JP5445932B2 - Valve control device and valve control method - Google Patents

Description

  The present invention relates to a valve control device and a valve control method for controlling the opening of a valve to match a target opening.

  A digital electro-pneumatic conversion positioner is used as a device for controlling the opening of a valve used in a plant or the like. At the initial setting of the digital electro-pneumatic conversion positioner, after the positioner is attached to the valve / actuator, the zero / span adjustment is performed and the feedback control parameter for controlling the valve opening is set. During the subsequent operation, feedback control is performed by the positioner so that the actual opening follows the target opening given by the controller.

  Incidentally, there are single-acting / double-acting actuators as actuators for controlling the opening of the valve. In feedback control, the amount of operation applied to the actuator is controlled so that the valve opening detected by the positioner sensor matches the target opening signal sent from a controller or the like positioned above the positioner in the flow control loop. . This manipulated variable is the positioner output pressure when the controlled object is a single-acting actuator, and the positioner output differential pressure when the controlled object is a double-acting actuator. As described above, the conventional positioner performs feedback control based on the opening deviation (the difference between the valve opening and the target opening signal) regardless of whether the actuator to be controlled is a single-acting type or a double-acting type. .

JP 2007-164230 A

  The operation principle of the valve that is the control target of the positioner differs depending on whether the actuator that is the operation unit is a single-acting type or a double-acting type.

  A single-acting actuator has a spring on one side of a cylinder partitioned by a diaphragm, air pressure is sent from the outside to the other side, and the piston position (valve is adjusted by the balance between the reaction force of the spring and the force of the air pressure through the diaphragm. Adjust the opening. In other words, if the air pressure is determined, the corresponding valve opening is uniquely determined.

  On the other hand, in the double-acting actuator, air pressure is sent from the outside to the two spaces partitioned by the piston, and the piston position (valve opening) is adjusted by the differential pressure between the two spaces. In other words, the valve opening fluctuation amount is determined by the differential pressure acting on the piston and the operation time.

  In this way, the operating principle of the actuator that is the control target of the positioner differs depending on whether it is single-acting or double-acting. When the opening degree is controlled by feedback control, the double-acting actuator itself has an integral characteristic, so that a phase delay occurs, and the response speed is slower than that of the single-acting type. Generally, the gain is increased to increase the response speed, but in the case of a double-acting actuator, the cylinder is partitioned by an O-ring seal, and the friction and hysteresis are larger than in the single-acting type using a diaphragm, making it difficult to control. . For this reason, if the response speed is increased by increasing the feedback gain of the positioner, a hunting or limit cycle may occur. Therefore, it is difficult to improve the response speed only by gain.

  An object of the present invention is to provide a valve control device and a valve control method capable of improving the response speed of valve opening adjustment without losing stability.

The valve control device of the present invention is a valve control device that controls the opening of the valve so as to match the target opening, a feedforward control means for feedforward controlling the opening of the valve toward the target opening, Feedback control means for performing feedback control so that the opening degree of the valve coincides with the target opening degree after the feedforward control by the feedforward control means, and the feedforward control means includes an opening degree of the valve Calculates a time function of the acceleration of the valve opening so that the speed becomes zero at the target opening, and performs feedforward control according to the calculated time function of the acceleration, and the feedback control means When the feedforward control according to the time function is completed, the feedback control Characterized in that it starts to.
According to this valve control device, the feedforward control is performed so that the opening degree of the valve is directed toward the target opening degree, and then the feedback control is performed so that the opening degree of the valve coincides with the target opening degree. The response speed of the opening adjustment can be improved.

  The opening degree of the valve may be controlled via a double-acting actuator.

  Based on the opening degree of the valve or the target opening degree, there is provided judgment means for judging whether or not the current state should be feedforward controlled, and the feedforward control means is affirmed by the judgment means. In this case, the feedforward control may be executed.

  The determination unit may make the determination based on a change width of the target opening.

  The determination means may make the determination based on a deviation between the opening degree of the valve and the target opening degree.

The valve control method of the present invention is a valve control method for controlling an opening of a valve so as to coincide with a target opening, a step of feedforward controlling the opening of the valve toward the target opening, and the feedforward Feedback control so that the opening degree of the valve matches the target opening degree after the feedforward control by the step, wherein the opening degree of the valve is the target opening degree in the feedforward control step In the step of calculating the time function of the acceleration of the opening degree of the valve such that the speed becomes zero at the time of feedforward control according to the calculated time function of the acceleration, the step of performing the feedback control follows the time function of the acceleration. feed forward control at the time of the end, to start the feedback control was And wherein the door.
According to this valve control method, the feed-forward control is performed so that the valve opening degree is directed toward the target opening degree, and then the feedback control is performed so that the valve opening degree coincides with the target opening degree. The response speed of the opening adjustment can be improved.

  According to the valve control device of the present invention, after performing feedforward control of the valve opening toward the target opening, feedback control is performed so that the valve opening matches the target opening. Therefore, the response speed of valve opening adjustment can be improved.

  According to the valve control method of the present invention, after performing feedforward control of the valve opening toward the target opening, feedback control is performed so that the valve opening matches the target opening. Therefore, the response speed of valve opening adjustment can be improved.

The block diagram which shows the structure of the digital electropneumatic positioner as a valve | bulb control apparatus of one Embodiment. It is a figure which shows the motion of the actuator at the time of feedforward control, (a), (b) and (c) are figures which show an acceleration, a speed | rate, and a moving distance, respectively.

  Hereinafter, an embodiment of a valve control device according to the present invention will be described.

  FIG. 1 is a block diagram showing a configuration of a digital electropneumatic positioner as a valve control device of the present embodiment.

  As shown in FIG. 1, the digital electropneumatic positioner 1 is based on a feedforward control unit 11 that performs feedforward control of an actuator 2 that operates a valve, a feedback control unit 12 that performs feedback control of the actuator 2, and a position of the actuator 2. And an opening sensor 13 for measuring the opening of the valve, and a timer 14 for instructing control timing by the feedforward control unit 11 and switching between feedforward control and feedback control. As shown in FIG. 1, the actuator 2 selectively accepts either feedforward control by the feedforward control unit 11 or feedback control by the feedback control unit 12 in accordance with an instruction from the timer 14. The timer 14 is started by the feedforward control unit 11.

  In the present invention, the response speed of the valve opening control is increased by performing the feedforward control in advance in addition to the conventional feedback control.

  In order to perform the feedforward control, it is only necessary to grasp the characteristics of the control target and to reversely calculate the operation amount necessary to make the control amount coincide with the target value. Therefore, the actuator 2 is moved to the target opening by the feedforward control so that there is no overshoot in the shortest time. That is, the current opening degree may be started with a positive maximum acceleration, switched to a negative maximum acceleration at a certain point, and at the same time as reaching the target opening degree, acceleration = speed = zero.

The maximum positive and negative accelerations are finite fixed values, which are a ₁ and a ₂ , respectively. Also, the distance to be moved is X, the time for applying acceleration a ₁ after starting the current opening degree is T ₁ , and the time for applying acceleration a ₂ until reaching the target opening degree after switching between positive and negative accelerations. Is T ₂ , the acceleration, velocity, and moving distance shown in FIGS. 2 (a), 2 (b), and 2 (c) are obtained as follows.

次に、Ｘとａ₁とａ₂が与えられた場合、最短時間、かつオーバーシュートがないように移動するためにＴ₁とＴ₂が満足する条件を示す。時刻ｔ＝Ｔ₁＋Ｔ₂のときの移動距離はｘであるので、これを式(２)に代入すると、

Next, when X, a _1, and a ₂ are given, a condition that T ₁ and T ₂ are satisfied in order to move so that there is no overshoot in the shortest time is shown. Since the moving distance at time t = T ₁ + T ₂ is x, substituting this into equation (2) gives

という関係式が得られ、上式におけるＴ₁をＸ、ａ₁、ａ₂で表すと、

When T ₁ in the above equation is expressed by X, a ₁ , a ₂ ,

と求まる。また、式(１)に、オーバーシュートがないための条件、''時刻ｔ＝Ｔ₁＋Ｔ₂のとき速度はゼロ''を代入すると、Ｔ₁とＴ₂の関係は、

It is obtained. Also, if the condition for no overshoot, “speed is zero when time t = T ₁ + T ₂ ” is substituted into equation (1), the relationship between T ₁ and T ₂ is

と求まるので、この関係を式(３)に代入し、Ｔ₂をＸ、ａ１、ａ２で表すと、

Therefore, substituting this relationship into Equation (3) and expressing T ₂ as X, a1, and a2,

と求まる。

It is obtained.

The moving distance X can always be grasped by the opening measurement value output from the opening sensor 13 and the target opening given from the outside, and the maximum positive and negative accelerations a ₁ and a ₂ are determined by the cylinder capacity of the actuator 2 and the positioner 1. It depends on the air pressure supplied. The air pressure supplied to the positioner 1 is set to a fixed pressure, although there are some fluctuations. Therefore, remembering mechanism for measuring the time positioner 1, at initialization by moving the valve actuator by previously measuring the acceleration a ₁ and the acceleration a _2, acceleration a _1, a ₂ of the working time T _1, T ₂ Is determined by equations (3) and (4), and feedforward control is possible.

  Next, an initial setting procedure of the digital electropneumatic conversion positioner 1 will be described.

  In the initial setting procedure, after the positioner 1 is attached to the valve, (1) zero / span adjustment, (2) feedback control parameter adjustment, and (3) parameter adjustment for feedforward control are performed. Do. Here, the operations (1) and (2) are the same as in the prior art.

  In the operation (3), the maximum acceleration in each of the opening direction and the closing direction of the valve is measured. In this work, first, one of the two outputs of the positioner (output A) is opened to the atmosphere, and the other (output B) is set to the maximum output pressure (positioner supply pressure) and moved to the 0% point of opening. Assume Air To Open.) Next, when it is confirmed that the opening is stable at 0%, the positioner output A is moved to the maximum output pressure (positioner supply pressure), the output B is opened to the atmosphere, and moved to the opening 100 percent point. taking measurement. Since this movement is a uniform acceleration movement, the maximum acceleration in the direction in which the valve opens can be calculated if the movement distance (valve span has been measured in (1)) and the movement time are known.

Similarly, when it is confirmed that the opening is stable at the 100% point, the positioner output A is released to the atmosphere, the output B is set to the maximum output pressure (positioner supply pressure), and moved from the 100% point to the 0% point. Measure the travel time and calculate the maximum acceleration in the direction that the valve closes. Then, the maximum accelerations a ₁ and a ₂ in the directions in which the valve opens and closes are stored in the positioner as feedforward control parameters.

  Next, the control operation by the digital electropneumatic positioner 1 will be described.

When the feedforward control unit 11 recognizes that the condition for starting the feedforward control is satisfied, the feedforward control unit 11 activates the timer 14 and thereby switches the control method from feedback control to feedforward control. Satisfaction of the condition is recognized as detection of a change in the target opening or detection of a deviation (difference between the measured opening value and the target opening). At this time, the feedforward control unit 11 sets the start time of the timer 14 to t = 0. Furthermore, the feedforward control unit 11 substitutes the maximum acceleration in the direction in which the valve opens and closes in a ₁ and a ₂ in accordance with the direction in which the valve is desired to move (positive or negative deviation), and T ₁ according to equation (3). And T ₂ is calculated according to the equation (4). Incidentally, if you want to open the valve, the maximum acceleration in a direction of opening the valve in a _1, substitutes the direction of maximum acceleration valve is closed in a _2. Here, the moving distance X is a distance corresponding to the deviation at time t = 0 (a value obtained by multiplying the deviation by minus 1).

Next, the feedforward control unit 11 sets _one output pressure in the positioner 1 to the maximum (supply pressure) so that the acceleration of the actuator 2 becomes a ₁ during the time 0 to T ₁ of the timer 14, and the other Release the output pressure to the atmosphere.

Next, the feedforward control unit 11 reverses the two output pressures of the positioner 1 so that the acceleration of the actuator 2 becomes a ₂ while the time of the timer 14 is between time t = T _{1 and} T ₁ + T ₂ . Maintain state.

Next, at time t = T ₁ + T ₂ , the timer 14 is stopped and the feedforward control is switched to the feedback control.

  As described above, according to the valve control device of the present embodiment, when driving the actuator, before the conventional feedback control, the actuator is driven to an appropriate position by feedforward control, thereby impairing stability. Therefore, the operating speed of the actuator can be increased. In particular, the double-acting actuator can be controlled with good responsiveness. Further, by shifting to the feedback control after the feedforward control, it is possible to deal with disturbances and uncertainties that cannot be dealt with only by the feedforward control. By alternately repeating the feedforward control and the feedback control, it is possible to perform control with good response and high accuracy.

  In the valve control device of the present invention, the conditions for starting the feedforward control can be arbitrarily determined. For example, the feedforward control may be started when the change width of the target opening becomes a certain value or more. Alternatively, the feedforward control can be started when the deviation (difference between the measured opening value and the target opening) becomes a certain value or more. The above condition is desirably set so that the feedforward control is applied in a situation where the position of the actuator is to be rapidly changed with a large width.

  The scope of application of the present invention is not limited to the above embodiment. The present invention can be widely applied to a valve control device and a valve control method for controlling the valve opening so as to coincide with the target opening.

11 Feedforward control unit (feedforward control means, judgment means)
12 Feedback control unit (feedback control means)

Claims (6)

In the valve control device that controls the valve opening to match the target opening,
Feedforward control means for feedforward controlling the opening of the valve toward the target opening;
After the feedforward control by the feedforward control means, feedback control means for performing feedback control so that the opening degree of the valve matches the target opening degree;
Equipped with a,
The feedforward control means calculates a time function of the acceleration of the valve opening such that the valve opening is the target opening and the speed becomes zero, and feedforward is calculated according to the calculated acceleration time function. Control
The valve control device , wherein the feedback control means starts the feedback control when the feedforward control according to the acceleration time function is completed .   The valve control device according to claim 1, wherein the opening degree of the valve is controlled via a double-acting actuator. Based on the opening degree of the valve or the target opening degree, comprising a determination means for determining whether the current state is a state to be feedforward controlled,
The valve control device according to claim 1, wherein the feedforward control unit performs the feedforward control when the determination by the determination unit is affirmed.   The valve control device according to claim 3, wherein the determination unit performs the determination based on a change width of the target opening.   The valve control device according to claim 3, wherein the determination unit performs the determination based on a deviation between the opening degree of the valve and the target opening degree. In the valve control method for controlling the valve opening to match the target opening,
Feedforward control the valve opening toward the target opening;
After the feedforward control by the feedforward step, the step of performing feedback control so that the opening of the valve matches the target opening;
Equipped with a,
In the feedforward control step, a time function of acceleration of the valve opening is calculated such that the valve opening is the target opening and the speed is zero, and feed is performed according to the calculated acceleration time function. Forward control,
In the feedback control step, the feedback control is started when feedforward control according to the acceleration time function is completed .

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