CN103885414A - Distributed PID control magnetic levitation ball system based on CAN bus - Google Patents

Distributed PID control magnetic levitation ball system based on CAN bus Download PDF

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Publication number
CN103885414A
CN103885414A CN201410102896.4A CN201410102896A CN103885414A CN 103885414 A CN103885414 A CN 103885414A CN 201410102896 A CN201410102896 A CN 201410102896A CN 103885414 A CN103885414 A CN 103885414A
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pid
pid control
control module
module
light source
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张凤登
王志坚
胡忠义
陈兴隆
刘明芹
黄海峰
常国鹏
童长胜
李思
刘雅旎
张瑞
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention provides a distributed PID control magnetic levitation ball system based on a CAN bus. The distributed PID control magnetic levitation ball system is characterized by comprising an electromagnet generating the electromagnetic force to attract a steel ball, a detection part detecting the distance between the steel ball and the electromagnet, a voltage signal obtaining node comprising a processing circuit and an A/D conversion module, a magnetic force control node comprising a drive circuit and a D/A conversion module, a light source control node comprising a relay module, a USB-CAN interface card and an upper computer. Each node comprises a PID control module and a CAN communication module. The PID control is utilized, and an error between the actual position and the set position of the steel ball is controlled within the allowable range. According to the system, the redundant structure is formed, and therefore the reliability, the real-time performance and the flexibility of the system are improved; single-circuit closed-loop control and distributed control are adopted, the problem of instability of the magnetic levitation system is solved, the stability and the anti-interference property of the system are ensured, the man-machine interaction function is achieved, and the whole system is easy to control.

Description

Control maglev ball system based on the bus distributed PID of CAN
Technical field
The present invention relates to a kind of magnetic levitation ball control system, be specifically related to a kind of connect changeable control mode by CAN bus communication control maglev ball system based on the bus distributed PID of CAN.
Background technology
Along with the development of automatic control technology, computer technology and network technology and improving constantly of control and management requirement, make control system just be accelerated to develop to the distributed system of opening by the concentrated system of sealing, there is dcs---field bus control system, makes the structure of control system and performance have tremendous variation.Aspect the research of magnetic levitation ball control system, most domestic also just adopts centralized control system, by system applies in the research of control algolithm.
PID controller is a kind of linear controller, and it forms control deviation according to set-point and actual value, and the ratio of deviation, integration and differentiation are formed to controlled quentity controlled variable by linear combination, and controlled device is controlled.PID be of wide application and also pid parameter is more easily adjusted, can calculate out best pid control parameter according to controlled device, and PID controller also can constantly improve in practice, make it better to control whole system.
CAN bus is German BOSCH company is to solve the distributed control of a kind of effective support that the exchanges data between control and testing tool numerous Hyundai Motor develops or the serial data communication agreement of controlling in real time from the beginning of the eighties.Because CAN has high reliability and unique design, be particularly suitable for the interconnection of industrial process monitoring equipment, and each hardware node that CAN bus connects can be realized exclusive separately function, in magnetic levitation ball control system, if only have a main controlled node to do pid algorithm control, in the time that this main controlled node goes wrong, just can not well control magnetic levitation ball, there is the serious mistake of system.Therefore, in CAN bus network, adopt distributed pid algorithm to realize particularly important to the control of magnetic levitation ball.
Summary of the invention
The present invention carries out in order to solve above-mentioned problem, and object is to provide that a kind of real-time communication is strong, rate of load condensate is low, reliability is high controls maglev ball system based on the bus distributed PID of CAN.
Provided by the invention based on the bus distributed PID control of CAN maglev ball system, there is such feature, comprise: electromagnet, by producing electromagnetic attracting force steel ball, test section, formed by light source and photoelectrical position sensor, the voltage signal matching for detection of the distance between steel ball and electromagnet and by photoelectrical position sensor output and distance, voltage signal obtains node, comprise the treatment circuit being connected with photoelectrical position sensor voltage signal amplification filtering output analog voltage, magnitude of voltage is converted to the A/D modular converter of corresponding distance value, and the first pid control module being connected with A/D modular converter successively and a CAN communication module, Magnetic Control node, by controlling the size adjustment distance of electromagnetic force, comprise the driving circuit being connected successively with electromagnet, D/A modular converter, the second pid control module, and the 2nd CAN communication module, light source control node, by controlling the open and close controlling test section of light source, comprise the relay module that opens and closes light source, and the 3rd pid control module being connected with relay module successively and the 3rd CAN communication module, USB-CAN interface card, respectively with a CAN communication module, the 2nd CAN communication module is connected with the 3rd CAN communication module, and host computer, be connected and obtain node for controlling voltage signal with USB-CAN interface card, Magnetic Control node and light source control node, and send and open and close the light source switch signal of light source to relay module, wherein, the first pid control module, the second pid control module, any in the 3rd pid control module carried out the distance value receiving pid algorithm computing and exported PID end value, D/A modular converter converts PID end value to the regulation voltage level of analog quantity, driving circuit regulates electromagnetic force size with adjustable range according to regulation voltage level, host computer comprises input configuration part, by the parameter value of this input configuration part setting PID computing and at the first pid control module, the second pid control module, any in the 3rd pid control module carried out PID computing.
Control in maglev ball system based on the bus distributed PID of CAN provided by the invention, can also there is such feature: the first pid control module, the second pid control module and the 3rd pid control module all can independently carry out PID computing, in the time of the PID end value mistake of any output in the first pid control module, the second pid control module and the 3rd pid control module, any in other two pid control modules of PC control carried out PID computing.
The effect of invention
Control maglev ball system according to involved in the present invention based on the bus distributed PID of CAN, due to the first pid control module, the second pid control module and the 3rd pid control module all can carry out pid algorithm computing, Magnetic Control node regulates the distance of steel ball and electromagnet according to the end value of pid algorithm computing, host computer sets by input configuration part the node that carries out pid algorithm computing, and can switch online the position of carrying out pid algorithm computing, therefore the present invention is based on the bus distributed PID control of CAN maglev ball system and formed redundancy structure, the reliability of raising system, real-time and dirigibility, adopt single loop closed-loop control and distributed control maglev ball system, solve the instability of magnetic suspension system itself, stability and the anti-interference of system are guaranteed, realize the function of man-machine interaction, whole system is more easily controlled.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of magnetic levitation ball control system in embodiments of the invention; And
Fig. 2 is Frame identifier declaration chart in CAN bus communication in embodiments of the invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, following examples are controlled maglev ball system and are specifically addressed the present invention is based on the bus distributed PID of CAN by reference to the accompanying drawings.
Fig. 1 is the structured flowchart of magnetic levitation ball control system in embodiments of the invention.
As shown in Figure 1, in the present embodiment, controlling maglev ball system 100 based on the bus distributed PID of CAN comprises: electromagnet 1, test section 2, voltage signal obtain node 3, Magnetic Control node 4, light source control node 5, USB-CAN interface card 6 and host computer 7.
Electromagnet 1 surface is wound around electromagnet winding, makes electromagnet 1 produce electromagnetic force and holds steel ball 8, by regulating the large I of electromagnetic force to change the position of steel ball 8 by the electric current in electromagnet winding.
Test section 2 comprises: light source 21 and photoelectrical position sensor 22.
Light source 21 and photoelectrical position sensor 22 form noncontacting measurement device, match by light source 21 and photoelectrical position sensor 22, can detect in real time the distance between steel ball 8 and electromagnet 1.The faint voltage signal that distance between photoelectrical position sensor 22 outputs and steel ball 8 and electromagnet 1 matches.Here, light source 21 is LED lamp.
Voltage signal obtains node 3 and comprises: treatment circuit 31, A/D modular converter 32, the first pid control module 33 and a CAN communication module 34.
Treatment circuit 31 is connected with photoelectrical position sensor 22, and the faint voltage signal that photoelectrical position sensor 22 is exported carries out amplification filtering, and exports the magnitude of voltage of corresponding analog quantity.A/D modular converter 32 is connected with treatment circuit 31, and the magnitude of voltage of the analog quantity that treatment circuit 31 is exported is converted into the distance value of corresponding digital quantity, and this distance value is the distance between steel ball 8 and electromagnet 1.The first pid control module 33 can carry out pid algorithm computing and then realize PID and control, when the first pid control module 33 is set while carrying out pid algorithm computing, the distance value that treatment circuit 31 is exported is as input and carry out pid algorithm computing in conjunction with pid algorithm desired parameters value, pid algorithm computing finishes to obtain PID end value, and this PID end value can be used for regulating the distance between steel ball 8 and electromagnet 1.The one CAN communication module 34 one end are connected with the first pid control module 33, and the other end is connected with USB-CAN interface card 6, realize voltage signal obtain between node 3 and host computer 7 and mutually communicate by USB-CAN interface card 6.
Magnetic Control node 4 comprises: the 2nd CAN communication module 41, the second pid control module 42, D/A modular converter 43 and driving circuit 44.
The 2nd CAN communication module 41 one end are connected with the second pid control module 42, and the other end is connected with USB-CAN interface card 6, realize Magnetic Control node 4 and host computer 7 and voltage signal obtain between node 3 and mutually communicate by USB-CAN interface card 6.The structure of the second pid control module 42 is identical with the structure of the first pid control module 33, when the second pid control module 42 is set while carrying out pid algorithm computing, the distance value that treatment circuit 31 is exported is as input and carry out pid algorithm computing in conjunction with pid algorithm desired parameters value, pid algorithm computing finishes to obtain PID end value, and this PID end value can be used for regulating the distance between steel ball 8 and electromagnet 1.D/A modular converter 43 will carry out end value that pid algorithm computing obtains and change into the magnitude of voltage of analog quantity in the first pid control module 33, the second pid control module 42 and the 3rd pid control module 52, driving circuit 44 is connected with D/A modular converter 43, the magnitude of voltage that D/A modular converter 43 is exported is converted into current value, and then control the current value in electromagnet winding, thereby control the electromagnetic force size of electromagnet 1, the position of steel ball 8 is changed, realizes the distance regulating between steel ball 8 and electromagnet 1.
Light source control node 5 comprises: the 3rd CAN communication module 51, the 3rd pid control module 52 and relay module 53.Wherein, relay module 53 comprises: relay and the relay drive circuit for driving relay to operate.
The 3rd CAN communication module 51 one end are connected with the 3rd pid control module 52, the other end is connected with USB-CAN interface card 6, realizes light source control node 5 and host computer 7, voltage signal obtain between node 3 and Magnetic Control node 4 and mutually communicate by USB-CAN interface card 6.The structure of the 3rd pid control module 52 is identical with the structure of the first pid control module 33, when the 3rd pid control module 52 is set while carrying out pid algorithm computing, the distance value that treatment circuit 31 is exported is as input and carry out pid algorithm computing in conjunction with pid algorithm desired parameters value, pid algorithm computing finishes to obtain PID end value, and this PID end value can be used for regulating the distance between steel ball 8 and electromagnet 1.Relay drive circuit in relay module 52 is connected with relay, and relay is connected with light source 21.Host computer 7 sends and controls the light source switch signal that light source 21 opens and closes to light source control node 5, and light source switch signal passes through relay drive circuit output switch value, by conducting and the shutoff of this switch value pilot relay, thus the Push And Release of control light source 21.
USB-CAN interface card 6 obtains voltage signal between node 3, Magnetic Control node 4, light source control node 5 and host computer 7, to form CAN bus to connect, and then communicates each other.
Host computer 7 is obtained between node 3, Magnetic Control node 4 and light source control node 5 and is communicated by 6 realizations of USB-CAN interface card and voltage signal.Host computer 7 comprises: the input configuration part not showing in figure.
Pid algorithm computing is carried out for any that is arranged on the first pid control module 33, the second pid control module 42 and the 3rd pid control module 52 in input configuration part, scale-up factor value, integration system numerical value, differential coefficient value that pid algorithm computing is required, the distance setting value between steel ball 8 and electromagnet 1.In addition, in the time that any pid control module in the first pid control module 33, the second pid control module 42 and the 3rd pid control module 52 carries out PID end value mistake that pid algorithm computing exports, host computer 7 arrange in other two pid control modules by input configuration part any carry out pid algorithm computing.
Lower mask body is set forth the process of controlling the distributed control magnetic levitation ball of maglev ball system 100 based on the bus distributed PID of CAN.
Host computer 7 is set the distance setting value between steel ball 8 and electromagnet 1 by input configuration part, pid algorithm scale-up factor value, pid algorithm integration system numerical value, pid algorithm differential coefficient value, and any pid control module in the first pid control module 33, the second pid control module 42 and the 3rd pid control module 52 carries out pid algorithm computing.
Fig. 2 is Frame identifier declaration chart in CAN bus communication in embodiments of the invention.
As shown in Figure 2, host computer 7 sends Ox33 Frame, Ox44 Frame, Ox55 Frame, Ox77 Frame to CAN bus.
Light source 21 and photoelectrical position sensor 22 match and the actual distance value between steel ball 8 and electromagnet 1 detected, the photoelectrical position sensor 22 output weak voltage signal corresponding with actual distance value, treatment circuit 31 carries out amplification filtering and exports analog quantity voltage value this weak voltage signal, this analog quantity voltage value is converted into digital quantity distance value by A/D modular converter 32, the one CAN communication module 34 is encapsulated as this distance value according to Frame mark schematic diagram as shown in Figure 2 the actual location data frame that represents actual distance value between steel ball 8 and electromagnet 1 by this distance value, it is Ox11 Frame, and send in CAN bus.
The first pid control module 33, the second pid control module 42 and the 3rd pid control module 52 receive respectively the Ox77 Frame in CAN bus.
When the first pid control module 33 is set while carrying out pid algorithm computing, the first pid control module 33 receives Ox33 Frame, Ox44 Frame, Ox55 Frame and the Ox11 Frame in CAN bus, then carry out pid algorithm computing, and Output rusults value, the one CAN communication module 34 is encapsulated as this end value the PID result data frame that represents pid algorithm result, be Ox88 Frame, and send in CAN bus.
When the second pid control module 42 is set while carrying out pid algorithm computing, the second pid control module 42 receives Ox33 Frame, Ox44 Frame, Ox55 Frame and the Ox11 Frame in CAN bus, then carry out pid algorithm computing, and Output rusults value, the 2nd CAN communication module 41 is encapsulated as this end value the PID result data frame that represents pid algorithm result, be Ox88 Frame, and send in CAN bus.
When the 3rd pid control module 52 is set while carrying out pid algorithm computing, the 3rd pid control module 52 receives Ox33 Frame, Ox44 Frame, Ox55 Frame and the Ox11 Frame in CAN bus, then carry out pid algorithm computing, and Output rusults value, the 3rd CAN communication module 51 is encapsulated as this end value the PID result data frame that represents pid algorithm result, be Ox88 Frame, and send in CAN bus.
Host computer 7 receives this Ox88 Frame, according to this PID result and apart from setting value, sends the Ox66 Frame of the Push And Release of controlling light source 21.
The 2nd CAN communication module 41 receives the Ox88 Frame in CAN bus, D/A modular converter 43 is converted into this PID end value the magnitude of voltage of analog quantity, this magnitude of voltage is corresponding with the distance value between steel ball 8 and electromagnet 1, this magnitude of voltage is converted into current value by driving circuit 44, and control the current value in electromagnet winding, and then the electromagnetic force size of control electromagnet 1, the position of steel ball 8 is changed, realize the distance regulating between steel ball 8 and electromagnet 1.
The 3rd CAN communication module 51 receives Ox66 Frame, and this Frame passes through the relay drive circuit output switch value in relay module 53, conducting and the shutoff of this switch value pilot relay, thereby the Push And Release of control light source 21.
Magnetic levitation ball control system realizes control and the adjusting to steel ball 8 positions, in the whole system course of work, light source 21 is opened always, photoelectrical position sensor 22 detects the position of bead in real time by the cooperation of light source 21, then the pid algorithm computing of being undertaken by pid control module regulates the distance between steel ball 8 and electromagnet 1, makes the actual range between steel ball 8 and electromagnet 1 and the error control between setpoint distance in allowed limits.In the time that host computer 7 sends the light source switch signal of closing light source 21 to relay module 53, whole system quits work.
The effect of embodiment and effect
What the present embodiment provided controls maglev ball system based on the bus distributed PID of CAN, due to the first pid control module, the second pid control module and the 3rd pid control module all can carry out pid algorithm computing, Magnetic Control node regulates the distance of steel ball and electromagnet according to the end value of pid algorithm computing, host computer sets by input configuration part the node that carries out pid algorithm computing, and can switch online the position of carrying out pid algorithm computing, therefore the present embodiment is controlled maglev ball system based on the bus distributed PID of CAN and has been formed redundancy structure, the reliability of raising system, real-time and dirigibility, adopt single loop closed-loop control and distributed control maglev ball system, solve the instability of magnetic suspension system itself, stability and the anti-interference of system are guaranteed, realize the function of man-machine interaction, whole system is more easily controlled.
Above-mentioned embodiment is preferred case of the present invention, is not used for limiting the scope of the invention.

Claims (2)

1. control a maglev ball system based on the bus distributed PID of CAN, it is characterized in that, comprising:
Electromagnet, by producing electromagnetic attracting force steel ball;
Test section, is made up of light source and photoelectrical position sensor, the voltage signal matching for detection of the distance between described steel ball and described electromagnet and by described photoelectrical position sensor output and described distance;
Voltage signal obtains node, comprises and is connected with described photoelectrical position sensor the treatment circuit of described voltage signal amplification filtering output analog voltage, the first pid control module and the CAN communication module that described magnitude of voltage is converted to the A/D modular converter of corresponding distance value and is connected with described A/D modular converter successively;
Magnetic Control node, by controlling distance described in the size adjustment of described electromagnetic force, comprises the driving circuit, D/A modular converter, the second pid control module and the 2nd CAN communication module that are connected successively with described electromagnet;
Light source control node, by controlling test section described in the open and close controlling of described light source, comprises and opens and closes the relay module of described light source and the 3rd pid control module being connected with described relay module successively and the 3rd CAN communication module;
USB-CAN interface card, is connected with a described CAN communication module, described the 2nd CAN communication module and described the 3rd CAN communication module respectively; And
Host computer, is connected with described USB-CAN interface card and obtains node, described Magnetic Control node and described light source control node for controlling described voltage signal, and sends to described relay module the light source switch signal that opens and closes described light source,
Wherein, any in described the first pid control module, described the second pid control module, described the 3rd pid control module carried out the described distance value receiving pid algorithm computing and exported PID end value,
Described D/A modular converter converts described PID end value to the regulation voltage level of analog quantity,
Described driving circuit regulates described electromagnetic force size to regulate described distance according to described regulation voltage level,
Described host computer comprises input configuration part, carries out PID computing by the parameter value of this input configuration part setting PID computing and any in described the first pid control module, described the second pid control module, described the 3rd pid control module.
2. according to claim 1 based on the bus distributed PID control of CAN maglev ball system, it is characterized in that:
Wherein, described the first pid control module, described the second pid control module and described the 3rd pid control module all can independently carry out PID computing, in the time of the described PID end value mistake of any output in described the first pid control module, described the second pid control module and described the 3rd pid control module, any in other two pid control modules of described PC control carried out PID computing.
CN201410102896.4A 2014-03-19 2014-03-19 Distributed PID control magnetic levitation ball system based on CAN bus Pending CN103885414A (en)

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Publication number Priority date Publication date Assignee Title
CN109752949A (en) * 2019-02-28 2019-05-14 中国科学院国家授时中心 The super steady optical reference chamber of magnetic suspension level and its control device and control method
CN114283670A (en) * 2021-12-24 2022-04-05 东北大学 Network control experiment device and method for single variable open loop unstable object
CN114967541A (en) * 2022-05-10 2022-08-30 中国核电工程有限公司 Electric control system of thermal ionization mass spectrometer

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CN114967541A (en) * 2022-05-10 2022-08-30 中国核电工程有限公司 Electric control system of thermal ionization mass spectrometer

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Application publication date: 20140625