Process control apparatus for optimal adaptation to a disturbance
First Claim
1. A process control apparatus which is adapted optimally to a disturbance, comprising:
- feedback control means for outputting a feedback control signal that is computed by comparing and adjusting a set value and a process variable;
feedforward control means, responsive to a disturbance signal, for outputting disturbance compensation signal based upon a feedforward control model having a gain;
gain scheduling means for correcting a gain of the feedback control signal from said feedback control means in response to the magnitude of variations in the disturbance compensation signal from said feedforward control means;
means for adding the feedback control signal that has been gain corrected by said gain scheduling means and the disturbance compensation signal from said feedforward control means to obtain a manipulated variable; and
feedforward control model gain adaptive means for outputting a correction signal to said feedforward control model, said correction signal being computed by comparing and equalizing the manipulated variable with the disturbance compensation signal.
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Abstract
A process control apparatus according to the present invention comprises a feed back control system for outputting a feedback control signal which is computed by comparing and adjusting a set value and a process variable, and a feedforward control system for outputting a disturbance compensation signal by detecting and compensating for the disturbance based on a feedforward control model. The gain of the feedback control signal is corrected in response to the magnitude of the disturbance variations by a gain scheduling unit, and the gain of the feedforward control model is controlled by supplying a correction signal which compares and equalizes, at a feedforward control model gain adaptive unit, the disturbance compensation signal and the manipulated variable obtained by adding the disturbance compensation signal and the feedback signal that is gain-corrected by the gain scheduling unit. The feedforward control model comprises a gain memory for memorizing storing the FF model gain correction signal from the feedforward control model gain adaptive unit and an operational means for receiving a correction signal from the gain memory and a disturbance signal to compute and output a disturbance compensation signal. The process control apparatus further includes a FF model gain adaptive mechanism for controlling the supply to the gain memory of the FF model gain correction signal by confirming that the process is in a steady state, and for controlling as well the additive synthesis of the disturbance compensation signal to the feedback control signal when the difference between the disturbance compensation signal and the manipulated quantity exceeds a prescribed value.
55 Citations
17 Claims
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1. A process control apparatus which is adapted optimally to a disturbance, comprising:
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feedback control means for outputting a feedback control signal that is computed by comparing and adjusting a set value and a process variable; feedforward control means, responsive to a disturbance signal, for outputting disturbance compensation signal based upon a feedforward control model having a gain; gain scheduling means for correcting a gain of the feedback control signal from said feedback control means in response to the magnitude of variations in the disturbance compensation signal from said feedforward control means; means for adding the feedback control signal that has been gain corrected by said gain scheduling means and the disturbance compensation signal from said feedforward control means to obtain a manipulated variable; and feedforward control model gain adaptive means for outputting a correction signal to said feedforward control model, said correction signal being computed by comparing and equalizing the manipulated variable with the disturbance compensation signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. In a process control apparatus having a feedback control loop including a process as a control object, multiplier means for multiplying the feedback control output signal by a gain correction factor, and an adder for adding the gain-corrected feedback control signal and a disturbance compensation signal from a feedforward control loop to generate a manipulated value, said feedforward control loop comprising:
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a disturbance detector for detecting any disturbance to the process; a gain adaptive unit, responsive to the manipulated variable and the disturbance compensation signal, for producing a correction signal; and a feedforward control model for producing the disturbance compensation signal in response to a disturbance signal from said disturbance detector and the correction signal so as to automatically correct the gain of the control model; and a gain scheduling means, responsive to the disturbance compensation signal, for correcting the gain of the feedback control output signal in accordance with the magnitude of the change in disturbance, whereby the disturbance compensation signal being applied to said adder keeps variations in the process variable to a minimum for any disturbance while attaining an optimum adaptive control. - View Dependent Claims (16, 17)
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Specification