Temperature control method, temperature control device, and temperature control program

Abstract

To provide a temperature control method, a temperature control device, and a temperature control program that can bring the temperature of a heating-type processing machine closer to a target temperature. [Solution] The temperature control method for controlling the temperature of a heating-type processing machine according to the present disclosure involves a computer acquiring the measured temperature y of the heating-type processing machine, calculating the temperature difference x1 between the acquired measured temperature y and the target temperature ref of the heating-type processing machine, calculating the temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y, adding the multiplied value cx1 obtained by multiplying the calculated temperature difference x1 by a predetermined value c and the temperature change rate x2 to calculate a control deviation, and calculating a control value for feedback control of the heating-type processing machine by converging the calculated control deviation to 0.

Description

[Technical Field]

[0001] This disclosure relates to a temperature control method, a temperature control device, and a temperature control program for controlling the temperature of a heating-type processing machine. [Background technology]

[0002] Conventionally, various technologies have been proposed for controlling the temperature of heating-type processing machines. As an example of such technology, Patent Document 1 discloses a temperature control method for an injection molding machine in which a PID controller equipped in the temperature control device controls the temperature of a resin heating cylinder consisting of multiple zones and an injection nozzle based on a set temperature. In this temperature control method, when changing the set temperature, the amount of change of the set temperature per unit time is controlled by a target value filter. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2006-240203 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] However, generally speaking, a problem with controlling the temperature of a heating-type processing machine using PID control is that the deviation between the target temperature and the actual temperature may not converge, resulting in a hunting state.

[0005] This disclosure aims to solve these problems and provides a temperature control method, a temperature control device, and a temperature control program that can bring the temperature of a heating-type processing machine closer to a target temperature. [Means for solving the problem]

[0006] The temperature control method for controlling the temperature of a heating processing machine relating to this disclosure is a computer, The measured temperature y of the heating type processing machine is obtained, Calculate the temperature difference x1 between the obtained measured temperature y and the target temperature ref of the heating processing machine, Using the calculated temperature difference x1 or the obtained measured temperature y, calculate the temperature change rate x2 of the measured temperature y, Multiply the calculated temperature difference x1 by a preset value c to obtain a multiplication value cx1, and add it to the temperature change rate x2 to calculate a control deviation, It is possible to calculate a control value for feedback control of the heating processing machine that converges the calculated control deviation to 0.

[0007] In addition, the temperature control method for controlling the temperature of the heating processing machine according to the present disclosure is such that a computer Calculates the temperature change rate x2 of the measured temperature y of the heating processing machine, Calculates a control deviation corresponding to the difference between the calculated temperature change rate x2 and the target change rate x 2ref of the heating processing machine, It is possible to calculate a control value for feedback control of the heating processing machine that converges the calculated control deviation to 0.

[0008] Furthermore, the temperature control method for controlling the temperature of the heating processing machine according to the present disclosure is such that a computer Obtains the measured temperature y of the heating processing machine, Calculates the temperature difference x1 between the obtained measured temperature y and the target temperature ref of the heating processing machine, Using the calculated temperature difference x1 or the obtained measured temperature y, calculate the temperature change rate x2 of the measured temperature y, Multiply the calculated temperature difference x1 by a first preset value c1 to obtain a multiplication value c1x1, multiply the calculated temperature change rate x2 by a second preset value c2 to obtain a multiplication value c2x2, and add the differential value x3 of the temperature change rate x2 to calculate a control deviation, It is possible to calculate a control value for feedback control of the heating processing machine that converges the calculated control deviation to 0.

[0009] Furthermore, the temperature control device for controlling the temperature of the heating processing machine according to the present disclosure A measured value acquisition unit that acquires the measured temperature y of the heating processing machine, A temperature difference calculation unit that calculates a temperature difference x1 between the obtained measured temperature y and the target temperature ref of the heating processing machine; A temperature change rate calculation unit that calculates a temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the obtained measured temperature y; A control deviation calculation unit that multiplies the calculated temperature difference x1 by a preset value c to obtain a multiplication value cx1, and multiplies the multiplication value cx1 and the temperature change rate x2 to calculate a control deviation; It may include a control value calculation unit that calculates a control value for feedback control of the heating processing machine to converge the calculated control deviation to 0.

[0010] Furthermore, a temperature control device for controlling the temperature of the heating processing machine according to the present disclosure includes a temperature change rate calculation unit that calculates a temperature change rate x2 of the measured temperature y of the heating processing machine; a control deviation calculation unit that calculates a control deviation corresponding to the difference between the calculated temperature change rate x2 and the target change rate x of the heating processing machine 2ref ; and a control value calculation unit that calculates a control value for feedback control of the heating processing machine to converge the calculated control deviation to 0. It may include a control value calculation unit that calculates a control value for feedback control of the heating processing machine to converge the calculated control deviation to 0.

[0011] Furthermore, a temperature control device for controlling the temperature of the heating processing machine according to the present disclosure includes a measurement value acquisition unit that acquires the measured temperature y of the heating processing machine; a temperature difference calculation unit that calculates a temperature difference x1 between the acquired measured temperature y and the target temperature ref of the heating processing machine; a temperature change rate calculation unit that calculates 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 that adds a multiplication value c1x1 obtained by multiplying the calculated temperature difference x1 by a first preset value c1, a multiplication value c2x2 obtained by multiplying the calculated temperature change rate x2 by a second preset value c2, and a differential value x3 of the temperature change rate x2 to calculate a control deviation; and a control value calculation unit that calculates a control value for feedback control of the heating processing machine to converge the calculated control deviation to 0.

[0012] Furthermore, the temperature control program for controlling the temperature of the heating type processing machine relating to this disclosure is provided to a computer, The measured temperature y of the heating type processing machine is obtained, The temperature difference x1 between the acquired measured temperature y and the target temperature ref of the heating type processing machine is calculated. Using the calculated temperature difference x1 or the acquired measured temperature y, calculate the temperature change rate x2 of the measured temperature y. The calculated temperature difference x1 is multiplied by a predetermined value c to obtain a multiplied value cx1, which is then added to the temperature change rate x2 to calculate the control deviation. It is possible to calculate control values ​​for feedback control of a heating-type processing machine, which will converge the calculated control deviation to zero.

[0013] Furthermore, the temperature control program for controlling the temperature of the heating type processing machine relating to this disclosure is provided to a computer, The temperature change rate x2 of the measured temperature y of the heating processing machine is calculated. The calculated temperature change rate x2 and the target change rate x of the heating type processing machine 2ref The control deviation corresponding to the difference between the two values ​​is calculated. It is possible to calculate control values ​​for feedback control of a heating-type processing machine, which will converge the calculated control deviation to zero.

[0014] Furthermore, the temperature control program for controlling the temperature of the heating type processing machine relating to this disclosure is provided to a computer, The measured temperature y of the heating type processing machine is obtained, The temperature difference x1 between the acquired measured temperature y and the target temperature ref of the heating type processing machine is calculated. Using the calculated temperature difference x1 or the acquired measured temperature y, calculate the temperature change rate x2 of the measured temperature y. The control deviation is calculated by adding the multiplied value c1x1 obtained by multiplying the calculated temperature difference x1 by the first default value c1, the multiplied value c2x2 obtained by multiplying the calculated temperature change rate x2 by the second default value c2, and the derivative value x3 of the temperature change rate x2. It is possible to calculate control values ​​for feedback control of a heating-type processing machine, which will converge the calculated control deviation to zero. [Effects of the Invention]

[0015] This disclosure provides a temperature control method, a temperature control device, and a temperature control program that can bring the temperature of a heating-type processing machine closer to a target temperature. [Brief explanation of the drawing]

[0016] [Figure 1] This is a diagram showing the configuration of the control device according to the first embodiment. [Figure 2] This flowchart shows an example of a process performed by the control device according to the first embodiment. [Figure 3] This diagram shows the flow of information when the control device according to the first embodiment performs the process shown in Figure 2. [Figure 4] This figure shows the changes over time in the temperature difference x1 and the rate of temperature change x2. [Figure 5] This is a block diagram showing the configuration of the control device according to the second embodiment. [Figure 6] This flowchart shows an example of a process performed by the control device according to the second embodiment. [Figure 7] This diagram shows the flow of information when the control device according to the second embodiment performs the process shown in Figure 2. [Figure 8] This figure shows a three-dimensional spatial coordinate system for temperature difference x1, temperature change rate x2, and the derivative of the temperature change rate x3. [Modes for carrying out the invention]

[0017] <First Embodiment> Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. Figure 1 is a block diagram showing the configuration of the control device 1 according to the first embodiment. The control device 1 is a device that controls the temperature of a heating type processing machine to be controlled. Heating type processing machines include heating and cooling type processing machines. Specific examples of these 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.

[0018] The control device 1 comprises a communication interface (I / F) 11, a storage device 12, and an arithmetic unit 13. The communication I / F 11 is an interface for sending and receiving signals between the control device 1 and the heated processing machine to be controlled.

[0019] The memory device 12 is a memory device that stores control programs executed by the arithmetic unit 13 and various types of information processed by the arithmetic unit 13.

[0020] The arithmetic unit 13 is an arithmetic unit such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic unit 13 executes a control method defined by a control program stored in the storage device 12. The control method corresponds to a temperature control method. The control program corresponds to a temperature control program. The 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 FPGAs (Field-Programmable Gate Arrays) or ASICs (Application Specific Integrated Circuits) may execute these program modules.

[0021] The measurement value acquisition unit 130 acquires the measured temperature of the heated processing machine to be controlled. The measured temperature of the heated processing machine to be controlled is acquired by a temperature sensor installed on the heated processing machine and provided to the control device 1. The measurement value acquisition unit 130 can acquire the measured temperature from the temperature sensor via the communication I / F 11.

[0022] 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.

[0023] The temperature difference calculation unit 132 calculates the temperature difference x1 between the measured temperature y obtained by the measurement value acquisition unit 130 and the target temperature ref, based on formula 1 or formula 2. Formulas 1 and 2 are formulas that represent the temperature difference x1, which is the deviation between the target temperature ref and the measured temperature y of the heated processing machine to be controlled.

number

number

[0024] The temperature change rate calculation unit 133 calculates the temperature change rate x2 of the controlled heating type processing machine using the temperature difference x1 calculated by the temperature difference calculation unit 132. Specifically, the temperature change rate calculation unit 133 can derive the temperature change rate x2 by differentiating the temperature difference x1 with respect to time using the finite difference method or the like, as shown in equation 3. In this case, an incomplete derivative with a filter applied may be used as needed.

number

[0025] In other embodiments, the temperature change rate calculation unit 133 may calculate the temperature change rate x2 using the temperature difference x1 and a filter based on the equation of state, such as a Kalman filter.

[0026] Furthermore, in other embodiments, the temperature change rate calculation unit 133 may derive the temperature change rate x2 by differentiating the measured temperature y obtained by the measurement value acquisition unit 130 with respect to time using the finite difference method or the like, as shown in Equation 4.

number

[0027] The control deviation calculation unit 134 calculates the control deviation used to calculate the control value u for controlling the heated processing machine to be controlled. Specifically, it calculates the control deviation σ based on equation 5 using 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.

number

[0028] Next, the control deviation calculation unit 134 applies the gain K to the calculated control deviation σ, as shown in equation 6. S The control deviation e can be calculated by multiplying by and correcting. In other embodiments, the gain K S Alternatively, instead of adopting this approach, the control deviation σ may be defined as the control deviation e.

number

number

number

[0029] The control value calculation unit 135 calculates a control value u for controlling the heating type processing machine of the control target based on Equation 9 using the control deviation e calculated by the control deviation calculation unit 134. In the present embodiment, the control device 1 controls the heating type processing machine by PID control.

Equation

Equation

[0030] The transmission unit 136 transmits the control value u calculated by the control value calculation unit 135 to the heating type processing machine of the control target. The heating type processing machine that has received the control value u controls the temperature based on the control value u. The control value u can take values such as, for example, -100% to 100% or -1 to +1.

[0031] For example, if the heating side is set to 0 to +100, the controlled heating processing machine will heat the heater it has equipped with according to the control value, such as the temperature output by the heater. Specifically, if the heating processing machine is equipped with devices such as a solid-state relay (SSR) or solid-state contactor (SSC), the control device 1 converts the control value u transmitted by the control device 1 into a PWM (Pulse Width Modulation) signal and performs ON / OFF control of the heater based on the PWM signal. At this time, the heating processing machine converts the control value u into a PWM signal such that the larger the control value u, the longer the time the heater is ON.

[0032] Furthermore, if a heating-type processing machine is equipped with a switching element capable of power control, such as an SCR (Silicon Controlled Rectifier) ​​or a thyristor, these switching elements control the power supplied to the heater according to the value of the control value u, thereby controlling the thermal energy of the heater.

[0033] Figure 2 is a flowchart showing an example of a process performed by the control device 1 according to the first embodiment. Figure 3 is a diagram showing the flow of information when the control device 1 performs the process shown in Figure 2.

[0034] In step S1 of Figure 2, the measurement value acquisition unit 130 acquires the measured temperature y of the heated 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 calculates the temperature change rate x2 using the calculated temperature difference x1. In step S4, the control deviation calculation unit 134 calculates the control deviation σ using the calculated temperature difference x1 and temperature change rate x2.

[0035] In step S5, the control deviation calculation unit 134 applies a gain K to the calculated control deviation σ. SThe control deviation e is calculated by multiplying by the calculated control deviation e. In step S6, the control value calculation unit 135 calculates the control value u based on equation 9 using the calculated control deviation e.

[0036] In step S7, the transmission unit 136 transmits the calculated control value u to the controlled heating type processing machine 2, and the process returns to step S1.

[0037] 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 heating processing machine and the target temperature ref of the heating processing machine. Next, the temperature change rate calculation unit 133 calculates the temperature change rate x2 of the measured temperature y using the calculated temperature difference x1 or the acquired measured temperature y. Next, the control deviation calculation unit 134 calculates the control deviation by multiplying the calculated temperature difference x1 by a predetermined value c to obtain a multiplicative value cx1 by the temperature change rate x2. Then, the control value calculation unit 135 calculates a control value for feedback control of the heating processing machine that converges the calculated control deviation to 0.

[0038] By adopting this configuration, the temperature difference x1 and the temperature change rate x2 converge to the origin of 0 in Figure 4. More specifically, through feedback control such as PID control, the temperature difference x1 and the temperature change rate x2 asymptotically approach the straight line defined by the default value c, and through Lyapunov stability, the temperature difference x1 and the temperature change rate x2 reach the origin in Figure 4. In other words, the temperature difference between the measured temperature of the heated processing machine and the target temperature becomes 0, and the temperature of the heated processing machine 2 can be brought closer to the target temperature.

[0039] Furthermore, the control value calculation unit 135 calculates the control deviation σ with a gain K S The control value can be calculated by multiplying by the gain K and using the resulting value as the control deviation. S This can be the reciprocal of the default value c. Gain K S The conventional parameter K uses the difference between the measured temperature y and the target temperature ref as the control error. p’ This adjusts the gain K. S and parameter K p’ The multiplicative value of K is shown in formula 9.p Using it in this way has the advantage of allowing us to calculate an appropriate control value u without adjusting the other parameters of equation 9.

[0040] In the embodiments described above, the control error σ was used, but in other embodiments, as shown in Equation 11, the target value of the temperature change rate x2 is the target change rate x 2ref The control error σ', which is the difference between the target rate of change x² and the temperature change rate x², may also be used. 2ref x² is the temperature change rate achievable by a heating-type processing machine, and is defined as shown in Equation 12. The control deviation σ' corresponds to the value used to evaluate the temperature change rate x².

number

number

[0041] Furthermore, in the above-described embodiment, the control deviation σ is given by a gain K S The control error e is calculated by multiplying by the gain K, but in other embodiments, S It is not necessary to use this. In this case, the control value calculation unit 135 can calculate the control value u based on equation 9, using the control deviation σ as the control deviation e.

[0042] Furthermore, in the above-described embodiment, the control device 1 controls the heating machine by PID control, but the control device 1 may also control the heating machine by 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 a control value u for controlling the heating machine to be controlled, based on formula 13.

number

[0043] <Second Embodiment> Figure 5 is a block diagram showing the configuration of the control device 1 according to the second embodiment. The differences from the first embodiment will be explained below. The control program in 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.

[0044] The compensation value calculation unit 137 calculates a compensation value Cmp to compensate for the heat dissipation of the heating type processing machine 2 using the measured temperature y. Based on formula 14, the compensation value calculation unit 137 uses the measured temperature y and the ambient temperature T of the heating type processing machine. atm The compensation value Cmp can be calculated using this method.

number

[0045] Alternatively, the compensation value calculation unit 137 may calculate the compensation value Cmp based on formula 15. Formula 15 is a formula that ignores the ambient temperature of the heating type processing machine. Therefore, it is advantageous in that it does not require measuring the ambient temperature to calculate the compensation value Cmp.

number

number

[0046] b[°C / %·sec] is an arbitrary constant. The unit of b is not limited to this; [%·sec] or [%·min] may also be used. Furthermore, °F may be used instead of °C. Additionally, a value in the range of -1 to 1 may be used instead of %. The value of b can be estimated by actually applying a step function (e.g., a 100% control value) to the machine and observing the measured temperature y, which is the response to that control value (u=100%). When the temperature of a device where heat dissipation does not need to be considered matches the ambient temperature (y=y_atm), observing the step response (u=100%) gives b as the slope of y, i.e., the derivative of y.

[0047] Figure 6 is a flowchart showing an example of a process performed by the control device 1 according to the second embodiment. Figure 7 is a diagram showing the flow of information when the control device 1 performs the process shown in Figure 6.

[0048] Steps S11 to S14 in Figure 6 are the same as steps S1 to S4 in Figure 2. In step S15, the control deviation calculation unit 134 calculates the control deviation e using the control deviation σ calculated in step S14.

[0049] In step S16, the compensation value calculation unit 137 calculates the compensation value Cmp using the measured temperature y.

[0050] In step S17, the control value calculation unit 135 calculates the control value u based on formula 17 using the calculated control deviation e and compensation value Cmp.

number

[0051] In step S18, the transmission unit 136 transmits the control value u to the controlled heating type processing machine 2, and the process returns to step S11.

[0052] In the second embodiment, a control error σ is used, but in other embodiments, as shown in the above equation 11, the target rate of change of temperature change rate x2 is x 2refThe control deviation σ', which is the difference between the temperature change rate x2, may be used instead of the control deviation σ.

[0053] In the second embodiment, the control deviation σ is given a gain K S The control error e is calculated by multiplying by the gain K, but in other embodiments, S It is not necessary to use this. In this case, the control value calculation unit 135 can calculate the control value u based on the above formula 9, with the control deviation σ as the control deviation e.

[0054] Furthermore, in the second embodiment, the control device 1 controls the heating machine by PID control, but the control device 1 may also control the heating machine by 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 a control value u for controlling the heating machine to be controlled, based on formula 18.

number

[0055] Furthermore, in other embodiments, the control deviation calculation unit 134 may calculate the control deviation σ based on formula 19.

number

[0056] Furthermore, in other embodiments, the control device 1 may control the heating-type processing machine by speed-type PID control. In this case, the control deviation calculation unit 134 can calculate the control deviation m based on equation 20. Then, the control value calculation unit 135 can use the calculated control deviation m to calculate a control value u for controlling the heating-type processing machine to be controlled, based on equation 21.

number

number

[0057] Alternatively, in speed-type PID control, the control deviation calculation unit 134 can calculate the control deviation m based on equation 22. Then, the control value calculation unit 135 can use the calculated control deviation m to calculate a control value u for controlling the heated processing machine to be controlled, based on equation 23.

number

number

[0058] Furthermore, in other embodiments, the control device 1 may control the heating type processing machine by speed-type PI control. In this case, the control deviation calculation unit 134 can calculate the control deviation m based on equation 24. Then, the control value calculation unit 135 can use the calculated control deviation m to calculate a control value u for controlling the heating type processing machine to be controlled, based on equation 25.

number

number

[0059] Alternatively, in speed-type PI control, the control deviation calculation unit 134 can calculate the control deviation m based on equation 26. Then, the control value calculation unit 135 can use the calculated control deviation m to calculate the control value u for controlling the heated processing machine to be controlled, based on equation 27.

number

number

[0060] Furthermore, in other embodiments where a heating and cooling type processing machine is the target of control, the control device 1 may include a cooling operation determination unit. The cooling operation determination unit can determine whether or not the cooling operation of the heating and cooling type processing machine is being performed based on the value of the control value u calculated by the control value calculation unit 135. Specifically, the cooling operation determination unit determines that the cooling operation of the heating and cooling type processing machine is being performed if the control value u calculated by the control value calculation unit 135 is negative. The cooling operation determination unit can also determine whether or not the cooling operation of the heating and cooling type processing machine is being performed using the control value u calculated in the previous control value calculation process.

[0061] When it is determined that the cooling operation of the heating / cooling type processing machine is being performed, the control deviation calculation unit 134 has the advantage of being able to correct the control deviation σ by changing the default value c shown in Equation 5. In addition, the control value calculation unit 135 can correct the gain K by changing the default value c shown in Equation 7 or Equation 8. S It is advantageous in that it can correct for the following. More specifically, in the case of a heating and cooling type processing machine that employs a water cooling method, the control deviation calculation unit 134 and the control value calculation unit 135 each make the default value c larger than the default value, thereby correcting the control deviation σ and gain K. S This can be corrected. In this case, the gain K shown in equations 7 and 8 S The value of becomes smaller.

[0062] On the other hand, in the case of a heating and cooling type processing machine that employs air cooling as the cooling method, the control deviation calculation unit 134 and the control value calculation unit 135 make the default value c smaller than the default value, thereby reducing the control deviation σ and gain K. S This is advantageous because it allows for correction of the gain K shown in equations 7 and 8. S The value will increase.

[0063] By changing the default value c in this way, the control deviation σ and gain K are adjusted according to the heating or cooling capacity. S By deriving this, hunting can be suppressed, allowing the temperature of the heating-type processing machine to reach a stable state more quickly, specifically a state where the temperature difference x1 and the temperature change rate x2 are both zero.

[0064] In the above example, the program can be stored and provided to the computer using various types of non-transitory computer-readable medium. Non-transitory computer-readable medium includes various types of tangible storage medium. Examples of non-transitory computer-readable medium include magnetic storage media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical storage media (e.g., magneto-optical disks), CD-ROMs, CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, RAMs). Alternatively, the program may be provided to the computer using various types of transient computer-readable medium. Examples of transient computer-readable medium include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable medium can supply the program to the computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels. Computers include various devices such as PCs (Personal Computers), servers, CPUs, MPUs, FPGAs, and ASICs.

[0065] The present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0066] 1: Control device 2:Heating type processing machine 11: Communication Interface 12:Storage device 13: Arithmetic device 130: Measurement value acquisition unit 131: Measurement value determination unit 132: Temperature difference calculation section 133: Temperature change rate calculation unit 134: Control deviation calculation unit 135: Control Value Calculation Unit 136: Transmitter 137: Compensation Value Calculation Unit

Claims

1. A temperature control method for controlling the temperature of a heating-type processing machine, wherein a computer controls the temperature of the machine. The measured temperature y of the aforementioned heating type processing machine is obtained, The temperature difference x between the acquired measured temperature y and the target temperature ref of the heating type processing machine. １ Calculate, The calculated temperature difference x １ Alternatively, using the acquired measured temperature y, the temperature change rate x of the measured temperature y is used. ２ Calculate, The calculated temperature difference x １ The multiplied value cx is obtained by multiplying by the default value c. １ and the aforementioned temperature change rate x ２ Adding these together, the control deviation is calculated. To converge the calculated control deviation to zero, calculate a control value for feedback control of the heating type processing machine. Temperature control method.

2. A temperature control method for controlling the temperature of a heating-type processing machine, wherein a computer controls the temperature of the machine. The temperature change rate x of the measured temperature y of the aforementioned heating processing machine ２ Calculate, The calculated temperature change rate x ２ and a control deviation corresponding to the difference from the target change rate x ２ｒｅｆ of the heating processing machine are calculated, To converge the calculated control deviation to zero, calculate a control value for feedback control of the heating type processing machine. Temperature control method.

3. A temperature control method for controlling the temperature of a heating-type processing machine, wherein a computer controls the temperature of the machine. The measured temperature y of the aforementioned heating type processing machine is obtained, The temperature difference x between the acquired measured temperature y and the target temperature ref of the heating type processing machine. １ Calculate, The calculated temperature difference x １ Alternatively, using the acquired measured temperature y, the temperature change rate x of the measured temperature y is used. ２ Calculate, The calculated temperature difference x １ The first default value c １ The multiplicative value c obtained by multiplying by １ x １ And the calculated temperature change rate x ２ The second default value c ２ The multiplicative value c obtained by multiplying by ２ x ２ and the aforementioned temperature change rate x ２ The derivative of x ３ Adding these together, the control deviation is calculated. To converge the calculated control deviation to zero, calculate a control value for feedback control of the heating type processing machine. Temperature control method.

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

5. The computer applies a gain K to the control deviation. Ｓ The control value is calculated by multiplying by and using the resulting value as the control deviation. The aforementioned gain K Ｓ The temperature control method according to claim 1, characterized in that is the reciprocal of the predetermined value c.

6. The computer applies a gain K to the control deviation. Ｓ The control value is calculated by multiplying by and using the resulting value as the control deviation. The aforementioned gain K Ｓ This is shown in formula 1 below. [Math 1] The temperature control method according to claim 1, characterized in that the value is within the range of [value].

7. The computer calculates a compensation value Cmp to compensate for the amount of heat dissipated by the heating processing machine, based on the rate of temperature decrease during heat dissipation of the heating processing machine. The calculated control value is added to the compensation value Cmp, and the resulting sum is calculated as the control value for controlling the heating type processing machine. A temperature control method according to any one of claims 1 to 3.

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

9. If the heating type processing machine is a heating and cooling type processing machine, the computer changes the gain K by changing the default value c. Ｓ A temperature control method according to claim 5 or 6, which corrects for the following.

10. A temperature control device for controlling the temperature of a heating-type processing machine, A measurement value acquisition unit that acquires the measurement temperature y of the heating processing machine, The temperature difference x between the acquired measured temperature y and the target temperature ref of the heating type processing machine. １ A temperature difference calculation unit that calculates the temperature difference, The calculated temperature difference x １ Alternatively, using the acquired measured temperature y, the temperature change rate x of the measured temperature y is used. ２ A temperature change rate calculation unit that calculates the rate of temperature change, The calculated temperature difference x １ The multiplied value cx is obtained by multiplying by the default value c. １ and the aforementioned temperature change rate x ２ A control deviation calculation unit calculates the control deviation by multiplying by and A control value calculation unit calculates a control value for feedback control of the heating type processing machine, which converges the calculated control deviation to zero. A temperature control device, including a temperature control device.

11. A temperature control device for controlling the temperature of a heating-type processing machine, The temperature change rate x of the measured temperature y of the aforementioned heating processing machine ２ A temperature change rate calculation unit that calculates the rate of temperature change, The calculated temperature change rate x ２ And the target change rate x of the heating type processing machine ２ｒｅｆ A control deviation calculation unit calculates a control deviation equivalent to the difference between the two, A control value calculation unit calculates a control value for feedback control of the heating type processing machine, which converges the calculated control deviation to zero. A temperature control device, including a temperature control device.

12. A temperature control device for controlling the temperature of a heating-type processing machine, A measurement value acquisition unit that acquires the measurement temperature y of the heating processing machine, The temperature difference x between the acquired measured temperature y and the target temperature ref of the heating type processing machine. １ A temperature difference calculation unit that calculates the temperature difference, The calculated temperature difference x １ Alternatively, using the acquired measured temperature y, the temperature change rate x of the measured temperature y is used. ２ A temperature change rate calculation unit that calculates the rate of temperature change, The calculated temperature difference x １ The first default value c １ The multiplicative value c obtained by multiplying by １ x １ And the calculated temperature change rate x ２ The second default value c ２ The multiplicative value c obtained by multiplying by ２ x ２ and the aforementioned temperature change rate x ２ The derivative of x ３ A control deviation calculation unit calculates the control deviation by adding and A control value calculation unit calculates a control value for feedback control of the heating type processing machine, which converges the calculated control deviation to zero. A temperature control device, including a temperature control device.

13. A temperature control program for controlling the temperature of a heating-type processing machine, which allows a computer to: The measured temperature y of the aforementioned heating processing machine is obtained. The temperature difference x between the acquired measured temperature y and the target temperature ref of the heating type processing machine. １ Let it calculate, The calculated temperature difference x １ Alternatively, using the acquired measured temperature y, the temperature change rate x of the measured temperature y is used. ２ Let it calculate, The calculated temperature difference x １ The multiplied value cx is obtained by multiplying by the default value c. １ and the aforementioned temperature change rate x ２ Adding these together, calculate the control deviation. To cause the calculated control deviation to converge to zero, and to calculate a control value for feedback control of the heating type processing machine, Temperature control program.

14. A temperature control program for controlling the temperature of a heating-type processing machine, which allows a computer to: The temperature change rate x of the measured temperature y of the aforementioned heating processing machine ２ Let it calculate, The calculated temperature change rate x ２ And the target change rate x of the heating type processing machine ２ｒｅｆ The control deviation corresponding to the difference between the two values ​​is calculated. To cause the calculated control deviation to converge to zero, and to calculate a control value for feedback control of the heating type processing machine, Temperature control program.

15. A temperature control program for controlling the temperature of a heating-type processing machine, which allows a computer to: The measured temperature y of the aforementioned heating processing machine is obtained. The temperature difference x between the acquired measured temperature y and the target temperature ref of the heating type processing machine. １ Let it calculate, The calculated temperature difference x １ Alternatively, using the acquired measured temperature y, the temperature change rate x of the measured temperature y is used. ２ Let it calculate, The calculated temperature difference x １ The first default value c １ The multiplicative value c obtained by multiplying by １ x １ And the calculated temperature change rate x ２ The second default value c ２ The multiplicative value c obtained by multiplying by ２ x ２ and the aforementioned temperature change rate x ２ The derivative of x ３ Adding these together, calculate the control deviation. To cause the calculated control deviation to converge to zero, and to calculate a control value for feedback control of the heating type processing machine, Temperature control program.

Images