Cooperative operating device and method

摘要

A cooperative operating device includes primary controlling units that are provided for individual primary control systems, and calculate operating variables and outputting them to the actuators of the corresponding primary control systems, a selector that combines operating variables by performing a weighting calculation on the operating variables calculated by the primary controlling units, and an operating variable adjustment controlling unit that is provided to correspond to a single secondary control system for controlling an equilibrium point that is a desirable operating variable output with the primary control in a steady-state, inputs a specific operating variable setting value that indicates the equilibrium point, and inputs, as a controlled variable input, the operating variable after combination, outputted from the selector, to calculate an adjustment operating variable and output it to the actuator of the secondary control system.

主权项

1. A cooperative operating device in a multi-loop control system, comprising:
a plurality of primary control systems, comprising:
a plurality of control variable inputting units that are provided to correspond to the plurality of primary control systems, and providing individual controlled variables;a plurality of first control calculating units that are provided to correspond to the plurality of primary control systems, input setting values for primary control and the controlled variables for primary control, and calculate first operating variables through control calculations;a plurality of first operating variable outputting units that are provided for each primary control system, and output to an actuator of the corresponding primary control system, the first operating variable calculated by the first control calculating unit of the corresponding primary control system; a combining unit that combines the plurality of first operating variables through performing a weighting calculation on the plurality of first operating variables calculated by the plurality of first control calculating units, to output a second operating variable; and a single secondary control system, comprising:
a second control calculating unit that is provided to correspond to the single secondary control system controlling an equilibrium point that is a desirable operating variable output with the primary control in a steady state, inputs a specific operating variable setting value that indicates the equilibrium point, and, using the second operating variable that is outputted by the combining unit as a controlled variable input, calculates a third operating variable through a control calculation; anda second operating variable outputting unit that outputs, to an actuator of the secondary control system, the third operating variable calculated by the second control calculating unit wherein: the control calculations performed by the first control calculating unit and the second control calculating unit are PID control calculations; and an integrating time, which is a PID parameter that is set in advance in the second control calculating unit, is a value that is more than any of the integrating times that are set in advance in the first control calculating units.