公开(公告)号：US5200681A

公开(公告)日：1993-04-06

申请号：US908754

申请日：1992-07-06

申请人： Kazuo Hiroi

发明人： Kazuo Hiroi

IPC分类号： G05B11/42

CPC分类号： G05B11/42

摘要： A control system is provided for controlling a process system subject to an external disturbance by adjusting the value of a control amount output from the process system to a given target value. The system includes a target value generating unit for generating a given target value, and a main control unit receiving the target value and the control amount value for performing control operations to suppress fluctuation of the control amount value produced by the external disturbance and to adjust the control amount value to the given target value. The main control unit includes a suppressing unit for suppressing fluctuation of the control amount value produced by the external disturbance, an adjusting unit for adjusting a proportional gain of the suppressing unit, derivative time of the suppressing unit, and the control amount value to the given target value, a proportional gain revision coefficient unit for setting a plurality of given proportional gain revision coefficients, and a coefficient selecting unit for selecting the given proportional gain revision coefficient from among the plurality of given proportional gain revision coefficients.

摘要翻译： 提供一种控制系统，用于通过将从处理系统输出的控制量的值调整到给定的目标值来控制受到外部干扰的处理系统。 该系统包括用于产生给定目标值的目标值产生单元和接收目标值的主控制单元和用于执行控制操作的控制量值，以抑制由外部干扰产生的控制量值的波动，并且调整 控制量值到给定的目标值。 主控制单元包括：抑制单元，用于抑制由外部干扰产生的控制量值的波动;调整单元，用于调整抑制单元的比例增益，抑制单元的微分时间和控制量值 目标值，用于设定多个给定比例增益修正系数的比例增益修正系数单元，以及用于从多个给定比例增益修正系数中选择给定比例增益修正系数的系数选择单元。

公开(公告)号：US5105138A

公开(公告)日：1992-04-14

申请号：US577558

申请日：1990-09-05

申请人： Kazuo Hiroi

发明人： Kazuo Hiroi

IPC分类号： G05B11/42

CPC分类号： G05B11/42

摘要： A two degree of freedom PID controller which includes a setpoint filter for performing a derivative operation on a process disturbance signal in accordance with a setpoint value and a control value of a controlled system, thereby outputting a setpoint signal, a PI-control operation device for determining a deviation between the setpoint signal and the control value, and performing a PI-control operation on the deviation, thereby outputting a manipulative signal, and an adder for adding the process disturbance signal to the manipulative signal output by the PI-control operation device, thus obtaining a sum signal, and for supplying the sum signal to the controlled system.

公开(公告)号：US4755924A

公开(公告)日：1988-07-05

申请号：US829606

申请日：1986-02-14

申请人： Kazuo Hiroi

发明人： Kazuo Hiroi

IPC分类号： G05B11/42 ,  G05B13/00

CPC分类号： G05B11/42

摘要： A process controller comprises a deviation calculating device for calculating the deviation between a control value obtained from a controlled object and a set value for the control value, and a first operation device for performing at least one of proportional, integral and differential operations with respect to the deviation from the deviation calculating device based on control parameters adjusted in a characteristic state for optimally restricting variation due to a disturbance. The first operation device outputs an adjusting signal based on the at least one of proportional, integral and differential operations. The process controller further comprises a second calculating device for correcting the control parameters to parameter values in a characteristic state for optimally following change in the set value.

摘要翻译： 一种过程控制器，包括：偏差计算装置，用于计算从受控对象获得的控制值与用于控制值的设定值之间的偏差;以及第一操作装置，用于执行与比较，积分和差分操作相关的至少一个 基于在特性状态下调整的控制参数与偏差计算装置的偏差，以最佳地限制由于干扰引起的变化。 第一操作装置基于比例，积分和差分运算中的至少一个输出调整信号。 过程控制器还包括第二计算装置，用于将控制参数校正到特征状态中的参数值，以便最佳地跟随设定值的变化。

公开(公告)号：US5544039A

公开(公告)日：1996-08-06

申请号：US253219

申请日：1994-06-02

申请人： Kazuo Hiroi

发明人： Kazuo Hiroi

IPC分类号： G05B13/04

CPC分类号： G05B13/048

摘要： A system for controlling a process system with a process system gain and dead time of which its transfer function includes a gain term element corresponding to the process system gain and a dead time term element corresponding to the dead time, subject to an external disturbance, by adjusting a control variable output by the process system to a target value according to a manipulated variable output by a controller performing at least proportional and integral control operations based on a deviation between the control variable and the target value. The system includes dead time compensation unit, connected to the controller, including a system model unit having a system transfer function approximative to the transfer function of the process system and a model unit having a model transfer function resulting from eliminating the dead time term element from the system transfer function, for outputting a compensation output signal to compensate the dead time, and gain adjustment unit, connected to the dead time compensation means, for adjusting a gain of the system model unit to the process system gain according to the variation in the process system gain of the process system.

摘要翻译： 一种用于控制具有处理系统增益和死区时间的处理系统的系统，其传递函数包括对应于过程系统增益的增益项元素和对应于外部干扰的死区时间的死区时间项元素，受到外部干扰，由 根据由控制器输出的操纵变量，根据控制变量和目标值之间的偏差执行至少比例和整体控制操作，将过程系统输出的控制变量调整到目标值。 该系统包括连接到控制器的死区补偿单元，包括具有与过程系统的传递函数近似的系统传递函数的系统模型单元，以及具有从消除死区时间项元素而导致的模型传递函数的模型单元 用于输出补偿输出信号以补偿死区时间的系统传递功能，以及连接到死区时间补偿装置的增益调整单元，用于根据系统模型单元的变化调整系统模型单元的增益 过程系统的过程系统增益。

公开(公告)号：US5195028A

公开(公告)日：1993-03-16

申请号：US684181

申请日：1991-04-12

申请人： Kazuo Hiroi

发明人： Kazuo Hiroi

IPC分类号： G05B13/02 ,  G05B11/36 ,  G05B11/42

CPC分类号： G05B11/42

摘要： A PI type 2DOF controller comprises setpoint filter for receiving a setpoint value, and outputting a control setpoint value, the setpoint filter having a transfer function which follows the setpoint value, and is expressed by the following formula: ##EQU1## where T.sub.I : an integral time, S: a Laplace operator, .alpha.: a constant which can be set between 0 and 1, and .beta.: a constant which can be set between 0 and about 10, deviation-calculating portion for calculating a deviation between the control setpoint value and a control value fed back from a controlled system, control operation portion for receiving the deviation, executing at least a PI (P: proportional, I: integral) control operation, and outputting a manipulative variable, and applying portion for applying the manipulative variable to the controlled system.

摘要翻译： PI型2DOF控制器包括用于接收设定点值的设定值滤波器，并输出控制设定值，该设定值滤波器具有跟随设定值的传递函数，并且由以下公式表示：其中TI：积分 时间，S：拉普拉斯算子，α：可以设置在0和1之间的常数，β：可以设置在0和约10之间的常数，偏差计算部分，用于计算控制设定值和 从控制系统反馈的控制值，用于接收偏差的控制操作部分，至少执行PI（P：比例，I：积分）控制操作，并输出操作变量，以及将应用操作变量的应用部分 受控系统。

公开(公告)号：US5119288A

公开(公告)日：1992-06-02

申请号：US546741

申请日：1990-07-02

申请人： Kazuo Hiroi

发明人： Kazuo Hiroi

IPC分类号： G05B11/42

CPC分类号： G05B11/42

摘要： A controlling apparatus comprises a portion for calculating a deviation between a process variable from a controlled system and a target value, a first portion for receiving the deviation and executing a velocity-type I controlling calculation to obtain a first calculation output, a second portion for receiving the deviation and executing a velocity-type P or PD controlling calculation to obtain a second calculation output, a summing portion for summing the first and second calculation outputs to obtain a velocity-type manipulative variable, a conversion portion for converting the velocity-type manipulative variable into a positional manipulative variable, a portion for limiting a magnitude of the positional manipulative variable between upper and lower limits, and limiting a change rate of the positional manipulative variable within a predetermined change rate, and a judgment portion for judging whether or not the positional manipulative variable is deviated from at least one of upper and lower limits and the change rate. The first portion includes an output unit for the first calculation output, and a stopping unit for selectively stopping the output of the first calculation output. When the judgment portion determines that the manipulative variable is deviated, it supplies a signal to the stopping unit, and stops the summing operation by the summing portion.

公开(公告)号：US5029066A

公开(公告)日：1991-07-02

申请号：US324771

申请日：1989-03-17

申请人： Kazuo Hiroi

发明人： Kazuo Hiroi

IPC分类号： G05B13/02 ,  G05B11/32 ,  G05B11/42 ,  G05B13/00

CPC分类号： G05B11/42

摘要： A system for controlling a process system subject to an external disturbance by adjusting a value of a control amount outputted by the process system to a given target value. The system includes a difference computing unit for computing a difference between the control amount value and the given target value, a main control unit for performing at least proportional and integral control operations from a choice of proportional, integral and differential control operations based on control constants including proportional gain, integration time, and derivation time adjusted to a first given state that suppresses fluctuation of the control amount produced by external disturbance, and a compensation control unit for performing a compensation control operation to equivalently adjust the control constants of the main control unit to second given state that tracks target value variation.

公开(公告)号：US4951191A

公开(公告)日：1990-08-21

申请号：US211263

申请日：1988-06-24

申请人： Kazuo Hiroi ,  Kojiro Ito

发明人： Kazuo Hiroi ,  Kojiro Ito

IPC分类号： G05B11/32 ,  G05B13/00 ,  G05B13/02

CPC分类号： G05B13/0205

摘要： A process controller includes a change fetch circuit for fetching a change in feedforward controlled variable due to a variation in load, and an auto-tuning control circuit for performing auto-tuning for mis-matching of the feedforward control, in accordance with a compensation variable obtained by multiplying a ratio of an adjusted output signal of a feedback control system corrected by the feedforward control to the feedforward controlled variable, with the change in feedforward controlled variable, to determine an optimal next feedforward controlled variable.

公开(公告)号：US4621927A

公开(公告)日：1986-11-11

申请号：US694995

申请日：1985-01-25

申请人： Kazuo Hiroi

发明人： Kazuo Hiroi

IPC分类号： B01F3/02 ,  B01F15/04 ,  G05D11/13

CPC分类号： B01F3/026 ,  B01F15/00136 ,  B01F15/00285 ,  B01F15/00292 ,  B01F15/0408 ,  G05D11/132

摘要： A mixture control apparatus controls a flow rate of a second fluid to be mixed with a first fluid so as to prepare a third fluid having a predetermined concentration. A set point variable of the flow rate of the second fluid is calculated in accordance with the flow rate of the third fluid so as to improve controllabilty of the apparatus. A gain correction circuit calculates a gain correction quantity using the flow rate of the third fluid. A feed forward circuit calculates a feed forward control component. A feedback circuit calculates a feedback control component. The set point variable of the flow rate of the second fluid is calculated in accordance with the feed forward control component and the feedback control component. The flow rate of the second fluid is controlled to coincide with this set point variable.

摘要翻译： 混合控制装置控制与第一流体混合的第二流体的流量，以制备具有预定浓度的第三流体。 根据第三流体的流量计算第二流体的流量的设定点变量，以提高装置的可控性。 增益校正电路使用第三流体的流量来计算增益校正量。 前馈电路计算前馈控制部件。 反馈电路计算反馈控制部件。 根据前馈控制部件和反馈控制部件计算第二流体的流量的设定点变量。 控制第二流体的流量与该设定点变量一致。

公开(公告)号：US5745362A

公开(公告)日：1998-04-28

申请号：US666089

申请日：1996-06-19

申请人： Kazuo Hiroi ,  Yoshiyuki Yamamoto

发明人： Kazuo Hiroi ,  Yoshiyuki Yamamoto

IPC分类号： G05B11/36 ,  G05B11/42 ,  G05B13/02 ,  G05B21/02

CPC分类号： G05B11/42 ,  G05B13/024

摘要： In the digital PID (P:proportional, I:integral, D:derivative) control apparatus of the present invention, in which a deviation is obtained from a controlling amount of an object to be controlled, and a target value, a velocity type PI control operation is carried out on the deviation, a velocity type D control operation is carried out on the deviation or the controlling amount, these velocity type control operation outputs are synthesized, and then converted into a position type manipulation signal, and this signal is supplied to the object to be controlled, the derivation processing unit includes the judgment unit for judging whether K=2.multidot..DELTA.t/(.DELTA.t+2.eta..multidot.TD).ltoreq.1, or K>1 by using a control operation period .DELTA.t, a derivative time TD and a derivative gain 1/.eta., and the operation unit which carries out a lagged derivative operation by a bilinear transfer method when K.ltoreq.1, or carries out an exact derivative operation when K>1.

摘要翻译： 在本发明的数字PID（P：比例，I：积分，D：微分）控制装置中，从被控制物的控制量和目标值获得偏差，速度型PI 对偏差进行控制操作，对偏差或控制量执行速度类型D控制操作，合成这些速度型控制操作输出，然后转换为位置型操作信号，并且提供该信号 导出处理单元包括用于通过使用控制操作期间DELTA t来判断K = 2×DELTA t /（DELTA t + 2 eta x TD）= 1或K> 1的判断单元， 衍生时间TD和微分增益1 / eta，以及当K <1时通过双线性传递方法执行滞后导数运算的操作单元，或当K> 1时执行精确导数运算。