Controller

Abstract

To perform feedback control of a controlled object using multiple physical quantities.SOLUTION: When a physical quantity used for feedback control is switched, the target value of the physical quantity after the switch is calculated using the inverse transfer function after the switch.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] There is a control device capable of feedback controlling a control target by a plurality of types of physical quantities. For example, Patent Document 1 discloses a control device that enables feedback control of a control target by a plurality of types of physical quantities by having a plurality of systems of control means corresponding to each of the plurality of types of physical quantities.

Prior Art Documents

Non-Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When switching the physical quantity used for feedback control, a discontinuous change may occur in the operation amount input to the control target. This discontinuous change in the operation amount may give a shock to the control target. Therefore, in the control device disclosed in Patent Document 1, the operation amount is sequentially stored, and when switching the physical quantity used for feedback control, the operation amount stored immediately before among the stored operation amounts is output to the control target, thereby preventing a discontinuous change in the operation amount when switching the system of the control means. However, the control device disclosed in Patent Document 1 targets switching during the stop of the control target and does not target switching during the operation of the control target.

[0005] An object of the present invention is to feedback control a control target by a plurality of types of physical quantities.

Means for Solving the Problems

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

[0007] 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 may be 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 may be 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] An information processing apparatus according to an embodiment of the present invention is an information processing apparatus that calculates target values of a plurality of types of physical quantities to perform feedback control on a control target using the plurality of types of physical quantities. When switching the physical quantity used for the feedback control, the target value of the physical quantity after the switching is calculated using the inverse transfer function 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 may be 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 may be 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] A control device according to an embodiment of the present invention is a control device that performs feedback control on the control target, and includes the information processing device, a first control unit, a second control unit, and a switching unit. 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 an input of the target value of the first physical quantity and a control amount, and outputs an operation amount according to a difference between the input target value of the first physical quantity and the control amount. The second control unit receives an input of the target value of the second physical quantity and a control amount, and outputs an operation amount according 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 in which the operation amount output from the first control unit is input to the control target and a second state in which the operation amount output from the second control unit is input to the control target. If the physical quantity used for the feedback control is the first physical quantity, it is the first state, and if the physical quantity used for the feedback control is the second physical quantity, it is the second state.

Advantages of the Invention

[0013] According to the present invention, it becomes possible to perform feedback control on a control target using a plurality of types of physical quantities.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0015] <Control Device 100> FIG. 1 is a diagram showing a 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.

[0016] FIG. 2 is a diagram for explaining the control of a control target 200 by the control device 100. As shown in FIG. 2, a control amount Pv1(s) of a first physical quantity and a control amount Pv2(s) of a second physical quantity different from the first physical quantity are input to the control device 100. Then, as shown in FIG. 2, the control device 100 outputs an operation amount Mv1(s) based on the control amount Pv1(s) of the first physical quantity or an operation amount Mv2(s) based on the control amount Pv2(s) of the second physical quantity to the control target 200. That is, the control device 100 feedback-controls the control target 200 by the first physical quantity or the second physical quantity. The control amount Pv1(s) of the first physical quantity and the control amount Pv2(s) of the second physical quantity are measured by a sensor, for example.

[0017] The control target is, for example, a shaker (for example, a shaker of a test device). When the control target 200 is a shaker of a test device, for example, the first physical quantity is displacement (for example, the displacement of a workpiece by the shaker), and the second physical quantity is load (for example, the load applied by the shaker to the workpiece).

[0018] The input unit 110 is an input device that receives input of information such as buttons, keyboards, touch panels, and microphones. As described above, the control device 100 feedback-controls the control target by the first physical quantity or the second physical quantity. Therefore, the control mode of the control device 100 includes a first mode in which the control target 200 is feedback-controlled by the first physical quantity and a second mode in which the control target 200 is feedback-controlled by the second physical quantity. The input unit 110 receives an input of an instruction to switch the control mode of the control device 100.

[0019] 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.

[0020] 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 control object 200. As shown in FIG. 2, the first control unit 130-1 includes 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.

[0021] Here, using the transfer function G1(s) of the feedback control by the first physical quantity (the control unit 132-1 of the first control unit 130-1), the relationship between the target value Sv1(s) and the control quantity Pv1(s) of the first physical quantity and the operation quantity Mv1(s) output from the first control unit 130-1 is as follows.

Equation

[0022] The second control unit 130-2 receives the input of the target value Sv2(s) and the control quantity Pv2(s) of the second physical quantity, and outputs the manipulated variable Mv2(s) of the controlled object 200. As shown in FIG. 2, 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) and the control quantity Pv2(s) of the second physical quantity, and outputs the difference (control deviation e2) between the target value Sv2(s) and the control quantity Pv2(s) of the second physical quantity 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) and the control quantity Pv2(s) of the second physical quantity, and outputs the manipulated variable Mv2(s) based on this difference. The control unit 132-2 is, for example, a controller that performs PID control.

[0023] Here, using the transfer function G2(s) of the feedback control by the second physical quantity (the control unit 132-2 of the second control unit 130-2), the relationship between the target value Sv2(s) and the control quantity Pv2 of the second physical quantity and the manipulated variable Mv2(s) output from the second control unit 130-2 is as follows.

Equation

[0024] The switching unit 140 switches between two states: a state in which the manipulated variable Mv1(s) output from the first control unit 130-1 is output to the controlled object 200 (the first state), and a state in which the manipulated variable Mv2(s) output from the second control unit 130-2 is output to the controlled 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.

[0025] 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 (that is, when the switching unit 140 is in the first state), if the input unit 110 receives an input of an instruction to 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. Also, when the control mode of the control device 100 is the second mode (that is, when the switching unit 140 is in the second state), if the input unit 110 receives an input of an instruction to switch from the second mode to the first mode, the switching control unit 150 may switch the state of the switching unit 140 from the second state to the first state.

[0026] Therefore, in this embodiment, it is possible to perform feedback control on the control target using two types of physical quantities, the first physical quantity and the second physical quantity. In particular, in this embodiment, it is possible to switch the physical quantity (control quantity) used for feedback control while the control target is operating.

[0027] In feedback control by load (load control), it is difficult to stabilize the control system, and in feedback control by displacement (displacement control), the control system may be easily stabilized. In this embodiment, in such a case, first, displacement control can be performed to stabilize the control system, and then load control can be performed.

[0028] When the control mode of the control device 100 is switched, the operation amount input to the control target 200 may change discontinuously, and the control target 200 may be given a shock. 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 control target switches from the operation amount Mv1(s) output from the first control unit 130-1 to the operation amount Mv2(s) output from the second control unit 130-2. At the time of this switching, 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 control target 200 becomes discontinuous, and the control target 200 is given a shock.

[0029] Therefore, in the present embodiment, when switching the physical quantity used for control, the target value output unit 120 calculates the target value of the physical quantity after the switching using the inverse transfer function after the switching, and prevents the operation amount input to the control target 200 from changing discontinuously before and after the switching.

[0030] For example, when switching from the first mode to the second mode (for example, when the input unit 110 receives an input of an instruction to 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 switching and the value Pv2 of the control amount Pv2(s) of the second physical quantity at the time of the switching, the inverse transfer function G2(s) -1 of value G2 -1 is used to calculate the value Sv2 of the target value Sv2(s) of the second physical quantity, and the calculated value Sv2 is output to the second control unit 130-2.

Number

[0031] Thus, in this embodiment, the manipulated variable of the physical quantity after switching (the second physical quantity) is calculated using the inverse transfer function of the feedback control by the physical quantity after switching (the second physical quantity) so that the manipulated variable of the physical quantity after switching (the second physical quantity) becomes the same value as the manipulated variable of the physical quantity before switching (the first physical quantity). As a result, in this embodiment, the manipulated variable input to the control target 200 does not change discontinuously before and after the switching, and it is possible to prevent the control target from being shocked when switching the physical quantity used for the feedback control.

[0032] Also, for example, when switching from the second mode to the first mode (for example, when the input unit 110 receives an input of an instruction to switch from the second mode to the first mode), the target value output unit 120 receives the value Mv2 of the manipulated variable Mv2(s) output from the second control unit 130-2 and the value Pv1 of the control quantity Pv1(s) of the first physical quantity, and based on the value Mv2 of the manipulated variable Mv2(s) output from the second control unit 130-2 at the time of the switching and the value Pv1 of the control quantity Pv1(s) of the first physical quantity at the time of the switching, the inverse transfer function G1(s) -1 of the feedback control by the first physical quantity at the time of the switching -1 is used to calculate the value Sv1 of the target value Sv1(s) of the first physical quantity, and it is preferable to output the calculated value Sv1 to the second control unit 130-2.

Number

[0033] <Vibrator Control> For example, when the control target 200 is a vibrator, the target value Sv1(s), the manipulated variable Mv1(s), and the control quantity Pv1(s) of the first physical quantity, and the target value Sv2(s), the manipulated variable Mv2(s), and the control quantity Pv2(s) of the second physical quantity are all sine waves of the same angular frequency ω. At this time, from Equation (1), the target value Sv2(s) of the second physical quantity can be represented in phasor form as follows.

Number

[0034] At this time, it is advisable for the target value output unit 120 to include an oscillator. Then, when switching the physical quantity used for feedback control, the amplitude and phase of the target value of the physical quantity after switching calculated by the above formula are set in the oscillator, and it is advisable for this oscillator to output a signal of the target value of the physical quantity after switching.

[0035] <Processing Operations in Control Device 100> FIG. 3 is a diagram showing an example of the processing operations in control device 100. The processing operations in FIG. 3 are executed in control device 100 when switching the control mode of control device 100 from the first mode to the second mode (for example, when the input unit 110 receives an input of an instruction to switch from the first mode to the second mode).

[0036] Based on the value Mv1 of the manipulated variable Mv1(s) of the first physical quantity output from the first control unit 130-1 and the value Pv2 of the control quantity Pv2(s) of the second physical quantity, the target value output unit 120 calculates the inverse transfer function G2(s) of the feedback control by 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).

[0037] The switching control unit 150 switches the state of the switching unit 140 from the state (first state) of outputting the manipulated variable Mv1(s) output from the first control unit 130-1 to the control target 200 to the state (second state) of outputting the manipulated variable Mv2(s) output from the second control unit 130-2 to the control target 200 (step S302).

[0038] 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).

[0039] <Feedback control using three or more types of physical quantities> In the above, the control device 100 performs feedback control on the control target using two types of physical quantities (the first physical quantity and the second physical quantity), but it may be configured to perform feedback control on the control target using N types (N is a natural number of 3 or more) of physical quantities (the first physical quantity, the second physical quantity, ···, the Nth physical quantity).

[0040] At this time, as shown in FIGS. 4 and 5, the control device 100 includes N control units 130 (the first control unit 130-1, the second control unit 130-2, ···, the Nth control unit 130-N). 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 amount Pvn(s), and outputs the operation amount Mvn(s) of the control target 200.

[0041] As shown in FIG. 5, the nth control unit 130-n includes 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 amount Pvn(s), and outputs the difference (control deviation en) between the target value Svn(s) of the nth physical quantity and the control amount 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 amount Pvn(s), and outputs the operation amount Mvn(s) based on this difference.

[0042] Here, when using the transfer function Gn(s) of the feedback control by the n-th physical quantity (the control unit 132-n of the n-th control unit 130-n), the relationship between the target value Svn(s) and the control quantity Pvn of the n-th physical quantity and the operation quantity Mvn(s) output from the n-th control unit 130-n is as follows.

Equation

[0043] Then, the switching unit 140 switches among N states, which are the state (the first state) of outputting the operation quantity Mv1(s) output from the first control unit 130-1 to the control target 200, the state (the second state) of outputting the operation quantity Mv2(s) output from the second control unit 130-2 to the control target 200, ···, and the state (the N-th state) of outputting the operation quantity MvN(s) output from the N-th control unit 130-N to the control target 200. And the control mode of the control device 100 includes the first mode of feedback-controlling the control target 200 by the first physical quantity, the second mode of feedback-controlling the control target 200 by the second physical quantity, ···, and the N-th mode of feedback-controlling the control target 200 by the N-th physical quantity.

[0044] For example, when the control mode of the control device 100 is the n-th mode (n = 1, 2, ···, N) (that is, when the switching unit 140 is in the n-th state), if the input unit 110 receives an input of an instruction to switch from the n-th mode to the m-th mode (m = 1, 2, ···, N, m ≠ n), the switching control unit 150 switches the state of the switching unit 140 from the n-th state to the m-th state.

[0045] The present invention has been described above according to the preferred embodiments. Here, the present invention has been described by showing specific specific examples, but various modifications and changes can be made to these specific examples without departing from the spirit and scope of the present invention described in the claims.

Explanation of Reference Numerals

[0046] 100 Control device 110 Input section 120 Target value output section 130-1 First control section 131-1 Comparison section of the first control section 130-1 132-1 Control section of the first control section 130-1 130-2 Second control section 131-2 Comparison section of the second control section 130-2 132-2 Control section of the second control section 130-2 130-N Nth control section 131-N Comparison section of the Nth control section 130-N 132-N Control section of the Nth control section 130-N 140 Switching section 150 Switching control section 200 Controlled object

Claims

1. An information processing method executed by a computer for feedback control of a control target by a plurality of types of physical quantities, comprising: When switching the physical quantity used for the feedback control, calculating a target value of the physical quantity after the switching using the inverse transfer function after the switching.

2. The information processing method according to claim 1, wherein when switching the physical quantity used for the feedback control from a first physical quantity to a second physical quantity, calculating the target value of the second physical quantity based on an operation amount corresponding to a difference between the target value and the control amount of the first physical quantity and the control amount of the second physical quantity.

3. The information processing method according to claim 2, wherein when switching the physical quantity used for the feedback control from the second physical quantity to the first physical quantity, calculating the target value of the first physical quantity based on an operation amount corresponding to a difference between the target value and the control amount of the second physical quantity and the control amount of the first physical quantity.

4. An information processing apparatus for calculating target values of a plurality of types of physical quantities for feedback control of a control target by the plurality of types of physical quantities, comprising: When switching the physical quantity used for the feedback control, calculating a target value of the physical quantity after the switching using the inverse transfer function after the switching.

5. The information processing apparatus according to claim 4, wherein when switching the physical quantity used for the feedback control from a first physical quantity to a second physical quantity, calculating the target value of the second physical quantity based on an operation amount corresponding to a difference between the target value and the control amount of the first physical quantity and the control amount of the second physical quantity.

6. The information processing apparatus according to claim 5, wherein when switching the physical quantity used for the feedback control from the second physical quantity to the first physical quantity, calculating the target value of the first physical quantity based on an operation amount corresponding to a difference between the target value and the control amount of the second physical quantity and the control amount of the first physical quantity.

7. A control apparatus for feedback control of the control target, comprising: The information processing apparatus according to claim 5 or 6; A first control unit; A second control unit; A switching unit, wherein the information processing apparatus outputs a target value of a first physical quantity and a target value of a second physical quantity, the first control unit receives inputs of the target value and the control amount of the first physical quantity, and outputs an operation amount corresponding to a difference between the input target value and control amount of the first physical quantity. The second control unit receives an input of a target value of the second physical quantity and a control quantity, and outputs an operation quantity according to a difference between the input target value of the second physical quantity and the control quantity. The switching unit switches between a first state in which the operation quantity output from the first control unit is input to the control target and a second state in which the operation quantity output from the second control unit is input to the control target. If the physical quantity used for the feedback control is the first physical quantity, it is in the first state. If the physical quantity used for the feedback control is the second physical quantity, it is in the second state. A control device.

Images