EP0192245A2
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EP
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Process controller having an adjustment system with two degrees of freedom
Assignee: Toshiba Corp
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Filing: 1986-02-19
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Granted: —
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Expires: 2006-02-19
Abstract
Abstract A process controller having an adjustment system with two degrees of freedom optimally responsible both changes in the set point value (SV) about which a control object is controlled and disturbances (D) acting on the control object is shown. The controller having an adjustment system is equipped with a compensation unit (33) which alters substantially exclusively only one of the characteristics for following the change in the set point value (SV) and for suppressing the external disturbances (D) acting on the control object. Different from conventional device the compensation unit (33) has an adjusting unit for integral time.
Inventors
- 👤 Kazuo Hiroi
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-30 21:29
CPC Classifications
G; G05; G05B; G05B11/00; G05B11/01; G05B11/36; G05B11/42
Claims Analysis
Total Claims: 57
Claim 1
Independent Claim
109 words
A process controller having an adjustment system with two degrees of freedom characterized by comprising: control operation means for outputting an adjusting signal having manipulated values to an object to be controlled with a feedback loop on the basis of a set point value and the process value outputted from the object, said control operation means being prepared optimally in respect of only one of the characteristics of the controller for following the change in the set point value and for suppressing the influence due to disturbances acting on the object and the controller; and compensation means having at least one parameter for adjusting only said the other characteristics.
Claim 2
Dependent Claim
109 words
A process controller having an adjustment system with two degrees of freedom characterized by comprising: control operation means for outputting an adjusting signal having manipulated values to an object to be controlled with a feedback loop on the basis of a set point value and the process value outputted from the object, said control operation means being prepared optimally in respect of only one of the characteristics of the controller for following the change in the set point value and for suppressing the influence due to disturbances acting on the object and the controller; and compensation means having at least one parameter for adjusting only said the other characteristics.
Claim 3
Dependent Claim
29 words
A process controller having an adjustment system with two degrees of freedom of claim 1 wherein said compensation means has at least one parameter for adjusting an integral time.
Claim 4
Dependent Claim
36 words
A process controller having an adjustment system with two degrees of freedom of claim 2 wherein said compensation means is equipped with at least one of lead, lag and lead/lag operation unit having said adjusting parameter.
Claim 5
Dependent Claim
27 words
A process controller having an adjustment system with two degrees of freedom of claim 2 wherein said lag operation unit is a first order lag operation unit.
Claim 6
Dependent Claim
29 words
A process controller having an adjustment system with two degrees of freedom of claim 1 wherein said compensation means has at least one parameter for adjusting a proportional gain.
Claim 7
Dependent Claim
36 words
A process controller having an adjustment system with two degrees of freedom of claim 5 wherein said compensation means is equipped with at least one of lead, lag and lead/lag operation unit having said adjusting parameter.
Claim 8
Dependent Claim
45 words
A process controller having an adjustment system with two degrees of freedom of claim 6 wherein said lead/lag operation unit carries out the operation according to the equation, where T D may identify zero so as to correspond to a system with no differentiation operation.
Claim 9
Dependent Claim
26 words
A process controller having an adjustment system with two degrees of freedom of claim 1 wherein said control operation means carries out proportion and integration operations.
Claim 10
Dependent Claim
26 words
A process controller having an adjustment system with two degrees of freedom of claim 1 wherein said control operation means further carries out a differentiation operation.
Claim 11
Dependent Claim
60 words
A process controller having an adjustment system with two degrees of freedom of claim 1 wherein said compensation means comprises at least one compensatory operation unit having at least one parameters which brings substantially no influence to the characteristics suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 12
Dependent Claim
45 words
A process controller having an adjustment system with two degrees of freedom of claim 10 wherein said compensatory operation unit is a feedforward element which operates the set point value and subtract the result thereof from the manipulated value outputted form the control operation means.
Claim 13
Dependent Claim
47 words
A process controller having an adjustment system with two degrees of freedom of claim 11 wherein said control operation means is a control operation unit which operates the difference between the set point value and the processed value and outputs the result thereof as the manipulated value.
Claim 14
Dependent Claim
101 words
A process controller having an adjustment system with two degrees of freedom of claim 12 wherein said compensatory operation unit carries out the operation according to the equation, and said control operation unit carries out the operation, according to the equation, where Kp is a proportional gain, T I is a integral time and T D is a differential time each are optimally chosen for suppressing the external disturbances acting on the system, and T I may identify infinite corresponding to a system with no integration operation while T D may identify zero corresponding to a system with no differentiation operation.
Claim 15
Dependent Claim
58 words
A process controller having an adjustment system with two degrees of freedom of claim 10 wherein said compensatory operation unit is at least one filter element which operates the set point value and the result thereof is subtracted by the processed value and operated by a control operation unit to obtain the adjusting output of the manipulated value.
Claim 16
Dependent Claim
47 words
A process controller having an adjustment system with two degrees of freedom of claim 14 wherein said control operation unit carries out the operation optimally for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 17
Dependent Claim
60 words
A process controller having an adjustment system with two degrees of freedom of claim 15 wherein said compensatory operation unit carries out the operation followed by the operation of the control : operation unit in order to constitute a total transfer function in cooperation with the control operation unit responsive optimally for following the change in the set point value.
Claim 18
Dependent Claim
113 words
A process controller having an adjustment system with two degrees of freedom of claim 16 wherein said control operation unit carries out the operation according to the equation, and said compensatory operation unit carries out the operation according to the equation, where Kp , T I and T D are a proportion gain, an integration time and a differentiation time respectively chosen optimally for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object, and T I may identify infinite corresponding to a system with no integration operation while T D may identify zero corresponding to a system with no differentiation operation.
Claim 19
Dependent Claim
82 words
A process controller having an adjustment system with two degrees of freedom of claim 14 wherein said control operation unit comprising a first part which operates the output from compensatory operation unit and a second part which subtracts from the output from the first part the differentiated value of processed value in terms of a differentiation time T D appropriate for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 20
Dependent Claim
70 words
A process controller having an adjustment system with two degrees of freedom of claim 18 wherein said first part carries out the operation according to the equation, and said second part is a proportion operation unit with a propotion gain Kp, where T and Kp are chosen optimally for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 21
Dependent Claim
43 words
A process controller having an adjustment system with two degrees of freedom of claim 19 wherein said compensatory operation unit carries out the operation according to at least one of the equations, where T D is chosen optimally for suppressing external disturbance. 2
Claim 22
Dependent Claim
161 words
A process controller having an adjustment system with two degrees of freedom of claim 14 wherein said compensatory operation unit comprises first and second proportion operation unit with proportion coefficients α and α and a lead/lag operation unit which respectively operate the set point value and substract the processed value from the results thereof, the result of the second unit being differentiated in terms of a differentiation time Td and the result of the lead/lag operation unit being integrated in terms of an integration time T I , and the differentiated and integrated results and the result of the first unit are summed and multiplied by a coefficient Kp to obtain the adjusting signal of the manipulated value, where Kp, T D and T I are chosen so as to be appropriate for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object, where Td and β may be zero.
Claim 23
Dependent Claim
27 words
A process controller having an adjustment system with two degrees of freedom of claim 21 wherein said lead/lag operation unit is a first order lag operation unit.
Claim 24
Dependent Claim
28 words
A process controller having an adjustment system with two degrees of freedom of claim 22 wherein said lead/lag operation unit carries out the operation according to the equation,
Claim 27
Dependent Claim
124 words
A process controller having an adjustment system with two degrees of freedom of claim 5 wherein said compensatory operation unit comprises a first proportion unit which multiplies the set point value by a parameter and subtracts the processed value from the result thereof, and a first order lag operation unit having a delay time T I which operates the set point value and subtracts the result thereof from the integrated value of processed value in terms of an integration time T I , the two subtracted results are summed and multiplied by a parameter Kp, where Kp and T I are appropriate for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 28
Dependent Claim
48 words
A process controller having an adjustment system with two degrees of freedom of claim 1 wherein said compensation means comprises at least one compensatory unit having at least one adjustment parameter which give substantially no affection to the characteristics for following the change in the set point value.
Claim 29
Dependent Claim
41 words
A process controller having an adjustment system with two degrees of freedom of claim 25 wherein said compensation means is at least one compensatory operation unit which operates the processed value and subtracts the result thereof from the set point value.
Claim 30
Dependent Claim
25 words
A process controller having an adjustment system with two degrees of freedom of claim 26 wherein said compensatory operation unit comprises a lead/lag operation unit.
Claim 31
Dependent Claim
52 words
A process controller having an adjustment system with two degrees of freedom of claim 27 wherein said compensatory operation unit carries out the operation according to the equation, and the result thereof is integrated in terms of a * integration time T adjusted for following the change in the set point value.
Claim 32
Dependent Claim
46 words
A process controller having an adjustment system with two degrees of freedom of claim 28 wherein said compensatory operation unit further comprises a first proportion unit which multiplies the processed value with an adjustable constant α and subtracts the multiplies result from the set point value.
Claim 33
Dependent Claim
70 words
A process controller having an adjustment system with two degrees of freedom of claim 29 wherein said compensatory operation unit further comprises a second proportion unit which multiplies the processed value with an adjustable constant α and subtracts the result thereof from the set point value, and the subtracted result is differentiated in * terms of a differentiation time T appropriate for following the change in the set point value.
Claim 34
Dependent Claim
55 words
A process controller having an adjustment system with two degrees of freedom of claim 30 wherein the multiplies, integrated and differentiated results of the compensatory operation units are summed up and multiplied by a * constant Kp adjusted for following the change in the set point value to output the adjusting signal having manipulated values.
Claim 35
Dependent Claim
46 words
A process controller having an adjustment system with two degrees of freedom of claim 31 wherein the multiplied result of the first proportion unit is subtracted from the set point value multiplied by an adjustable constant α instead of just directly from the set point value.
Claim 36
Dependent Claim
34 words
A process controller having an adjustment system with two degrees of freedom of claim 31 further comprising a switching-over unit for cutting off the feeding the set point value to the first proportion unit.
Claim 37
Dependent Claim
46 words
A process controller having an adjustment system with two degrees of freedom of claim 31 wherein the multiplied result of the second proportion unit is subtracted from the set point value multiplied by an adjustable constant δ instead of just directly from the set point value.
Claim 38
Dependent Claim
34 words
A process controller having an adjustment system with two degrees of freedom of claim 34 further comprising a switching-over unit for cutting off the feeding the set point value to the second proportion unit.
Claim 39
Dependent Claim
68 words
A process controller having an adjustment system with two degrees of freedom of claim 1 wherein said compensation means is equipped with at least one feedback operation unit which operates the processed value with at least one adjustable parameter 6 and subtracts the result thereof from the set point value and at least one control operation unit which operates the subtracted result with the adjustable parameter β .
Claim 40
Dependent Claim
70 words
A process controller having an adjustment system with two degrees of freedom of claim 36 wherein the operational combination that carries out the operation of the control operation unit subsequent to the operation of the compensatory operation unit constitutes a operation that give no affect to the characteristics for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 41
Dependent Claim
73 words
A process controller having an adjustment system with two degrees of freedom of claim 37 wherein the compensatory operation unit carries out the operation according to the equation. and the control operation unit carries out the operation according to the equation, , where TI is a integral time adjusted as appropriate for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 42
Dependent Claim
31 words
A process controller having an adjustment system with two degrees of freedom of claim 38 wherein the result of the control operation unit is multiplied by a constant K p ·
Claim 43
Dependent Claim
39 words
A process controller having an adjustment system with two degrees of freedom of claim 38 further comprising a feedback operation unit which operates set point value and subtracts the result thereof from the result of the compensatory operation unit.
Claim 44
Dependent Claim
63 words
A process controller having an adjustment system with two degrees of freedom of claim 40 wherein said feedback operation unit carries out the operation according to the equation, 1 + T D , where T D is a differential time adjusted for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 45
Dependent Claim
58 words
A process controller having an adjustment system with two degrees of freedom of claim 40 wherein said compensatory operation unit further comprises a first proportion unit which multiplies the processed value with an adjustable constant α -1 and subtracts the result thereof from the set point value, and the subtracted result is multiplied by the constant α .
Claim 46
Dependent Claim
76 words
A process controller having an adjustment system with two degrees of freedom of claim 42 wherein said compensatory operation unit further comprises a second proportion unit which multiplies the processed value with an adjustable constant α -1 and subtracts the result thereof from the set point value, and the subtracted result is differentiated in terms of a differentiation time α. T D inwhich T D is chosen for following the change in the set point value.
Claim 47
Dependent Claim
51 words
A process controller having an adjustment system with two degrees of freedom of claim 43 wherein the three results of the compensatory operation units are summed up and multiplied by a constant Kp adjusted for following the change in the set point value to output the adjusting signal having manipulated values.
Claim 48
Dependent Claim
45 words
A process controller having an adjustment system with two degrees of freedom of claim 44 wherein the multiplied result of the first proportion unit is subtracted from the set point value multiplied by an adjustable constant instead of just directly from the set point value.
Claim 49
Dependent Claim
45 words
A process controller having an adjustment system with two degrees of freedom of claim 44 wherein the multiplied result of the second proportion unit is subtracted from the set point value multiplied by an adjustable constant instead of just directly from the set point value.
Claim 50
Dependent Claim
129 words
A process controller having an adjustment system with two degrees of freedom of claim 37 wherein the compensatory operation unit carries out the operation according to the equation, and the control operation unit carries out the operation according to the equation, where T I is an integration time appropriate for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object and T D is a differentiation time appropriate for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object, and T I may identify infinite corresponding to a system with no integration operation while T D may identify zero corresponding to a system with no differentiation operation.
Claim 51
Dependent Claim
70 words
A process controller having an adjustment system with two degrees of freedom of claim 37 wherein the compensatory operation unit carries out the operation according to the equation, the control operation unit carries out the operation according to the equation, where T I is an integration time appropriate for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 52
Dependent Claim
113 words
A process controller having an adjustment system with two degrees of freedom of claim 48 wherein the control operation unit carries out the operation according to the equation, and the feedback operation unit carries out the operation according to the equation, where Kp , T I and T D are a proportion rate, an integration time and a differentiation time each chosen optimally for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object, and T I may identify infinite corresponding to a system with no integration operation while T D may identify zero corresponding to a system with no differentiation operation.
Claim 53
Dependent Claim
45 words
A process controller having an adjustment system with two degrees of freedom of claim 1 wherein said compensation means comprises a feedback compensatory operation unit which operates the processed value and subtract the result thereof from the manipulated value outputted from the control operation means.
Claim 54
Dependent Claim
48 words
A process controller having an adjustment system with two degrees of freedom of claim 50 wherein said control operation means comprises a control operation unit which carries out the operation according to the equation * C (s) optimally chosen for following the change in the set point value.
Claim 55
Dependent Claim
65 words
A process controller having an adjustment system with two degrees of freedom of claim 51 wherein the equation F(s) according to which said feedback compensatory operation unit carries out the operation is chosen so that C (s) + F(s) becomes the equation appropreate for suppressing external disturbances acting on the system which is constituted with the process controller having an adjustment system and the object.
Claim 56
Dependent Claim
79 words
A process controller having an adjustment system with two degrees of freedom of claim 52 characterized by further comprising a set point value compensatory operation unit which operates the set point value and subtract the result thereof from the manipulated value outputted form the control operation unit, in which the equation H(s) according to which said compensatory operation unit carries out the operation satisfies H (s) = K x F (s) ( 0 < K < 1 ) .
Claim 57
Dependent Claim
16 words
A process controller having an adjustment system with two degrees of freedom of claim 53 wherein
Claim 58
Dependent Claim
96 words
An adjusting method for process controller with two degree of freedom characterized by comprising: a step of preparing a control operation system so that it operates a set point value and outputs to an object to be controlled an adjusting signal having manupulated values which are optimally chosen for one of the characteristics for following the change in the set point value and the characteristics for suppressing the influence due to disturbances acting on the object, a step of adjusting at least one parameter of said process controller so as to alter the other characteristics optimally.
Claim 59
Dependent Claim
96 words
An adjusting method for process controller with two degree of freedom characterized by comprising: a step of preparing a control operation system so that it operates a set point value and outputs to an object to be controlled an adjusting signal having manupulated values which are optimally chosen for one of the characteristics for following the change in the set point value and the characteristics for suppressing the influence due to disturbances acting on the object, a step of adjusting at least one parameter of said process controller so as to alter the other characteristics optimally.
References Cited (Backward Citations)
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