JP3501962B2 - PID parameter readjustment method, storage medium storing PID parameter readjustment program, and PID parameter readjustment device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a PID parameter readjustment method for adjusting PID parameters of a PID controller, a storage medium storing the PID parameter readjustment program, and a PID parameter readjustment apparatus. .

[0002]

2. Description of the Related Art In various conventional industrial processes, PID control is used in many situations, and conditions such as hunting, overshoot, and overdamping are solved by adjusting the parameters of this PID control. When it is necessary to readjust the PID parameter, there is a problem in the control result by the current PID parameter, but the situation of the problem can be classified into several trouble patterns. As a typical example, (1) situation where hunting occurs,
(2) The situation is such that the response is too slow. Also, P
The information required to calculate the readjustment value of the ID parameter differs depending on each trouble pattern. In such a situation, conventionally, the target characteristic is identified from the relationship between the actual controlled variable and the manipulated variable, and the PID parameter is obtained by the parameter adjustment formula.

[0003]

For such a phenomenon that requires adjustment of the PID parameters, the information about which parameter and how much should be adjusted varies depending on each trouble pattern, and the PID parameters can be adjusted accurately. In many cases, experience is required to obtain the value, and it is not easy for an unskilled person even if it is easy for a skilled person, and there is a problem that adjustment work takes time.

Further, when the characteristic of the object is identified from the relationship between the actual controlled variable and the manipulated variable and the PID parameter is obtained by the parameter adjustment formula, the reliability of the identification result is important and the data must be collected sufficiently. Therefore, there is a problem that the practical range is limited.

Therefore, the present invention makes it possible for an unskilled person to easily obtain an accurate adjustment value of a PID parameter, and a PID parameter readjusting method and a PID parameter readjusting method which can shorten the work time for adjusting the PID parameter. An object is to obtain a storage medium recording an adjustment program and a PID parameter readjustment device.

[0006]

A PID parameter readjustment method according to the present invention comprises a current value input step of inputting a current PID parameter and a finite number of trouble patterns according to a control result by the current PID parameter. , It is displayed as shape information of step response or disturbance response from trouble patterns prepared in advance , and the finite
A trouble pattern selection step of selecting and inputting one of the trouble patterns, shape information of the trouble pattern selected in the trouble pattern selection step, and a current PID input in the current value input step
A calculation step for calculating an optimum PID parameter based on the parameter, and the P calculated in the calculation step.
And an output step of outputting the ID parameter.

A PID parameter readjustment method according to the present invention displays a finite number of trouble patterns on a display screen, and simultaneously displays an input item that defines a pattern shape determined for each trouble pattern. A trouble pattern prepared in advance having a display step, and based on the trouble pattern displayed in the trouble pattern display step and the input item, a finite number of trouble patterns corresponding to the control result by the current PID parameter. It is provided with a trouble pattern selection step for selecting and inputting one of the above.

The storage medium recording the PID parameter readjustment program according to the present invention is prepared in advance with a step of inputting the current PID parameter and a finite number of trouble patterns according to the control result by the current PID parameter. Displayed from among trouble patterns ,
A step of selectively inputting one from the limited number of trouble patterns; a step of calculating an optimum PID parameter from the current PID parameter and the selected trouble pattern; And a PID parameter readjustment program for realizing the step of outputting a PID parameter.

A PID parameter readjustment device according to the present invention is a PID parameter current value input device for inputting a current PID parameter, and a PID parameter for registering the current PID parameter input by the PID parameter current value input device. A current value registration unit and a finite number of trouble patterns according to the control result by the current PID parameter are displayed as shape information of a step response or a disturbance response from trouble patterns prepared in advance.
Then, select one from the limited number of trouble patterns
A trouble pattern selection decision input device for force, the trouble and the trouble pattern selection result registration unit for pattern registration the pattern characteristics selected by the selection decision input device, PID parameters of current that the registered in the PID parameter current value registering section And a readjustment value calculation unit that calculates an optimum PID parameter according to the trouble pattern based on the pattern characteristics registered in the trouble pattern selection result registration unit, and a calculation by the readjustment value calculation unit. And a PID parameter readjustment value output device for outputting the generated PID parameter.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below. Embodiment 1. In the first embodiment, the PI once adjusted
When the D controller needs readjustment, PID
It provides a tool for readjustment of parameters. By inputting the current parameters, grasping the trouble pattern in the form of step response, and by inputting the shape of this waveform, the PID parameter It is intended to calculate the readjustment value.

FIG. 1 is a block diagram showing the configuration of the PID parameter readjustment apparatus according to the first embodiment. In FIG. 1, 1 is a PID parameter present value input device for registering the present PID parameter, and 2 is a device for selecting only one problem situation of control results by the present PID parameter from a finite number of trouble patterns. Trouble pattern selection judgment input device 5, 5 is a PID parameter current value registration unit for registering the current PID parameter input from the PID parameter current value input device 1, and 6 is a trouble pattern selection result by the trouble pattern selection judgment input device 2. Trouble pattern selection result registration unit to register, 7 is a PID readjustment rule branch control unit 3a, 3b, 3c that controls a rule for readjusting a PID parameter according to the selected trouble pattern. Depending on the trouble pattern and the registered current PID parameter A readjustment value calculation unit for calculating the readjustment value of the ID parameter, 8 a PID parameter readjustment value output processing unit for performing an output process for presenting the readjustment value of the PID parameter, and 4 a readjustment value of the PID parameter The PID parameter readjustment value output device 9 outputs the PID parameter readjustment value input device 1, the trouble pattern selection judgment input device 2, the PID parameter readjustment value output device 4, and the like.

Next, the operation will be described. When it is necessary to readjust the PID parameter, there is a problem in the control result by the current PID parameter, and the situation of the problem can be classified into several trouble patterns. As a typical example, (1) situation where hunting occurs,
(2) The situation is such that the response is too slow.

The hunting condition (1) is caused because the control system tends to be unstable as a result of, for example, the gain of the control system being too large. Just make it bigger.

The condition (2) in which the response is too slow occurs because the control tends to be excessively stable, and the proportional band may be reduced as a countermeasure. As described above, in the PID parameter readjustment apparatus according to the first embodiment, readjustment support is executed by a procedure of first applying the present situation to the classification of typical trouble patterns and presenting readjustment measures according to the situation. To do.

FIG. 2 is a flow chart showing the operation of the PID parameter readjustment apparatus according to the first embodiment. The operation will be described below according to this flowchart. First, using the PID parameter current value input device 1, the current P
The value of the ID parameter is set to the PID parameter current value registration unit 5
(Step ST1, current value input step).
Next, a trouble pattern is selected by the trouble pattern selection judgment input device 2, and the number of the selected trouble pattern or the like is registered in the trouble pattern selection result registration section 6 as a selection result (step ST2, trouble pattern selection step). Subsequently, one of the readjustment value calculation units 3a, 3b, 3c is selected based on the current value of the PID parameter registered in step ST1 and the selection result of the trouble pattern registered in step ST2, and the PID is calculated.
A readjustment rule is determined (step ST3), and the determined P
A PID readjustment value corresponding to the selected trouble pattern and the current value of the PID parameter is calculated according to the ID readjustment rule (step ST4 or step ST5 or step ST6, calculation step). And PID
The PID calculated by the parameter readjustment value output processing unit 8
An output process is performed on the readjustment value, the PID parameter readjustment value output device 4 outputs the value, and the result is presented to the operator (step ST7, output step). The readjustment value in each of the above situations can be expressed by the following equation. (1) Hunting is occurring: P_new = 1.2P_old (2) Response is too slow: P_new = 0.8P_old * P_new: Proportional band readjustment value, P_old: Proportional band current value

As described above, according to the first embodiment, the PID parameter currently used and the problem situation that must be solved in the current situation are taken in as a trouble pattern, so that the PID parameter to be dealt with can be determined. It can be specified so that the readjustment plan will not be off the mark. Therefore, there is an effect that a PID parameter readjustment device capable of presenting a highly reliable readjustment plan can be obtained.

Further, since the countermeasures are narrowed down by incorporating the trouble pattern, it is not necessary to collect a large amount of data of the actual control amount and the manipulated amount, and the PID parameter readjustment device capable of relaxing the limitation of the practical range is provided. There is an effect to be obtained.

Furthermore, since the operator performs only the operation of registering the current PID parameters and selecting only one trouble pattern according to the problematic situation from a finite number of trouble patterns, A PID parameter readjustment device that is easy for an operator unfamiliar with the operation, can easily obtain an accurate readjustment value of the PID parameter, and can shorten the PID parameter adjustment work time. There is an effect to be obtained.

Embodiment 2. When the PID parameter needs to be readjusted, there is a problem in the control result by the current PID parameter, and the situation of the problem can be classified into several trap patterns. As a typical example,
(1) Hunting occurs, and (2) Response is too slow. The information needed to calculate the PID parameter readjustment plan is different for each trap pattern. In the situation where (1) hunting occurs, the hunting cycle and the hunting amplitude are important. On the other hand, in the situation where the response of (2) is too slow, hunting does not occur, so it is impossible and meaningless to take in information regarding hunting, and the rising time at the step response is important. The hunting condition (1) occurs because the control tends to be unstable, and as a countermeasure, the proportional band or the like may be corrected with reference to the hunting cycle and amplitude. The situation in which the response in (2) is too slow occurs because the control tends to be excessively stable, and as a countermeasure, the proportional band or the like may be corrected with reference to the rising time at the step response.

In the PID parameter readjustment apparatus of the second embodiment, the present situation is first applied to the classification of typical trouble patterns, the necessary information is specified according to the situation, and the readjustment measures are presented. The readjustment support is executed in the procedure of doing.

FIG. 3 is a block diagram showing the configuration of the PID parameter readjustment apparatus according to the second embodiment. 3, parts that are the same as or correspond to those in FIG. 1 are assigned the same reference numerals and explanations thereof are omitted. In FIG. 3, 7a is a PID
A readjustment rule branch control unit, 11a, 11b, 11c is a current information input processing unit corresponding to each trouble pattern, 12
a, 12b, 12c are current status information registration units corresponding to the respective trouble patterns, 13a, 13b, 13c are PID parameter readjustment value calculation units for calculating PID parameter readjustment values according to the selected trouble patterns, 14 Is a designated trouble-corresponding current state information input device for specifying and inputting necessary current state information according to the problem situation, 15 is a PID parameter current value input device 1, trouble pattern selection judgment input device 2, PID parameter readjustment value output It is an input / output unit including the device 4, the designated trouble handling current state information input device 14, and the like.

Next, the operation will be described. FIG. 4 is a flowchart showing the operation of the PID parameter readjustment apparatus of the second embodiment. In FIG. 4, steps that are the same as or equivalent to those in FIG. 2 are assigned the same reference numerals and explanations thereof are omitted. Step ST1 and step ST2 are the same as the processing in the first embodiment. Subsequently, the PID readjustment rule branch control unit 7a determines a readjustment rule of the PID parameter corresponding to the trouble pattern based on the trouble number numerical signal corresponding to the selected trouble pattern (step ST10), Based on the instruction signal of the input processing of the current status information according to the trouble pattern, necessary current status information corresponding to the problem status specified and input by the designated trouble handling status information input device 14 is sent to the current status information registration unit. Register (step ST11 or step S
T12 or step ST13). Then, the current state information registration unit that has registered the current state information signal instructs the corresponding readjustment value calculation unit to readjust the PID parameter based on the current value of the PID parameter registered in the PID parameter current value registration unit 5. A value is calculated (step ST14 or step ST15 or step ST16). The readjustment value in each of the above situations can be expressed by the following equation. (1) Situation in which hunting occurs: P_new = 1.2P_old + 0.5A_hunt Ti_new = 0.25T_hunt + 0.5Ti_o
ld Td_new = 0.25Ti_new (2) Situation where response is too slow: P_new = 0.8 P_old Ti_new = 0.25T_step + 0.5Ti_o
ld Td_new = 0.25 Ti_new * Ti_new: integration time readjustment value, Ti_old: integration time current value Td_new: derivative time readjustment value, A_hunt: hunting amplitude T_hunt: hunting cycle, T_step: step response rise time.

As described above, according to the second embodiment, the problem situation that must be solved in the present situation is taken in as a trouble pattern, and the necessary present situation information is specified and taken in according to the problem situation. It is possible to specify the PID parameter readjustment plan to be dealt with so as not to be off the mark. Therefore, there is an effect that a PID parameter readjustment device capable of presenting a more reliable readjustment plan can be obtained. In addition, since the countermeasures are narrowed down by capturing the trouble pattern and the necessary information is limited, it is not necessary to collect a large amount of data of the actual control amount and operation amount,
There is an effect that a PID parameter readjustment device that can relax the restrictions on the practical range can be obtained.

Further, except for the registration of the current PID parameters, the operator selects 1 from a finite number of trouble patterns.
Only the operation of selecting only one and the operation of registering the data necessary for readjustment in the trap pattern are performed, and even an operator unfamiliar with the operation of the computer can easily perform the operation, and the PID parameter can be accurately adjusted. There is an effect that a PID parameter readjustment device that can easily obtain a readjustment value and can shorten the PID parameter adjustment work time can be obtained.

Embodiment 3. PID of the third embodiment
When registering the current PID parameter, the parameter readjustment device displays the guidance of the current PID parameter registration on the display device. Then, when the problem situation is selected from a finite number of trouble patterns, the outline of a typical response waveform of the trouble pattern is displayed on the display device as guidance. Further, when registering the information on the current state of the necessary control result, the guidance for the necessary information registration is displayed on the display device according to the trouble pattern.

FIG. 5 is a block diagram showing the configuration of the PID parameter readjustment apparatus according to the third embodiment. 5, parts that are the same as or correspond to those in FIG. 3 are given the same reference numerals, and descriptions thereof will be omitted. In FIG. 5, 21 is a PID
A PID parameter guidance display device for displaying the current value of the PID parameter that is input by the parameter current value input device 1 and registered in the PID parameter current value registration unit 5, and 22 selects a problem situation from a finite number of trouble patterns At the time of registration, the trouble selection guidance display device for displaying the outline of the typical response waveform of the trouble pattern, 23 is used for registering the necessary information corresponding to the trouble pattern when registering the information on the current state of the necessary control result. A necessary current state information guidance display device 14a for displaying guidance is a designated trouble handling current state information input device for specifying and inputting necessary current state information according to a problem situation.

Next, the operation will be described. FIG. 6 is a flowchart showing the operation of the PID parameter readjustment apparatus of the third embodiment. In FIG. 6, the same or corresponding processing steps as those in FIG. 4 are designated by the same reference numerals, and the description thereof will be omitted. First, in step ST21, when the current value of the PID parameter is input by the PID parameter current value input device 1 and is registered in the PID parameter current value registration unit 5, guidance is displayed on the PID parameter guidance display device 21.

In step ST22 (trouble pattern display step), when a problem situation is selected from a finite number of trouble patterns, the trouble selection guidance display device 22 is provided with a rough outline of a typical response waveform of the trouble pattern. indicate. Also, in step ST23,
In steps ST24 and ST25, when registering the information on the current state of the necessary control result, the necessary information registration guidance corresponding to the trouble pattern is displayed on the necessary current state information guidance display device 23.

Step ST11a, step ST11
b, in step ST11c, based on the instruction signal of the input processing of the current information corresponding to the trouble pattern displayed in the guidance in steps ST23, ST24, and ST25, the designated trouble-corresponding current information input device 14a
The necessary current state information corresponding to the problem situation specified and input by is registered in the current state information registration unit.

Therefore, since the information to be registered is the above-mentioned current state information in addition to the information on the selected trouble pattern,
No special measuring device or data recording device is required.

As described above, in the third embodiment, the operator can easily determine the readjustment value of the PID parameter accurately with the minimum necessary operation based on the visual guidance. There is a PID parameter readjustment device that can be easily operated by an operator who is unfamiliar with computer operation, can easily obtain an accurate readjustment value of the PID parameter, and can shorten the PID parameter adjustment work time. There is an effect to be obtained.

Fourth Embodiment The designated trouble handling current status information input device 14a in the third embodiment may be configured to specify the necessary current status information according to the problem status and input it as numerical information.
1a, step ST11b, step ST11c,
Step ST23, Step ST24, Step ST2
Based on the instruction signal of the input processing of the current information corresponding to the trouble pattern displayed in the guidance in 5, the necessary current information corresponding to the problem situation specified and input by the designated trouble corresponding current information input device 14a is numerical information. (The value of the control amount of the representative point that characterizes the outline of the typical response waveform of the trouble pattern, and the relative time information in the response waveform of the representative point)
Is registered in the current status information registration section.

Therefore, since the information to be registered is the information of the selected trouble pattern and the finite number of easily determinable numerical information which is the above-mentioned current information, no special measuring device or data recording device is required. Not.

As described above, in the fourth embodiment, the operator can easily determine the readjustment value of the PID parameter accurately with the minimum necessary operations based on the visual guidance. There is a PID parameter readjustment device that can be easily operated by an operator who is unfamiliar with computer operation, can easily obtain an accurate readjustment value of the PID parameter, and can shorten the PID parameter adjustment work time. There is an effect to be obtained.

Further, since the information to be registered is a finite number of numerical information that can be easily determined in addition to the classification of trouble patterns, a PID parameter readjustment device that does not require any special measuring device or data recording device is available. There is an effect to be obtained.

Embodiment 5. When the flowchart of FIG. 6 is realized as a normal execution program, the PID readjustment calculation can be executed only on a computer in which this program is installed. For this reason, the place that can be executed is limited. In order to allow many places and many people to execute it at the same time, it may be pre-installed on all computers that may be used, but the PID parameter readjustment method is based on control theory. Since it is based on things and empirical knowledge of experience, updating to the latest readjustment method may frequently occur.

For this reason, in the case where work is performed and installed on all computers that may be used, when the readjustment method is updated to the latest version, it is necessary to reinstall on all computers. In the fifth embodiment, since the operation and the information to be registered are limited, when updating to the latest readjustment method, it is only necessary to modify the program of the server, and it is performed with the server. The latest readjustment method can be remotely obtained on the Internet through communication, and readjustment of PID parameters can be easily performed.

FIG. 7 is a block diagram showing the configuration of the PID parameter readjustment apparatus according to the fifth embodiment. In FIG. 7, 31 is a Web server, 32 is a URL analysis unit, 3
3 is a file sending unit, 34 is a file storage unit, and 35 is P
A software basic configuration that makes it possible to easily obtain an accurate readjustment value of the ID parameter, 36 is a Web browser, 37 is a URL sending unit, 38 is a software basic configuration expanding unit, 39 is the Web server 31 and Web browser 36.
It is a communication device that performs communication between them.

Next, the operation will be described. FIG. 8 is a flowchart showing the operation of the PID parameter readjustment apparatus realized on the Internet according to the fifth embodiment. First, the URL is input on the Web browser 36 side (step ST31), and the Web is sent via the communication device 39.
It is transmitted to the server 31 side (step ST32). Web
On the server 31 side, the transmitted URL is received (step ST33) and further analyzed (step ST
34) The software basic configuration 35 that enables the specified information, in this case, the accurate readjustment value of the PID parameter to be easily obtained, is sent to the Web browser 36 side (step ST35). The Web browser 36 side receives the information (step ST36), analyzes it (step ST37), and downloads the software basic configuration 35 shown in the flowchart of FIG. Originally PI
An operation of determining an accurate readjustment value of the D parameter is performed (step ST38).

FIG. 9 shows the guidance display displayed by the PID parameter guidance display device 21 in this way. Further, FIG. 10 shows the guidance display displayed on the trouble selection guidance display device 22. Also,
FIG. 11 shows a guidance display when the hunting displayed on the necessary current state information guidance display device 23 occurs. FIG. 12 shows a guidance display when the response displayed on the necessary current state information guidance display device 23 is too late.

As described above, according to the fifth embodiment, it is only necessary to modify the server program by implementing it on the Internet, and it is possible to easily cope with the case where the readjustment method is updated. There is an effect that the readjustment device can be obtained.

Sixth Embodiment If a program that realizes the flowcharts shown in FIGS. 2, 4, and 6 of each embodiment described above is recorded in a readable storage medium and packaged, a system constructed using a computer is constructed. It is suitable to use.

[0043]

As described above, according to the present invention, the current PID parameter is input and the current PID parameter is input.
Displaying a finite number of trouble patterns according to the control result by the ID parameter as shape information of step response or disturbance response from trouble patterns prepared in advance
Then, select one from the limited number of trouble patterns
And the shape information of the selected trouble pattern,
Since the optimum PID parameter is calculated based on the input current PID parameter, even an unskilled person can easily obtain an accurate adjustment value of the PID parameter. This has the effect of shortening the adjustment work time.

According to the present invention, a finite number of items are displayed on the display screen.
Of the trouble pattern is displayed, and at the same time, the input items that define the pattern shape determined for each trouble pattern are displayed at the same time. Based on the displayed trouble pattern and the input item, the current PID parameter is used. A finite number of trouble patterns according to the control result,
Since the trouble pattern prepared in advance is selected and input , the accurate determination of the readjustment value of the PID parameter can be easily performed based on the visual guidance, the operation is easy, and the PID An accurate readjustment value of the parameter can be easily obtained, and the PID
This has the effect of shortening the parameter adjustment work time.

According to the present invention, the step of inputting the current PID parameter and a finite number of trouble patterns corresponding to the control result by the current PID parameter are displayed from among the trouble patterns prepared in advance ,
A step of selectively inputting one from the limited number of trouble patterns; a step of calculating an optimum PID parameter from the current PID parameter and the selected trouble pattern; Since it is configured to store a PID parameter readjustment program that realizes the step of outputting the PID parameter, it is suitable for use in a computer system, is excellent in portability and storability, and is capable of accurately retrieving the PID parameter. The adjustment value can be easily obtained, and the PID parameter adjustment work time can be shortened.

According to the present invention, the current PID parameter is input from the PID parameter current value input device, the input current PID parameter is registered in the PID parameter current value registration unit, and control by the current PID parameter is performed. A finite number of trouble patterns corresponding to the result are displayed as a step response or disturbance response shape information from the prepared trouble patterns by the trouble pattern selection judgment input device, and a finite number of trouble patterns are displayed.
One of the turns is selected and input , the selected pattern characteristic is registered in the trouble pattern selection result registration unit, and the trouble pattern is determined based on the registered current PID parameter and the pattern characteristic. Since the readjustment value calculation unit calculates the optimum PID parameter, it is possible for even an unskilled person to easily obtain an accurate adjustment value of the PID parameter.
This has the effect of shortening the ID parameter adjustment work time.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a PID parameter readjustment device according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing an operation of the PID parameter readjustment device according to the first embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a PID parameter readjustment device according to a second embodiment of the present invention.

FIG. 4 is a flowchart showing an operation of the PID parameter readjustment apparatus according to the second embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a PID parameter readjustment apparatus according to a third embodiment or a fourth embodiment of the present invention.

FIG. 6 is a flowchart showing an operation of the PID parameter readjustment apparatus according to the third embodiment or the fourth embodiment of the present invention.

FIG. 7 is a block diagram showing a configuration of a PID parameter readjustment device according to a fifth embodiment of the present invention.

FIG. 8 is a flowchart showing an operation of the PID parameter readjustment device realized on the Internet according to the fifth embodiment of the present invention.

FIG. 9 is a screen view showing a guidance display displayed by a PID parameter guidance display device by the PID parameter readjustment device according to the fifth embodiment of the present invention.

FIG. 10 is a screen view showing a guidance display displayed on a trouble selection guidance display device by the PID parameter readjustment device according to the fifth embodiment of the present invention.

FIG. 11 is a screen view showing a guidance display by the PID parameter readjustment device according to the fifth embodiment of the present invention when the hunting is displayed on the necessary current state information guidance display device.

FIG. 12 is a screen view showing a guidance display when the response displayed on the necessary current state information guidance display device by the PID parameter readjustment device according to the fifth embodiment of the present invention is too slow.

[Explanation of symbols]

1 PID parameter current value input device 2 Trouble pattern selection judgment input device 3a, 3b, 3c Readjustment value calculation unit 4 PID parameter readjustment value output device 5 PID parameter current value registration unit 6 Trouble pattern selection result registration unit Step ST1 Value input step) Step ST2 (Trouble pattern selection step) Step ST4, Step ST5, Step ST6
(Calculation step) Step ST7 (Output step) Step ST22 (Trouble pattern display step)

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP 4-311203 (JP, A) JP 62-24309 (JP, A) JP 62-163114 (JP, A) JP 7- 36539 (JP, A) JP 4-302306 (JP, A) JP 9-22303 (JP, A) JP 6-309007 (JP, A) JP 6-336982 (JP, A) JP-A-6-19530 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05B 13/02 G05B 11/36

Claims (4)

(57) [Claims] 1. A current value input step of inputting a current PID parameter, and a finite number of trouble patterns according to a control result by the current PID parameter, from a trouble pattern prepared in advance, as a step response or a disturbance response. Is displayed as the shape information of the
Based on the trouble pattern selection step of selecting and inputting one of the pattern, the shape information of the trouble pattern selected in the trouble pattern selection step, and the current PID parameter input in the current value input step. Best P for
A PID parameter readjustment method comprising: a calculation step of calculating an ID parameter; and an output step of outputting the PID parameter calculated in the calculation step. 2. The trouble pattern selecting step includes a trouble pattern displaying step of displaying a finite number of trouble patterns on a display screen and simultaneously displaying input items defining a pattern shape determined for each trouble pattern. Based on the trouble pattern displayed in the trouble pattern display step and the input item, a finite number of trouble patterns corresponding to the control result by the current PID parameter are selected from the trouble patterns prepared in advance. 2. The PID parameter readjustment method according to claim 1, wherein one of them is selected and input . 3. A step of inputting a current PID parameter, and an existence according to a control result by the current PID parameter.
Display a limited number of trouble patterns as step response or disturbance response shape information from the prepared trouble patterns, and select from the limited number of trouble patterns
PID parameter readjustment for realizing one of the steps of selecting and inputting one , calculating the optimum PID parameter from the current PID parameter and the selected trouble pattern, and outputting the calculated new PID parameter. A storage medium that records a program. 4. A PI for inputting a current PID parameter
A D-parameter current value input device, a PID parameter current value registration unit for registering the current PID parameter input by the PID parameter current value input device, and a duplication corresponding to a control result by the current PID parameter.
Display several trouble patterns as step response or disturbance response shape information from the prepared trouble patterns, and select from the finite number of trouble patterns
A trouble pattern selection judgment input device for selecting and inputting one, a trouble pattern selection result registration unit for registering the pattern characteristic selected by the trouble pattern selection judgment input device, and a current status registered in the PID parameter current value registration unit And a readjustment value calculation unit for calculating an optimum PID parameter according to the trouble pattern based on the PID parameter of No. 1 and the pattern characteristic registered in the trouble pattern selection result registration unit. And a PID parameter readjustment value output device for outputting the PID parameter calculated by the unit.