-2 receives the input of the target value Sv2(s) of the second physical quantity and the control quantity Pv2(s), and outputs the operation quantity Mv2(s) of the controlled object 200. As Figure 2As shown, the second control unit 130-2 includes a comparison unit 131-2 and a control unit 132-2. The comparison unit 131-2 receives the input of the target value Sv2(s) of the second physical quantity and the control quantity Pv2(s), and outputs the difference (control deviation e2) between the target value Sv2(s) of the second physical quantity and the control quantity Pv2(s) to the control unit 132-2 (e2(s) = Sv2(s) - Pv2(s)). The control unit 132-2 receives the input of the difference between the target value Sv2(s) of the second physical quantity and the control quantity Pv2(s), and outputs an operation quantity Mv2(s) based on this difference. The control unit 132-2 is, for example, a controller that performs PID control.

[0030] Here, when using the transfer function G2(s) of the feedback control based on the second physical quantity (the control unit 132-2 of the second control unit 130-2), the relationship between the target value Sv2(s) of the second physical quantity, the control quantity Pv2, and the operation quantity Mv2(s) output from the second control unit 130-2 is as follows.

[0031] [Equation 2]

[0032] Mvn(s) = Gn(s)·(Svn(s) - Pvn(s)) (2)

[0033] The switching unit 140 switches between two states: a state in which the operation quantity Mv1(s) output from the first control unit 130-1 is output to the control object 200 (the first state) and a state in which the operation quantity Mv2(s) output from the second control unit 130-2 is output to the control object 200 (the second state). In the present embodiment, when the control mode of the control device 100 is the first mode, the state of the switching unit 140 is the first state, and when the control mode of the control device 100 is the second mode, the state of the switching unit 140 is the second state.

[0034] The switching control unit 150 switches the state of the switching unit 140 based on the control mode of the control device 100. For example, when the control mode of the control device 100 is the first mode (i.e., when the switching unit 140 is in the first state), if the input unit 110 receives an input indicating a switch from the first mode to the second mode, the switching control unit 150 switches the state of the switching unit 140 from the first state to the second state. In addition, when the control mode of the control device 100 is the second mode (i.e., when the switching unit 140 is in the second state), if the input unit 110 receives an input indicating a switch from the second mode to the first mode, the switching control unit 150 may also switch the state of the switching unit 140 from the second state to the first state.

[0035] Therefore, in the present embodiment, feedback control of the controlled object can be performed using two physical quantities, i.e., the first physical quantity and the second physical quantity. In particular, in the present embodiment, when the controlled object is operating, the physical quantity (control quantity) used for feedback control can be switched.

[0036] There is a situation where it is difficult to stabilize the control system in feedback control based on load (load control), and it is easy to stabilize the control system in feedback control based on displacement (displacement control). In the present embodiment, in such a case, first, displacement control is performed to stabilize the control system, and then load control can be performed.

[0037] When switching the control mode of the control device 100, sometimes the operation amount input to the controlled object 200 changes discontinuously, imposing a shock on the controlled object 200. For example, when the control mode of the control device 100 is switched from the first mode to the second mode, the operation amount input to the controlled object is switched from the operation amount Mv1(s) output by the first control unit 130-1 to the operation amount Mv2(s) output by the second control unit 130-2. At the time of this switch, if the operation amount Mv1(s) output from the first control unit 130-1 and the operation amount Mv2(s) output from the second control unit 130-2 are not the same value, the change in the operation amount input to the controlled object 200 becomes discontinuous, imposing a shock on the controlled object 200.

[0038] Therefore, in the present embodiment, when switching the physical quantity for control, the target value output unit 120 uses the inverse transfer function after the switch to calculate the target value of the physical quantity after the switch, preventing the operation amount input to the controlled object 200 from changing discontinuously before and after the switch.

[0039] For example, when switching from the first mode to the second mode (for example, when the input unit 110 receives an input indicating a switch from the first mode to the second mode), the target value output unit 120 receives the input of the value Mv1 of the operation amount Mv1(s) output from the first control unit 130-1 and the value Pv2 of the control amount Pv2(s) of the second physical quantity, and based on the value Mv1 of the operation amount Mv1(s) output from the first control unit 130-1 at the time of the switch and the value Pv2 of the control amount Pv2(s) of the second physical quantity at the time of the switch, uses the inverse transfer function G2(s) of the feedback control based on the second physical quantity at the time of the switch -1 with the value G2 -1 to calculate the value Sv2 of the target value Sv2(s) of the second physical quantity and output the calculated value Sv2 to the second control unit 130-2.

[0040] [Equation 3]

[0041]

[0042] Thus, in the present embodiment, the inverse transfer function of the feedback control based on the switched physical quantity (second physical quantity) is used to calculate the manipulated variable of the switched physical quantity (second physical quantity), so that the manipulated variable of the switched physical quantity (second physical quantity) becomes the same value as the manipulated variable of the physical quantity before switching (first physical quantity). As a result, in the present embodiment, before and after the switching, the manipulated variable input to the controlled object 200 does not change discontinuously, and it is possible to prevent a situation where an impact is applied to the controlled object when switching the physical quantity for feedback control.

[0043] In addition, for example, when the target value output unit 120 switches from the second mode to the first mode (for example, when the input unit 110 receives an input indicating the switching from the second mode to the first mode), it receives the value Mv2 of the manipulated variable Mv2(s) output from the second control unit 130-2 and the value Pv1 of the controlled quantity Pv1(s) of the first physical quantity. Based on the value Mv2 of the manipulated variable Mv2(s) output from the second control unit 130-2 at the time of this switching and the value Pv1 of the controlled quantity Pv1(s) of the first physical quantity at the time of this switching, using the inverse transfer function G1(s) of the feedback control based on the first physical quantity at the time of this switching -1 value G1 -1 , calculate the value Sv1 of the target value Sv1(s) of the first physical quantity, and output the calculated value Sv1 to the second control unit 130-2.

[0044] [Equation 4]

[0045]

[0046] <Vibrator Control>

[0047] For example, when the controlled object 200 is a vibrator, the target value Sv1(s), manipulated variable Mv1(s), controlled quantity Pv1(s), target value Sv2(s), manipulated variable Mv2(s), and controlled quantity Pv2(s) of the first physical quantity are all sine waves of the same angular frequency ω. At this time, according to Equation (1), the target value Sv2(s) of the second physical quantity can be phasor-displayed as follows.

[0048] [Equation 5]

[0049]

[0050] Through the above formula, the amplitude and phase of the target value Sv2(s) of the second physical quantity are calculated. Similarly, according to Equation (2), the target value Sv1(s) of the first physical quantity can be phasor-displayed as follows.

[0051]

[0052] Based on the above formula, calculate the amplitude and phase of the target value Sv1(s) of the first physical quantity.

[0053] At this time, the target value output unit 120 may include an oscillator. Moreover, when switching the physical quantity for feedback control, the target value output unit 120 can set the amplitude and phase of the target value of the switched physical quantity calculated by the above formula for the oscillator, and output a signal of the target value of the switched physical quantity from the oscillator.

[0054] <Processing operations of the control device 100>

[0055] Figure 3 An example of the processing operations of the control device 100 is shown. When switching the control mode of the control device 100 from the first mode to the second mode (for example, when the input unit 110 receives an input indicating the switch from the first mode to the second mode), the following Figure 3 processing operations are executed in the control device 100.

[0056] Based on the value Mv1 of the manipulated variable Mv1(s) of the first physical quantity and the value Pv2 of the controlled variable Pv2(s) of the second physical quantity output from the first control unit 130-1, the target value output unit 120 uses the inverse transfer function G2(s) of the feedback control based on the second physical quantity -1 with the value G2 -1 to calculate the value Sv2 of the target value Sv2(s) of the second physical quantity (step S301).

[0057] The switching control unit 150 switches the state of the switching unit 140 from the state of outputting the manipulated variable Mv1(s) output from the first control unit 130-1 to the control object 200 (the first state) to the state of outputting the manipulated variable Mv2(s) output from the second control unit 130-2 to the control object 200 (the second state) (step S302).

[0058] The target value output unit 120 outputs the value Sv2 of the target value Sv2(s) of the second physical quantity calculated in step S301 to the second control unit 130-2 (step S303).

[0059] <Feedback control based on three or more physical quantities>

[0060] In the above, the control device 100 performs feedback control on the control object through two physical quantities (the first physical quantity, the second physical quantity), but it can also perform feedback control on the control object through N physical quantities (N is a natural number of 3 or more) (the first physical quantity, the second physical quantity,..., the Nth physical quantity).

[0061] At this time, as Figure 4 ,Figure 5 As shown, the control device 100 has N control units 130 (the first control unit 130-1, the second control unit 130-2, …, the Nth control unit 130-N). Then, the target value output unit 120 outputs the target value Sv1(s) of the first physical quantity, the target value Sv2(s) of the second physical quantity, …, and the target value SvN(s) of the Nth physical quantity. The nth control unit 130-n (n = 1, 2, …, N) receives the input of the target value Svn(s) of the nth physical quantity and the control quantity Pvn(s), and outputs the operation quantity Mvn(s) of the controlled object 200.

[0062] As Figure 5 shown, the nth control unit 130-n has a comparison unit 131-n and a control unit 132-n. The comparison unit 131-n receives the input of the target value Svn(s) of the nth physical quantity and the control quantity Pvn(s), and outputs the difference (control deviation en) between the target value Svn(s) of the nth physical quantity and the control quantity Pvn(s) to the control unit 132-n (en(s) = Svn(s) - Pvn(s)). The control unit 132-n receives the input of the difference between the target value Svn(s) of the nth physical quantity and the control quantity Pvn(s), and outputs the operation quantity Mvn(s) based on this difference.

[0063] Here, when using the transfer function Gn(s) of the feedback control based on the nth physical quantity (the control unit 132-n of the nth control unit 130-n), the relationship between the target value Svn(s) of the nth physical quantity, the control quantity Pvn, and the operation quantity Mvn(s) output from the nth control unit 130-n is as follows.

[0064] [Equation 6]

[0065] Mvn(s) = Gn(s)·(Svn(s) - Pvn(s))

[0066] Moreover, the switching unit 140 switches between N states, which are the state of outputting the operation quantity Mv1(s) output from the first control unit 130-1 to the controlled object 200 (the first state), the state of outputting the operation quantity Mv2(s) output from the second control unit 130-2 to the controlled object 200 (the second state), …, and the state of outputting the operation quantity MvN(s) output from the Nth control unit 130-N to the controlled object 200 (the Nth state). Moreover, the control modes of the control device 100 include the first mode of performing feedback control on the controlled object 200 through the first physical quantity, the second mode of performing feedback control on the controlled object 200 through the second physical quantity, …, and the Nth mode of performing feedback control on the controlled object 200 through the Nth physical quantity.

[0067] For example, when the control mode of the control device 100 is the nth (n = 1, 2,..., N) mode (i.e., when the switching unit 140 is in the nth state), if the input unit 110 receives an input indicating a switch from the nth mode to the mth (m = 1, 2,..., N, m ≠ n) mode, the switching control unit 150 switches the state of the switching unit 140 from the nth state to the mth state.

[0068] As described above, the present invention has been described by way of preferred embodiments of the present invention. Here, specific examples have been shown to describe the present invention, but various modifications and changes can be made to these specific examples without departing from the gist and scope of the present invention described in the patent protection scope.

[0069] Description of reference numerals

[0070] 100 Control device

[0071] 110 Input unit

[0072] 120 Target value output unit

[0073] 130-1 First control unit

[0074] 131-1 Comparison unit of the first control unit 130-1

[0075] 132-1 Control unit of the first control unit 130-1

[0076] 130-2 Second control unit

[0077] 131-2 Comparison unit of the second control unit 130-2

[0078] 132-2 Control unit of the second control unit 130-2

[0079] 130-N Nth control unit

[0080] 131-N Comparison unit of the Nth control unit 130-N

[0081] 132-N Control unit of the Nth control unit 130-N

[0082] 140 Switching unit

[0083] 150 Switching control unit

[0084] 200 Controlled object.

Claims

1. An information processing method, which is an information processing method executed by a computer for performing feedback control on a control object using a plurality of physical quantities, characterized in that: When the physical quantity used for the feedback control is switched, the target value of the physical quantity after the switching is calculated using the inverse transfer function after the switching.

2. The information processing method according to claim 1, characterized in that: When the physical quantity used for the feedback control is switched from the first physical quantity to the second physical quantity, the target value of the second physical quantity is calculated based on the operation amount corresponding to the difference between the target value of the first physical quantity and the control amount and the control amount of the second physical quantity.

3. The information processing method according to claim 2, characterized in that: When the physical quantity used for the feedback control is switched from the second physical quantity to the first physical quantity, a target value of the first physical quantity is calculated based on an operation amount corresponding to a difference between a target value of the second physical quantity and a control amount and a control amount of the first physical quantity.

4. An information processing device for calculating target values ​​of a plurality of physical quantities in order to perform feedback control on a control object using the plurality of physical quantities, characterized in that: When the physical quantity used for the feedback control is switched, the target value of the physical quantity after the switching is calculated using the inverse transfer function after the switching.

5. The information processing device according to claim 4, characterized in that When the physical quantity used for the feedback control is switched from the first physical quantity to the second physical quantity, the target value of the second physical quantity is calculated based on the operation amount corresponding to the difference between the target value of the first physical quantity and the control amount and the control amount of the second physical quantity.

6. The information processing device according to claim 5, characterized in that When the physical quantity used for the feedback control is switched from the second physical quantity to the first physical quantity, a target value of the first physical quantity is calculated based on an operation amount corresponding to a difference between a target value of the second physical quantity and a control amount and a control amount of the first physical quantity.

7. A control device that performs feedback control on a controlled object, characterized in that: The control device has: The information processing device according to claim 5 or 6; First control unit; a second control unit; and Switching Department, The information processing device outputs a target value of a first physical quantity and a target value of a second physical quantity, The first control unit receives input of the target value of the first physical quantity and the control amount, and outputs an operation amount corresponding to a difference between the input target value of the first physical quantity and the control amount. The second control unit receives input of the target value of the second physical quantity and the control amount, and outputs an operation amount corresponding to a difference between the input target value of the second physical quantity and the control amount. The switching unit switches between a first state and a second state, wherein the first state is a state in which the operation amount output from the first control unit is input to the control object, and the second state is a state in which the operation amount output from the second control unit is input to the control object. If the physical quantity used for the feedback control is the first physical quantity, then the first state is, If the physical quantity used for the feedback control is the second physical quantity, then it is the second state.

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