# US 5,708,341 A · Control apparatus and method with correction of trial manipulated pattern > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 5,708,341 A - Document ID: US5708341A - Status: Granted - Kind: A - Application number: 08/539,695 - Filed: 1995-10-05 - Granted: 1998-01-13 - Earliest claimed: 1994-10-07 - Assignees: OMRON Corporation - Inventors: Tsutomu Ishida - Web page: https://patentgrep.com/patent/US5708341A ## CPC - G05B 13/0275: {using fuzzy logic only} - G05B 11/42: for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D. - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A PID controller roughly controls several times of trial operations preceding an actual operation. A trial operation analyzing unit analyzes and learns the trial operations conducted under the control of the PID controller, thereby generating a criterial manipulated pattern that serves as a criterion of a time-series pattern of a manipulated variable in the actual operation. An actual operation controller controls the actual operation on the basis of the criterial manipulated pattern thus generated. An operation changeover switch changes over between the PID controller to the actual operation controller in accordance with the state of operation, i.e., the trial operation or actual operation. Thus, the control apparatus itself learns the trial operations, and can self-acquire the criterial manipulated pattern for the actual operation. That is, a suitable criterial manipulated pattern can be generated easily. ## Claims ### Claim 1 A control apparatus which controls a control object by supplying a manipulated variable to the control object so that an output controlled pattern that is a time-series pattern of a controlled variable indicative of a state of the control object approaches a target controlled pattern that is a time-series pattern of a target value of the control variable, said apparatus comprising: trial pattern holding means for holding a trial controlled pattern that is a time-series pattern of the controlled variable in a trial operation that is performed prior to an actual operation, and a trial manipulated pattern that is a time-series pattern of the manipulated variable corresponding to the trial controlled pattern; trial evaluation characteristic value extracting means for extracting a trial evaluation characteristic value for evaluating the trial operation, from the target controlled pattern and the trial controlled pattern; criterial manipulated pattern generating means for correcting the trial manipulated pattern on the basis of the trial evaluation characteristic value so that the trial controlled pattern approaches the target controlled pattern, and for holding the corrected trial manipulated pattern as a criterial manipulated pattern that serves as a criterion of a time-series pattern of the manipulated variable in an actual operation; and criterial manipulated pattern outputting means for outputting the criterial manipulated pattern as at least part of the manipulated variable in the actual operation. ### Claim 2 (depends on 1) The control apparatus according to claim 1, wherein the criterial manipulated pattern generating means calculates, by fuzzy inference, a trial correcting value that is necessary to correct the trial manipulated pattern on the basis of the trial evaluation characteristic value so that the trial controlled pattern approaches the target controlled pattern, corrects the trial manipulated pattern on the basis of the trial correcting value, and holds the corrected trial manipulated pattern as the criterial manipulated pattern. ### Claim 3 (depends on 1) The control apparatus according to claim 1, further comprising a feedback circuit dedicated to the trial operation, wherein in the trial operation the trial operation feedback circuit is connected to the control object whereas the criterial manipulated pattern outputting means is disconnected from the control object, and in the actual operation the criterial manipulated pattern outputting means is connected to the control object whereas the trial operation feedback circuit is disconnected from the control object. ### Claim 4 (depends on 1) The control apparatus according to claim 1, wherein only the criterial manipulated pattern is supplied to the control object as the manipulated variable in the actual operation. ### Claim 5 (depends on 1) The control apparatus according to claim 1, wherein a feedback signal generated based on the controlled variable and the criterial manipulated pattern are supplied to the control object as the manipulated variable in the actual operation. ### Claim 6 A method of controlling a control object by supplying a manipulated variable to the control object so that an output controlled pattern that is a time-series pattern of a controlled variable indicative of a state of the control object approaches a target controlled pattern that is a time-series pattern of a target value of the controlled variable, comprising the steps of: obtaining a trial controlled pattern that is a time-series pattern of a controlled variable in a trial operation that is performed prior to an actual operation, and a trial manipulated pattern that is a time-series pattern of the manipulated variable corresponding to the trial controlled pattern; extracting a trial evaluation characteristic value for evaluating the trial operation, from the target controlled pattern and the trial controlled pattern; correcting the trial manipulated pattern on the basis of the trial evaluation characteristic value so that the trial controlled pattern approaches the target controlled pattern, and holding the corrected trial manipulated pattern as a criterial manipulated pattern that serves as a criterion of a time-series pattern of a manipulated variable in an actual operation; and outputting the criterial manipulated pattern as at least part of the manipulated variable in the actual operation. ### Claim 7 (depends on 6) The method according to claim 6, further comprising calculating, by fuzzy inference, a trial correcting value that is necessary to correct the trial manipulated pattern on the basis of the trial evaluation characteristic value so that the trial controlled pattern approaches the target controlled pattern, correcting the trial manipulated pattern on the basis of the trial correcting value, and holding the corrected trial manipulated pattern as the criterial manipulated pattern. ### Claim 8 (depends on 6) The method of claim 6, further comprising connecting a feedback circuit dedicated to the trial operation to the control object and disconnecting a criterial manipulated pattern outputting means from the control object when conducting a trial operation, and disconnecting the feedback circuit dedicated to the trial operation from the control object and connecting the criterial manipulated pattern outputting means to the control object when conducting an actual operation. ### Claim 9 (depends on 6) The method of claim 6, wherein only the criterial manipulated pattern is supplied to the control object as the manipulated variable in the actual operation. ### Claim 10 (depends on 6) The method of claim 6, wherein a feedback signal, which is generated on the basis of the controlled variable, and the criterial manipulated pattern are supplied to the control object as the manipulated variable in the actual operation.