Temperature control method, temperature control device and computer program product comprising temperature control program

Abstract

In a temperature control method for controlling the temperature of a heating-type processing machine according to the present disclosure, a computer: acquires a measured temperature y of the heating-type processing machine; calculating the temperature difference x1 between the obtained measurement temperature y and the target temperature ref of the heating type processing machine; calculating a temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y; calculating a control deviation by adding a product value cx1 obtained by multiplying the calculated temperature difference x1 by a predetermined value c to the temperature change rate x2; a control value for feedback control of the heating-type processing machine is calculated, and the control value converges the calculated control deviation to zero.

Description

Background Technology

[0001] This disclosure relates to a temperature control method, a temperature control device, and a computer program product including a temperature control program for controlling the temperature of a heated processing machine.

[0002] In recent years, various technologies for controlling the temperature of heated processing machines have been proposed. As an example of this technology, Patent Document 1 discloses a temperature control method for an injection molding machine, wherein a PID control device included in the temperature control equipment controls the temperature of the injection nozzle and each individual component in the resin heating cylinder, which consists of multiple zones, based on a set temperature. In this temperature control method, when the set temperature changes, the amount of change in the set temperature per unit time is controlled by a target value filter.

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2006-240203 Summary of the Invention

[0004] However, in general, the following problem exists in the method of controlling the temperature of a heated processing machine by means of PID control: the deviation between the target temperature and the actual temperature may not converge and oscillate.

[0005] This disclosure addresses the aforementioned problems, and its purpose is to provide a temperature control method, temperature control device, and temperature control program that enables the temperature of a heated processing machine to approach a target temperature.

[0006] In the temperature control method for controlling the temperature of a heated processing machine according to the present disclosure, a computer may: acquire a measured temperature y of the heated processing machine; calculate a temperature difference x1 between the acquired measured temperature y and a target temperature ref of the heated processing machine; calculate a temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y; calculate a control deviation by adding the product value cx1 to the temperature change rate x2, the product value cx1 being obtained by multiplying the calculated temperature difference x1 by a predetermined value c; and calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge to 0.

[0007] Furthermore, in the temperature control method for controlling the temperature of a heated processing machine according to this disclosure, the computer can: calculate the temperature change rate x2 of the measured temperature y of the heated processing machine; and calculate a control deviation corresponding to the difference between the calculated temperature change rate x2 and the target temperature change rate x of the heated processing machine. 2ref The difference; and, calculate the control value for feedback control of the heated processing machine, which causes the calculated control deviation to converge to 0.

[0008] Furthermore, in the temperature control method for controlling the temperature of a heated processing machine according to the present disclosure, the computer can: acquire a measured temperature y of the heated processing machine; calculate the temperature difference x1 between the acquired measured temperature y and the target temperature ref of the heated processing machine; calculate the temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y; calculate the control deviation by adding the product value c1x1, the product value c2x2, and the derivative value x3 of the temperature change rate x2, wherein the product value c1x1 is obtained by multiplying the calculated temperature difference x1 by a first predetermined value c1, and the product value c2x2 is obtained by multiplying the calculated temperature change rate x2 by a second predetermined value c2; and calculate a control value for feedback control of the heated processing machine, which causes the calculated control deviation to converge to 0.

[0009] Furthermore, a temperature control device configured to control the temperature of a heated processing machine according to this disclosure may include: a measurement value acquisition unit configured to acquire a measured temperature y of the heated processing machine; a temperature difference calculation unit configured to calculate a temperature difference x1 between the acquired measured temperature y and a target temperature ref of the heated processing machine; a temperature change rate calculation unit configured to calculate a temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y; a control deviation calculation unit configured to calculate a control deviation by adding a product value cx1 to the temperature change rate x2, wherein the product value cx1 is obtained by multiplying the calculated temperature difference x1 by a predetermined value c; and a control value calculation unit configured to calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge to 0.

[0010] Furthermore, a temperature control device configured to control the temperature of a heated processing machine according to this disclosure may include: a temperature change rate calculation unit configured to calculate the temperature change rate x2 of the measured temperature y of the heated processing machine; and a control deviation calculation unit configured to calculate a control deviation corresponding to the difference between the calculated temperature change rate x2 and the target temperature change rate x of the heated processing machine. 2ref The difference; and a control value calculation unit, which is configured to calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward 0.

[0011] Furthermore, a temperature control device configured to control the temperature of a heated processing machine according to this disclosure may include: a measurement value acquisition unit configured to acquire a measured temperature y of the heated processing machine; a temperature difference calculation unit configured to calculate a temperature difference x1 between the acquired measured temperature y and a target temperature ref of the heated processing machine; a temperature change rate calculation unit configured to calculate a temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y; a control deviation calculation unit configured to calculate a control deviation by adding a product value c1x1, a product value c2x2, and a derivative value x3 of the temperature change rate x2, wherein the product value c1x1 is obtained by multiplying the calculated temperature difference x1 by a first predetermined value c1, and the product value c2x2 is obtained by multiplying the calculated temperature change rate x2 by a second predetermined value c2; and a control value calculation unit configured to calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge to 0.

[0012] Furthermore, a computer program product including a temperature control program according to this disclosure is provided for controlling the temperature of a heated processing machine. The program enables a computer to: acquire a measured temperature y of the heated processing machine; calculate the temperature difference x1 between the acquired measured temperature y and a target temperature ref of the heated processing machine; calculate the rate of change of the measured temperature y x2 using the calculated temperature difference x1 or the acquired measured temperature y; calculate a control deviation by adding the product value cx1 to the rate of change of temperature x2, the product value cx1 being obtained by multiplying the calculated temperature difference x1 by a predetermined value c; and calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge to 0.

[0013] Furthermore, a computer program product including a temperature control program is provided according to this disclosure, which is used to control the temperature of a heated processing machine. The program enables the computer to: calculate the rate of temperature change x2 of the measured temperature y of the heated processing machine; and calculate a control deviation corresponding to the difference between the calculated rate of temperature change x2 and the target rate of temperature change x of the heated processing machine. 2ref The difference; and, calculate the control value for feedback control of the heated processing machine, which causes the calculated control deviation to converge to 0.

[0014] Furthermore, a computer program product including a temperature control program according to this disclosure is provided for controlling the temperature of a heated processing machine. The program enables a computer to: acquire a measured temperature y of the heated processing machine; calculate the temperature difference x1 between the acquired measured temperature y and a target temperature ref of the heated processing machine; calculate the rate of change of the measured temperature y x2 using the calculated temperature difference x1 or the acquired measured temperature y; calculate a control deviation by adding the product values ​​c1x1, c2x2, and the derivative x3 of the rate of change of temperature x2, wherein the product value c1x1 is obtained by multiplying the calculated temperature difference x1 by a first predetermined value c1, and the product value c2x2 is obtained by multiplying the calculated rate of change of temperature x2 by a second predetermined value c2; and calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge to 0.

[0015] According to this disclosure, a temperature control method, a temperature control device, and a computer program product including a temperature control program can be provided, which can bring the temperature of a heating-type processing machine close to a target temperature.

[0016] The above and other objects, features and advantages of this disclosure will become more fully understood from the following detailed description and accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a diagram illustrating the construction of the control device according to the first embodiment;

[0018] Figure 2 This is a flowchart illustrating an example of a process performed by a control device according to the first embodiment;

[0019] Figure 3 This illustrates when the control device according to the first embodiment performs... Figure 2 The diagram shows the information flow during processing;

[0020] Figure 4 It is a graph showing the temperature difference x1 and the rate of temperature change x2 as a function of time;

[0021] Figure 5 This is a block diagram illustrating the construction of a control device according to a second embodiment;

[0022] Figure 6 This is a flowchart illustrating an example of a process performed by a control device according to the second embodiment;

[0023] Figure 7 This illustrates when the control device according to the second embodiment is executed Figure 6 The diagram shows the information flow during processing; and

[0024] Figure 8 It is a graph showing the three-dimensional spatial coordinate system of temperature difference x1, temperature change rate x2, and the differential value of temperature change rate x3. Detailed Implementation

[0026] <First Embodiment>

[0027] In the following description, exemplary embodiments of the present disclosure will be described with reference to the accompanying drawings. Figure 1 This is a block diagram illustrating the construction of a control device 1 according to a first embodiment. The control device 1 is configured to control the temperature of a heated processing machine to be controlled. The heated processing machine includes both heating and cooling types. Specific examples of processing machines include plastic processing machines, such as single-screw extruders, twin-screw extruders, kneading extruders, and injection molding machines. The control device 1 corresponds to a temperature control device.

[0028] The control device 1 includes a communication interface (I / F) 11, a storage device 12, and a computing device 13. The communication I / F 11 is the interface for sending and receiving signals between the control device 1 and the heating-type processing machine to be controlled.

[0029] Storage device 12 is a storage device that stores control programs executed by computing device 13 and various information processed by computing device 13.

[0030] The computing device 13 is a computing device such as a central processing unit (CPU) or a microprocessor unit (MPU). The computing device 13 executes a control program stored in the storage device 12, thereby executing a control method defined by the control program. This control method corresponds to a temperature control method. Furthermore, the control program corresponds to a temperature control program. This control program includes a measurement value acquisition unit 130, a measurement value determination unit 131, a temperature difference calculation unit 132, a temperature change rate calculation unit 133, a control deviation calculation unit 134, a control value calculation unit 135, and a transmission unit 136. Note that integrated circuits such as field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs) can execute these program modules.

[0031] The measurement acquisition unit 130 acquires the measured temperature of the heating-type processing machine to be controlled. The measured temperature of the heating-type processing machine to be controlled is acquired by a temperature sensor installed in the heating-type processing machine and provided to the control device 1. The measurement acquisition unit 130 can acquire the measured temperature from the temperature sensor via communication I / F 11.

[0032] The measurement value determination unit 131 determines whether the measured temperature y obtained by the measurement value acquisition unit 130 is the same as the target temperature ref.

[0033] The temperature difference calculation unit 132 calculates the temperature difference x1 between the measured temperature y and the target temperature ref obtained by the measurement value acquisition unit 130, based on expression 1 or expression 2. Expression 1 and expression 2 are expressions representing the temperature difference x1, which is the deviation between the target temperature ref and the measured temperature y of the heating-type processing machine to be controlled.

[0034] [Expression 1]

[0035]

[0036] [Expression 2]

[0037]

[0038] The temperature change rate calculation unit 133 uses the temperature difference x1 calculated by the temperature difference calculation unit 132 to calculate the temperature change rate x2 of the heating-type processing machine to be controlled. Specifically, for example, as shown in Expression 3, the temperature change rate calculation unit 133 can derive the temperature change rate x2 by performing time differentiation on the temperature difference x1 using a difference method or the like. At this time, an imprecise differentiation with a filter can be used as needed.

[0039] [Expression 3]

[0040]

[0041] In another embodiment, the temperature change rate calculation unit 133 can use the temperature difference x1 and a state equation-based filter such as a Kalman filter to calculate the temperature change rate x2.

[0042] Furthermore, in another embodiment, as shown in Expression 4, the temperature change rate calculation unit 133 can use the difference method or the like to derive the temperature change rate x2 by performing time differentiation on the measured temperature y obtained by the measurement value acquisition unit 130.

[0043] [Expression 4]

[0044]

[0045] The control deviation calculation unit 134 calculates the control deviation, which is used to calculate the control value u for controlling the heating-type processing machine to be controlled. Specifically, the control deviation calculation unit 134 uses the temperature difference x1 calculated by the temperature difference calculation unit 132 and the temperature change rate x2 calculated by the temperature change rate calculation unit 133, and calculates the control deviation σ based on expression 5.

[0046] [Expression 5]

[0047]

[0048] Here, c represents the specified value. Figure 4 This is a graph showing the temperature difference x1 and the rate of temperature change x2 as a function of time. Figure 4 The straight line shown represents the line when the control deviation σ is set to 0. c corresponds to the slope of this line. The specified value c can be set as needed. c can be determined based on the heating capacity of the heater in a heated machining machine or the dead time or time delay (or time constant) before temperature measurement from the heating source.

[0049] Next, as shown in Expression 6, the control deviation calculation unit 134 can calculate the control deviation σ by multiplying the calculated control deviation σ by the gain K. S To perform correction, the control deviation e is calculated. In another embodiment, gain K may not be used. S Furthermore, the control deviation σ can be used as the control deviation e.

[0050] [Expression 6]

[0051]

[0052] K S It can be defined by expression 7.

[0053] [Expression 7]

[0054]

[0055] In another embodiment, the gain K S It can be a value within the range shown in expression 8.

[0056] [Expression 8]

[0057]

[0058] The control value calculation unit 135 uses the control deviation e calculated by the control deviation calculation unit 134, based on expression 9, to calculate the control value u for controlling the heating-type processing machine to be controlled. In this embodiment, the control device 1 controls the heating-type processing machine through PID control.

[0059] [Expression 9]

[0060]

[0061] Here, K P T represents the proportional gain (P). i Represents the integration time (I). T d This represents the derivative time (D). In this embodiment, the parameter used in proportional-integral-derivative (PID) control can be used as K. P T i and T d Note that these parameters can be determined using past results, the experience of technicians, or tuning methods such as the limiting sensitivity method or the step response method. Alternatively, K, as defined in expression 10, can be used. P .

[0062] [Expression 10]

[0063]

[0064] Here, K P’ This represents the known parameter value used in the relevant PID control, where the difference between the measured temperature y and the target temperature ref is used as the control deviation e. P’ The control value can be determined using past results, the experience of technicians, or tuning methods such as the limiting sensitivity method or the step response method. In this relevant PID control, the difference between the measured temperature y and the target temperature ref is used as the control deviation e, and the control value u is calculated based on expression 9.

[0065] The sending unit 136 sends the control value u calculated by the control value calculation unit 135 to the heating-type processing machine to be controlled. Upon receiving the control value u, the heating-type processing machine controls the temperature based on the control value u. The control value u can have, for example, a value from -100% to 100% or a value from -1 to +1.

[0066] For example, when the value is between 0 and +100 on the heating side, the heating-type processing machine to be controlled heats the heater included in the heating-type processing machine according to the control value, such as the temperature output from the heater. Specifically, when the heating-type processing machine includes devices such as solid-state relays (SSRs) or solid-state contactors (SSCs), the control value u sent from control device 1 is converted into a pulse width modulation (PWM) signal, and the heater is controlled to turn on or off based on this PWM signal. At this time, the heating-type processing machine converts the control value u into a PWM signal in such a way that the heater is on for a longer period of time as the value of the control value u increases.

[0067] Furthermore, when a heating-type processing machine includes switching elements capable of electrical control, such as silicon controlled rectifiers (SCRs) or thyristors, these switching elements control the power to be supplied to the heater according to the value of the control value u, thereby controlling the heat energy of the heater.

[0068] Figure 2 This is a flowchart illustrating an example of a process performed by the control device 1 according to the first embodiment. Figure 3 This indicates that when control device 1 performs... Figure 2 The diagram shows the information flow during processing.

[0069] exist Figure 2 In step S1, the measurement acquisition unit 130 acquires the measured temperature y of the heating-type processing machine 2 to be controlled. In step S2, the temperature difference calculation unit 132 calculates the temperature difference x1 between the acquired measured temperature y and the target temperature ref. In step S3, the temperature change rate calculation unit 133 uses the calculated temperature difference x1 to calculate the temperature change rate x2. In step S4, the control deviation calculation unit 134 uses the calculated temperature difference x1 and the temperature change rate x2 to calculate the control deviation σ.

[0070] In step S5, the control deviation calculation unit 134 multiplies the calculated control deviation σ by the gain K. S The control deviation e is calculated. In step S6, the control value calculation unit 135 uses the calculated control deviation e to calculate the control value u based on expression 9.

[0071] In step S7, the sending unit 136 sends the calculated control value u to the heating type processing machine 2 to be controlled, and then returns to step S1.

[0072] As described above, in the first embodiment, the temperature difference calculation unit 132 calculates the temperature difference x1 between the measured temperature y of the heated processing machine and the target temperature ref of the heated processing machine. Next, the temperature change rate calculation unit 133 uses the calculated temperature difference x1 or the acquired measured temperature y to calculate the temperature change rate x2 of the measured temperature y. Then, the control deviation calculation unit 134 calculates the control deviation by adding the temperature change rate x2 to the product value cx1, where the product value cx1 is obtained by multiplying the calculated temperature difference x1 by a predetermined value c. Finally, the control value calculation unit 135 calculates a control value for feedback control of the heated processing machine, which causes the calculated control deviation to converge to zero.

[0073] By employing the above construction, the temperature difference x1 and the rate of temperature change x2 converge to... Figure 4 The origin is 0. More specifically, the temperature difference x1 and the rate of temperature change x2 gradually approach a straight line defined by a specified value c through feedback control such as PID control, and the temperature difference x1 and the rate of temperature change x2 reach Lyapunov stability. Figure 4 The origin of the process. In other words, the temperature difference between the measured temperature of the heating-type processing machine and its target temperature becomes 0, which enables the temperature of the heating-type processing machine 2 to approach the target temperature.

[0074] Furthermore, the control value calculation unit 135 can use the control deviation σ multiplied by the gain K. S The obtained value is used as the control deviation to calculate the control value. Gain K S It can be the reciprocal of the specified value c. Gain K S Adjust the relevant parameter K p’ It uses the difference between the measured temperature y and the target temperature ref as the control deviation. This is achieved by using the gain K... S Multiplied by K as shown in expression 9 p parameter K p' The obtained product value can be used to calculate the appropriate control value u without adjusting the other parameters in expression 9, which is advantageous.

[0075] Although the control deviation σ was used in the above embodiments, as shown in Expression 11, in another embodiment, the control deviation σ′, i.e., the target rate of change x, can be used. 2ref The difference between the temperature change rate x2 and the target change rate x 2ref This is the target value for the rate of temperature change, x². As shown in Expression 12, the target rate of change x² is defined. 2ref This refers to the rate of temperature change achievable by a heated machining center. The control deviation σ′ corresponds to the value used to evaluate the rate of temperature change x2.

[0076] [Expression 11]

[0077]

[0078] [Expression 12]

[0079]

[0080] Furthermore, although in the above embodiments, the control deviation e is obtained by multiplying the control deviation σ by the gain K S The gain K is calculated, but in another embodiment, it may not be used. S In this case, the control value calculation unit 135 can use the control deviation σ as the control deviation e and calculate the control value u based on expression 9.

[0081] Furthermore, although in the above embodiment, the control device 1 controls the heating type machining machine using PID control, the control device 1 can also control the heating type machining machine using PI control. In this case, the control value calculation unit 135 can use the control deviation e calculated by the control deviation calculation unit 134 to calculate the control value u for controlling the heating type machining machine to be controlled based on expression 13.

[0082] [Expression 13]

[0083]

[0084] <Second Embodiment>

[0085] Figure 5 This is a block diagram illustrating the construction of the control device 1 according to the second embodiment. Hereinafter, the differences between the first and second embodiments will be mainly described. The control program according to the second embodiment includes: a measurement value acquisition unit 130, a measurement value determination unit 131, a temperature difference calculation unit 132, a temperature change rate calculation unit 133, a control deviation calculation unit 134, a control value calculation unit 135, a transmission unit 136, and a compensation value calculation unit 137.

[0086] The compensation value calculation unit 137 uses the measured temperature y to calculate a compensation value Cmp for compensating for the heat dissipation of the heated processing machine 2. The compensation value calculation unit 137 can use the measured temperature y and the ambient temperature T of the heated processing machine. atm Based on expression 14, the compensation value Cmp is calculated.

[0087] [Expression 14]

[0088]

[0089] Here, 273.15 is the absolute temperature. When calculating the compensation value Cmp, the absolute temperature can be ignored.

[0090] Alternatively, the compensation value calculation unit 137 can calculate the compensation value Cmp based on expression 15. Expression 15 is the expression when the ambient temperature of the heated processing machine is ignored. The advantage is that it eliminates the need to measure the ambient temperature to calculate the compensation value Cmp.

[0091] [Expression 15]

[0092]

[0093] Here, a1 and a2, which are the coefficients indicating heat dissipation, are negative. a1 and a2 can be obtained based on the temperature reduction rate tv caused by the heat dissipation of the heated processing machine. Specifically, the temperature of the heated processing machine is raised to a predetermined temperature (e.g., 400°C and 200°C), and the temperature reduction rate is calculated for each case. Then, the calculated temperature reduction rate and the respective temperatures (400°C and 200°C) are substituted into tv and y in Expression 16, and the system of simultaneous equations is solved, thereby obtaining a1 and a2.

[0094] [Expression 16]

[0095]

[0096] b[℃ / %∙second] is an arbitrary constant. The unit of b is not limited to this and can be [%∙second] or [%∙minute]. Furthermore, °F can be used instead of ℃. Additionally, values ​​in the range from -1 to 1 can be used instead of %. The value of b can be estimated by actually providing the machine with a step function (e.g., a control value of 100%) and observing the measured temperature y, which is the response of the control value (u=100%). When a step response (u=100%) is observed at a moment when the temperature of the device, without considering heat dissipation, matches the ambient temperature (y=y_atm), the slope of y, i.e., the derivative of y, becomes b.

[0097] Figure 6 This is a flowchart illustrating an example of a process performed by the control device 1 according to the second embodiment. Figure 7 This indicates that when control device 1 performs... Figure 6 The diagram shows the information flow during processing.

[0098] Figure 6 Steps S11 to S14 in the middle Figure 2 Steps S1 to S4 are the same. In step S15, the control deviation calculation unit 134 uses the control deviation σ calculated in step S14 to calculate the control deviation e.

[0099] In step S16, the compensation value calculation unit 137 uses the measured temperature y to calculate the compensation value Cmp.

[0100] In step S17, the control value calculation unit 135 uses the calculated control deviation e and compensation value Cmp to calculate the control value u based on expression 17.

[0101] [Expression 17]

[0102]

[0103] In step S18, the sending unit 136 sends the control value u to the heating type processing machine 2 to be controlled, and then the process returns to step S11.

[0104] Although a control deviation σ was used in the above embodiments, as shown in Expression 11, in another embodiment, as an alternative to the control deviation σ, a control deviation σ', i.e., the target rate of change of temperature change rate x2, can be used. 2ref The difference between the temperature change rate x2 and the temperature change rate x2.

[0105] Furthermore, although in the second embodiment, the control deviation e is obtained by multiplying the control deviation σ by the gain K S The gain K is calculated, but in another embodiment, it may not be used. S In this case, the control value calculation unit 135 can use the control deviation σ as the control deviation e, and calculate the control value u based on the above expression 9.

[0106] Furthermore, although in the second embodiment, the control device 1 controls the heating-type machining machine using PID control, the control device 1 can also control the heating-type machining machine using PI control. In this case, the control value calculation unit 135 can use the control deviation e calculated by the control deviation calculation unit 134 to calculate the control value u for controlling the heating-type machining machine to be controlled based on expression 18.

[0107] [Expression 18]

[0108]

[0109] In another embodiment, the control deviation calculation unit 134 may calculate the control deviation σ based on expression 19.

[0110] [Expression 19]

[0111]

[0112] Symbols c1 and c2 represent specified values. Similar to the specified value c, c1 and c2 can be set as needed. c1 and c2 can be determined based on the heating capacity of the heater of the heated processing machine or the dead time or time delay (or time constant) before temperature measurement from the heating source. x1 represents the aforementioned temperature difference. x2 represents the rate of temperature change. x3 corresponds to the derivative of x2. In this case, x1, x2, and x3 converge, for example, to a predetermined plane, which includes... Figure 8 The origin of the three-dimensional spatial coordinate system shown.

[0113] Furthermore, in another embodiment, the control device 1 can control the heating-type processing machine using rate-type (or speed-type) PID control. In this case, the control deviation calculation unit 134 can calculate the control deviation m based on expression 20. Then, the control value calculation unit 135 can use the calculated control deviation m, based on expression 21, to calculate the control value u for controlling the heating-type processing machine to be controlled.

[0114] [Expression 20]

[0115]

[0116] [Expression 21]

[0117]

[0118] Alternatively, in rate-type (or speed-type) PID control, the control deviation calculation unit 134 can calculate the control deviation m based on expression 22. Then, the control value calculation unit 135 can use the calculated control deviation m to calculate the control value u for controlling the heating-type processing machine to be controlled, based on expression 23.

[0119] [Expression 22]

[0120]

[0121] [Expression 23]

[0122]

[0123] Furthermore, in another embodiment, the control device 1 can control the heating-type processing machine via rate-type (or speed-type) PI control. In this case, the control deviation calculation unit 134 can calculate the control deviation m based on expression 24. Then, the control value calculation unit 135 can use the calculated control deviation m, based on expression 25, to calculate the control value u for controlling the heating-type processing machine to be controlled.

[0124] [Expression 24]

[0125]

[0126] [Expression 25]

[0127]

[0128] Alternatively, in rate-type (or speed-type) PI control, the control deviation calculation unit 134 can calculate the control deviation m based on expression 26. Then, the control value calculation unit 135 can use the calculated control deviation m to calculate the control value u for controlling the heating-type processing machine to be controlled, based on expression 27.

[0129] [Expression 26]

[0130]

[0131] [Expression 27]

[0132]

[0133] In another embodiment where the heating and cooling type machining center is controlled, the control device 1 may include a cooling operation determination unit. The cooling operation determination unit can determine whether a cooling operation of the heating and cooling type machining center is being performed based on a control value u calculated by the control value calculation unit 135. Specifically, when the control value u calculated by the control value calculation unit 135 is negative, the cooling operation determination unit determines that a cooling operation of the heating and cooling type machining center is being performed. The cooling operation determination unit can use the control value u calculated in the previous control value calculation process to determine whether a cooling operation of the heating and cooling type machining center has been performed.

[0134] When it is determined that the cooling operation of the heating and cooling type processing machine has been performed, it is advantageous that the control deviation calculation unit 134 can correct the control deviation σ by changing the specified value c shown in expression 5. Furthermore, it is advantageous that the control value calculation unit 135 can adjust the gain K by changing the specified value c shown in expression 7 or expression 8. S Corrections are performed. More specifically, when using a heating and cooling type machining machine in which the water cooling system is used as the cooling system, the control deviation calculation unit 134 and the control value calculation unit 135 can adjust the control deviation σ and gain K respectively by making the specified value c greater than the specified value. S Perform correction. In this case, the gain K shown in expressions 7 and 8... S The value decreases.

[0135] On the other hand, the advantage of using a heating and cooling type machining machine in which the air cooling system is used as the cooling system is that the control deviation calculation unit 134 and the control value calculation unit 135 can adjust the control deviation σ and gain K respectively by making the specified value c less than the specified value. S Correction is performed. In this case, the gain K shown in expressions 7 and 8... S The value increases.

[0136] By changing the specified value c as described above, the control deviation σ and gain K can be derived based on the heating and cooling capabilities. S This suppresses oscillation (hunting), thereby enabling the temperature of the heated processing machine to quickly approach a stable state, i.e., a state where the temperature difference x1 and the rate of temperature change x2 are both zero.

[0137] In the examples above, the program can be stored and provided to a computer using any type of non-transitory computer-readable medium. Non-transitory computer-readable media includes any type of tangible storage medium. Examples of non-transitory computer-readable media include magnetic storage media (e.g., floppy disks, magnetic tapes, hard disks, etc.), optical-magnetic storage media (e.g., magneto-optical disks), CD-ROMs (Compact Disc Read-Only Memory), CD-Rs (Compact Disc Recordable), CD-R / Ws (Compact Disc Rewritable), and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash memory ROMs, RAMs (Random Access Memory), etc.). The program can also be provided to a computer using any type of transient computer-readable medium. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can provide the program to a computer via wired communication lines (e.g., electrical wires and optical fibers) or wireless communication lines. As will be apparent from the present disclosure as described herein, embodiments of the present disclosure may be varied in many ways. Such variations should not be considered a departure from the spirit and scope of the present disclosure, and all such modifications that will be apparent to those skilled in the art are considered to be included within the scope of the following claims. Those skilled in the art can combine the first and second embodiments as needed.

Claims

1. A temperature control method for controlling the temperature of a heated processing machine, wherein, computer: Obtain the measured temperature y of the heating-type processing machine; Calculate the temperature difference x1 between the obtained measured temperature y and the target temperature ref of the heating type processing machine; Using the calculated temperature difference x1 or the obtained measured temperature y, calculate the rate of temperature change x2 of the measured temperature y; The control deviation is calculated by adding the product value cx1 to the temperature change rate x2, wherein the product value cx1 is obtained by multiplying the calculated temperature difference x1 by a specified value c. as well as Calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward 0.

2. A temperature control method for controlling the temperature of a heated processing machine, wherein, computer: Calculate the rate of change of temperature x2 of the measured temperature y of the heating type processing machine; Calculate the control deviation, which corresponds to the calculated temperature change rate x2 and the target change rate x of the heated processing machine. 2ref The difference; and Calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward 0.

3. A temperature control method for controlling the temperature of a heated processing machine, wherein, computer: Obtain the measured temperature y of the heating-type processing machine; Calculate the temperature difference x1 between the obtained measured temperature y and the target temperature ref of the heating type processing machine; Using the calculated temperature difference x1 or the obtained measured temperature y, calculate the rate of temperature change x2 of the measured temperature y; The control deviation is calculated by adding the product value c1x1, the product value c2x2, and the derivative value x3 of the temperature change rate x2. The product value c1x1 is obtained by multiplying the calculated temperature difference x1 by a first predetermined value c1, and the product value c2x2 is obtained by multiplying the calculated temperature change rate x2 by a second predetermined value c2. as well as Calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward 0.

4. The temperature control method according to any one of claims 1 to 3, wherein, The feedback control includes PID control, PI control, rate-type or speed-type PID control, and rate-type or speed-type PI control.

5. The temperature control method according to claim 1, wherein, The computer uses the control deviation multiplied by the gain K. S The obtained value is used as the control deviation to calculate the control value, and The gain K S It is the reciprocal of the specified value c.

6. The temperature control method according to claim 1, wherein, The computer uses the control deviation multiplied by the gain K. S The obtained value is used as the control deviation to calculate the control value, and The gain K S It is a value within the range of the following expression 1. [Expression 1] 。 7. The temperature control method according to any one of claims 1 to 3, wherein, The computer calculates a compensation value Cmp to compensate for the heat dissipation of the heated processing machine based on the temperature reduction rate during the heat dissipation of the heated processing machine. The computer calculates a sum value obtained by adding the compensation value Cmp to the calculated control value, and uses the sum value as the control value for controlling the heated processing machine.

8. The temperature control method according to claim 1 or 2, wherein, When the heating-type processing machine is a heating and cooling type processing machine, the computer corrects the control deviation by changing the specified value c.

9. The temperature control method according to claim 5 or 6, wherein, When the heating-type processing machine is a heating and cooling type processing machine, the computer corrects the gain K by changing the specified value c. S .

10. A temperature control device configured to control the temperature of a heated processing machine, comprising: A measurement acquisition unit is configured to acquire the measured temperature y of the heated processing machine; A temperature difference calculation unit is configured to calculate the temperature difference x1 between the acquired measured temperature y and the target temperature ref of the heating type processing machine; A temperature change rate calculation unit is configured to calculate the temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y. A control deviation calculation unit is configured to calculate the control deviation by adding the temperature change rate x2 to the product value cx1, wherein the product value cx1 is obtained by multiplying the calculated temperature difference x1 by a predetermined value c. as well as A control value calculation unit is configured to calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward zero.

11. A temperature control device, configured to control the temperature of a heated processing machine, comprising: A temperature change rate calculation unit is configured to calculate the temperature change rate x2 of the measured temperature y of the heating type processing machine; A control deviation calculation unit is configured to calculate a control deviation corresponding to the calculated temperature change rate x2 and the target change rate x of the heated processing machine. 2ref The difference; as well as A control value calculation unit is configured to calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward zero.

12. A temperature control device configured to control the temperature of a heated processing machine, comprising: A measurement acquisition unit is configured to acquire the measured temperature y of the heated processing machine; A temperature difference calculation unit is configured to calculate the temperature difference x1 between the acquired measured temperature y and the target temperature ref of the heating type processing machine; A temperature change rate calculation unit is configured to calculate the temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y. The control deviation calculation unit is configured to calculate the control deviation by adding the product value c1x1, the product value c2x2, and the derivative value x3 of the temperature change rate x2. The product value c1x1 is obtained by multiplying the calculated temperature difference x1 by a first predetermined value c1, and the product value c2x2 is obtained by multiplying the calculated temperature change rate x2 by a second predetermined value c2. as well as A control value calculation unit is configured to calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward zero.

13. A computer program product including a temperature control program for controlling the temperature of a heating-type processing machine, the temperature control program causing the computer to: Obtain the measured temperature y of the heating-type processing machine; Calculate the temperature difference x1 between the obtained measured temperature y and the target temperature ref of the heating type processing machine; Using the calculated temperature difference x1 or the obtained measured temperature y, calculate the rate of temperature change x2 of the measured temperature y; The control deviation is calculated by adding the product value cx1 to the temperature change rate x2, wherein the product value cx1 is obtained by multiplying the calculated temperature difference x1 by a predetermined value c; and Calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward 0.

14. A computer program product including a temperature control program for controlling the temperature of a heating-type processing machine, the temperature control program causing the computer to: Calculate the rate of change of temperature x2 of the measured temperature y of the heating type processing machine; Calculate the control deviation, which corresponds to the calculated temperature change rate x2 and the target change rate x of the heated processing machine. 2ref The difference; and Calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward 0.

15. A computer program product including a temperature control program for controlling the temperature of a heating-type processing machine, the temperature control program causing the computer to: Obtain the measured temperature y of the heating-type processing machine; Calculate the temperature difference x1 between the obtained measured temperature y and the target temperature ref of the heating type processing machine; Using the calculated temperature difference x1 or the obtained measured temperature y, calculate the rate of temperature change x2 of the measured temperature y; The control deviation is calculated by adding the product values ​​c1x1, c2x2, and the derivative x3 of the temperature change rate x2. The product value c1x1 is obtained by multiplying the calculated temperature difference x1 by a first predetermined value c1, and the product value c2x2 is obtained by multiplying the calculated temperature change rate x2 by a second predetermined value c2. Calculate a control value for feedback control of the heated processing machine, the control value causing the calculated control deviation to converge toward 0.

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