CN105080774B - Expandable fountain controlling system and method for synchronizing music and water type - Google Patents
Expandable fountain controlling system and method for synchronizing music and water type Download PDFInfo
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- CN105080774B CN105080774B CN201510400299.4A CN201510400299A CN105080774B CN 105080774 B CN105080774 B CN 105080774B CN 201510400299 A CN201510400299 A CN 201510400299A CN 105080774 B CN105080774 B CN 105080774B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B17/00—Apparatus for spraying or atomising liquids or other fluent materials, not covered by the preceding groups
- B05B17/08—Fountains
Landscapes
- Special Spraying Apparatus (AREA)
Abstract
The invention discloses an expandable fountain controlling system and method for synchronizing music and a water type. The expandable fountain controlling system adopts a control network of which the framework is expandable and which consists of an EPA backbone network and micro network sections; the network is divided into a plurality of control regions according to need, each control region is provided with one micro network section, and the micro network section is segregated from the another micro network sections through a network bridge/a gateway. An EPA network layer can be used for supporting various main-stream physical/data link layer protocols and can protect conventional investment in the fountain industry; besides the utilizing rate and the real-time property of bandwidth are improved through the micro network sections. The torque-frequency characteristics of a stepping motor are consulted, S-shaped acceleration and deceleration curves of the stepping motor are designed, and acceleration speed/acceleration force mutation of the S-shaped curves does not exist, so that the reliability of equipment is improved; a system control process is divided into an off-line preliminary cataloging control process and an on-line control process for synchronizing the music, the water type and lamplight; a synchronizing signal of voice data is used as a benchmark, the lamplight is regulated, and the water type is controlled by a GPC predictive control algorithm, so that visual perception of the water type and the lamplight and auditory perception of the music are integrated into a whole.
Description
Technical field
The invention belongs to the control technology field of music fountain, more particularly to a kind of synchronous expansible fountain control of music water type
System and method processed.
Background technology
Nineteen thirty, German OTTO.PRZYSTAWIK proposes that music incorporates the innovation design idea of fountain, and Advanced Idea is expedited the emergence of
Music spring system (MUSICAL FOUNAIN SYSTEM, abridge MFS) arise at the historic moment.Music fountain is by unique evil spirit
Power, pure and fresh appearance, win that common people are cordial, the fashionable whole world.The mid-80, China introduces in succession and designed, designed has built number
Music fountain in terms of hundred, for the culture life for beautifying the environment, enlivening people serves good effect.In July, 2001, China
The Fountain Waterscape committee of building metallic structure association sets up (industry organization of Fountain Waterscape), possesses active member's unit 237.
In October, 2002, Tianjin Tian Tahu builds up large laser water curtain music fountain, and this is domestic first by NC technology application to spray
Successful experiment on spring shower nozzle.
Scientific and technological progress is filled with lasting vigor to music fountain, modern fountain develop into catchment, it is sound, light, electricity, beautiful for one
The high-tech of body and artistic system transboundary.Typical Representative work has：Las Vegas's Bellagio music fountains of 1998,
The Dubai Fountain music fountains the biggest in the world of 2009；The latter is long 275 meters, water column is high 150 meters, with 6600, lamp, 50
Platform color projector, more than 1000 plant water type.Dubai Fountain fountains, color lamp along with graceful melody, enhance each other's beauty, when
And it is cheerful and light-hearted, when and it is sad, when and express one's emotion, when and impassioned, invigorating.The achievement that contemporary music fountain is obtained has benefited from three
Item core technology：Connotation of music realizes technology, numerical control nozzle technology, the Electromechanical Control and the information transmission technology of music fountain.
Connotation of music realizes technology.The realization of connotation of music is related to program control, sound control and the three kinds of technologies of control that prelist, wherein
It is program control in marginal state.Sound control is ripe, and the defect for extensively being denounced is that the depth and range of connotation of music expressive force are limited.It is small
Levy pool two go up on the stage commander the moon over a fountain, FOREVER LOVE SONG！Monarch lose commanded on platform it is brimful of tears be difficult to control oneself for a long time, audience under platform
Melody is immersed to can't get over you for a long timeThe connotation of music that sound control technology is annotated is shallow pale, arrives at the small artistic conception for levying damp two great master also
The road of You Hen Long Hen Long will be walked.Music belt give people it is various be experienced as by music language pass on, music language include rhythm,
The elements such as beat, speed, dynamics, sound area, tone color, harmony, melody, polyphony, mode.Musical features are from as little as upper point three layers：Base
Originally, complicated and global feature.The essential characteristics such as current sound control technology recognizable beat, rhythm, dynamics, cannot also precisely recognize
The complex characteristics such as melody；Hold global feature (musical form structure and style etc.) and still rest on the scholastic pursuit stage, incorporated in sound control
Humanity history is not known where to begin more.The foundation stone of sound control is artificial intelligence, and the height that it reaches determines the level of sound control.Industry tendency is pre-
Control is compiled, by computer-aided editing system, musical waveform is shown under the support in expert system and music knowledge storehouse, passed through
Man-machine interaction mode editor water type, configuration light, the result that prelists are stored in configuration file form；Configuration file record song performance
Required control information, reads configuration file, this adjusting shower nozzle of Ju and light during performance, make water type, the visual experience of light and
The auditory perception of music is molten to be integrated, and builds an extremely miraculous audiovisual grand banquet in field again.It must be noted that prelisting even to this day
Control two pieces of short slabs (the insufficiency ease for use of editing system is poor, and experienced editing system operator is deficient) once are basic
Completion：Under the unremitting improvement of music fountain industry, the functional completeness and operation ease for use day of computer-aided editing system
Attain perfect；Tired out by the continuous learning and experience knot of music fountain owner, the skilled owner for grasping computer-aided editing system
Emerge in multitude.
Numerical control nozzle technology.Numerical control nozzle realizes the various dimensions motion of shower nozzle, the direction of motion and speed by stepper motor
The infinite water type of the change of degree, generation change.The pioneering conducting slip ring patented technology of Hangzhou Mingzhu Music Fountain Co., Ltd., makes spray
Head corner is also easy to produce wire winding technical barrier when being more than 360 ° is addressed.
The Electromechanical Control and the information transmission technology of music fountain.The up/down position frame structure that PC or server+PLC is constituted
It is the standard configuration of music fountain machine, is also of attention rate minimum in " three core technologies ".Practice have shown that：PC+PLC frameworks
Scalability is not good enough, music and water type, water type and light, light and music three synchronously have much room for improvement, driving stepper motor spray
The quality of head and the life-span difference Strong people's wills of kinematic pair.
In December, 2014, Central Economic Working Conference is pointed out：The unsustainable old development model of economic growth must be abandoned,
Fully realize the new normality of economy under resource environment constraints.It is well known that the newly-started order of music fountain industry in 2014
Meet with the drop of cliff of displacement formula.The root of Electromechanical Control and information transmission technology defect is dissected, specific aim solution is explored, lifting is deposited
The technical value added of music fountain is measured, is expected to lead industry to bottom out.Nine continents the earth builds the " beautiful of music fountain everywhere after all
Good times ", it is interior reasonable time expected to reappear.The application of multidimensional numerical control nozzle and LED lamp, water type, light
Vision merged with the height of the music sense of hearing, brand-new challenge is proposed to the Electromechanical Control and the information transmission technology of music fountain.
First, multidimensional numerical control nozzle and LED lamp make the control point of music fountain control system double, i.e. system complexity
Multiplication；On the other hand, multidimensional numerical control nozzle at least needs corner, rotating speed and steering variable, and the necessary minimum variable of light is then face
Color and brightness, and both shower nozzle and light matching coordinative, it is clear that the own continuation of control variables of system to analog quantity；In view of PC
The limited autgmentability of+PLC frameworks and Analog control potentiality, it is preferred option to implement network control.
Secondly, water type, the vision of light are merged with the height of the music sense of hearing and are related to music and water type, water type and light, lamp
Light is synchronous with the three of music, it is contemplated that the time of light response can be ignored, therefore the key of "three-synchronims" is music and water
The synchronization of type；Because of water type lagging audio, conventional method is to reach the synchronization of water type audio as delay process to audio, but the method
Have the shortcomings that have pause, music and water type harmony inadequate during music；Preferred scheme is to use for reference industrial control field to eliminate pure
Delayed fruitful predictive control algorithm.
3rd, dissect the stepper motor shower nozzle kinematic pair life-span it is shorter the reason for, might as well be from time-honored lathe, elevator industry
S-shaped acceleration and deceleration curves are cut；The torque frequency feature of music fountain dealer reference stepper motor, the acceleration and deceleration curves of design sprinkler, purport
Avoiding step-out.S curve by plus accelerations, even acceleration, subtract acceleration, at the uniform velocity, acceleration and deceleration, even deceleration, deceleration 7 stages constitute,
Considered from speed visual angle and be divided into starting accelerate, at the uniform velocity with the part of braking deceleration three；S curve is prominent without sudden change of acceleration and acceleration
The impact that change causes.S curve is introduced in shower nozzle acceleration and deceleration, power mutation during without speed change, and the life-span of stepper motor shower nozzle kinematic pair will
It is able to Yan Long.
Finally, Electromechanical Control and the information transmission technology must protect the huge investment of fountain owner's early stage；In other words, select
Network control should the compatible main flow communication protocol that oneself has.Transplanting EPA (Ethernet for Plant Automation) is one
Good selection.EPA is that first, China is duly admitted the national standard for possessing independent intellectual property right by IEC, is classified as
The 14th race (CPF14, Common Profile Family 14) in IEC61784-2；EPA Internets support different major flows
Physics/the data link layer protocol of letter, it is exactly the same with BACnet (ISO 16484) design philosophy；Different physics/Data-Links
Road floor to EPA layer transparents, the Key Supporting Techniques of compatible legacy system when being music fountain transformation, dilatation.
The more representational intellectual property Summary on research results of music fountain control technology field is as follows：
Patent of invention " multimedia computer intelligent musical fountain controlling system " (ZL01115636.8), proposes a kind of many matchmakers
Body computer intelligent musical fountain controlling system, audio signal processor receives the music signal A from computer, and controller connects
The signal of knowledge base of being write music for a song from audio signal processor and expert is received, signal lag receives the music signal B from computer,
And send signal to controller and sound equipment.
Patent of invention " programmable music fountain control system " (ZL200910027832.1), proposes programmable music fountain
Control system, system includes host computer, some control modules and drive module, and control module is total with CAN by CAN interface
Line is connected.
It is above-mentioned to benefit our pursuits, discussed around music fountain control technology problem, propose that audio delay technology realizes sound
The synchronization of happy water type, the scheme of CAN fieldbus constructing systems, there is certain reference value, but exploration achievement still suffers from office
Limit.Therefore, it is necessary on the basis of existing music fountain control technology achievement, make further innovative design.
The content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art, there is provided a kind of synchronous expansible water spray control of music water type
System and method.
The synchronous expansible fountain control system of music water type, the two-tier system control constituted using EPA backbone networks, micro network segment
Network processed, micro network segment includes EPA micro network segments and non-EPA micro network segments, and EPA micro network segments access EPA backbone networks through bridge, and non-EPA is micro-
The network segment is then through gateway accessing EPA backbone networks；EPA controlling networks are divided into some control areas on demand, and each control area sets 1
Individual micro network segment, EPA micro network segments are isolated by gateway by bridge, non-EPA micro network segments with other micro network segments, micro network segment internal unit
Communication between node follows Same Physical/data link layer communication agreement and is limited to the control area of this micro network segment；Different microgrids
Communication between section device node need to be forwarded through bridge/pass；Music player is connected with host computer, and host computer accesses EPA backbone networks；
The communication protocol interface circuit that the device node of micro network segment passes through residing micro network segment is accessed, when using CAN physics/data link layer
During the EPA micro network segments of agreement, its device node need to be accessed through the CAN interface circuit of device node；The LED lamp of music fountain and
Nozzle stepper motor is the controll plant of micro network segment device node, i.e., nozzle stepper motor by device node driving stepper motor
Circuit is controlled；
Described fountain control system with reference to the shelf theory model of ISO networks seven, first, the user data of device node in accordance with
EPA agreements carry out the control encapsulation of EPA application layer protocols；Then, the control encapsulation of EPA network layer protocols is carried out；Finally, equipment
Node is encapsulated using the universal data link layer protocol control in residing path, and sends the purpose equipment of packet to this micro network segment
Node, extracts the unpacking process of user data in contrast；EPA Internets are carried for the device node communication of any two micro network segment
For routing information, so that message is sent to destination；EPA Internets message transmissions need not be concerned about specific physical layer and data
Link layer, it is necessary to accordingly change the Data-Link of packet when crossing over different communication protocol paths in network message transmission path
The control encapsulation of road layer protocol.
The CAN interface circuit of described device node with MCU S3C2440 as core, CAN controller and CAN transceiver core
Piece is respectively MCP2515, CTM1050T；MCU S3C2440 are connected with the controll plant of device node；MCU S3C2440's draws
Pin K9, pin P9, pin L9, pin U13 pin 15 respectively with MCP2515, pin 14, pin 13, pin 12 are connected, pin
When U13 sets low, MCP2515SPI slaves signal is effective, MCP2515 activation；Pin 1, the pin 2 of MCP2515 respectively with
The pin 1 of CTM1050T, pin 4 are connected, and the pin 6 of CTM1050T, pin 7 access CAN；Follow CAN physics/Data-Link
The EPA micro network segments of road layer protocol, its device node for accessing configures CAN interface circuit；Follow physics/data link layer protocol
The EPA micro network segments of RS485, IEEE802.3 are similar.
The stepper motor driving circuit of described device node with MCU S3C2440 as core, driving stepper motor module
Model is TA8435；It is RS485 that MCU S3C2440 access RS485 buses, i.e. physics/data link layer through RS485 interface circuits
EPA micro network segments；The pin K2 of S3C2440, pin K3, pin J7, pin K5, pin K6 and driving stepper motor module
The pin 5 of TA8435, pin 6, pin 7, pin 8, pin 9 are connected：The GPIO pin K2 of wherein S3C2440, pin K5, pin
K6 pins 5 respectively with driving stepper motor module TA8435, pin 8, pin 9 are connected, control stepper motor rotating and
Working method, the TOUT3 pin K3 and TOUT2 pins J7 of S3C2440 pin 6 respectively with TA8435, pin 7 are connected, PWM controls
The pulse input of stepper motor processed, the step angle of subdivision stepper motor；
The pulse input of the stepper motor includes two parameters of number of pulses and pulse frequency, wherein number of pulses root Ju
The corner value of stepper motor is directly derived；Pulse frequency need to experience three steps and determine：The first step according to Ju stepper motor square frequently
The feasible higher limit of the stepper motor rotating speed of shower nozzle, i.e. pulse frequency are driven under the premise of characteristic, acquisition are out-of-step free, second step is driving
Stepper motor S-shaped acceleration and deceleration interval interior, the stepper motor S-shaped acceleration and deceleration curves of design driven shower nozzle of feasible value of dynamic shower nozzle, the
Three step S-shaped acceleration and deceleration curves discretizations are simultaneously mapped to the stepper motor pulse frequency table for driving shower nozzle；S-shaped acceleration and deceleration curves from
Acceleration visual angle is considered, by plus accelerations, even acceleration, subtract acceleration, at the uniform velocity, acceleration and deceleration, even deceleration, deceleration 7 stages constitute, from
Speed visual angle consider be divided into starting accelerate, at the uniform velocity with the part of braking deceleration three, and rise/retaining segment curve be in specular；S-shaped
Acceleration and deceleration curves are without sudden change of acceleration, i.e., powerless to be mutated the equipment dependability hidden danger for causing.
The control flow of system is divided into offline prelist control flow and Online Music, water type, the controlling stream of the synchronization of light three
Journey；The offline control flow that prelists：The music track waveform for calling computer-aided editing system, display selected in host computer,
The expert system embedded by computer-aided editing system and music knowledge storehouse, by man-machine interaction mode to selected music
Song segmentation, set each section initial time and in termination time and every time shower nozzle and light state；Editor's water type
With the control flow generation configuration file that prelists of configuration light；Configuration file is stored in the playlist of host computer, while logical
Each device node that EPA backbone networks, micro network segment are downloaded to correlation is crossed, each device node storage music, water type and light three are same
The water type of step, signal light control information；
Online Music, water type, the control flow of the synchronization of light three：When music fountain is performed, played column is sequentially performed one by one
Song in table, the song that parallel synchronous launch music fountain is played and water type, signal light control；On the one hand, host computer starts sound
Song in happy player plays list；On the other hand, each device node is stored in equipment in reading the offline control flow that prelists
The control parameter of the local configuration file of node, i.e. water type and light, host computer is set by EPA backbone networks, micro network segment to each
Slave node sends the synchronizing signal of voice data, the synchronizing signal regulation light according to voice data, according to the same of voice data
Step signal, water type is controlled using GPC predictive control algorithms, make that the auditory perception of water type, the visual experience of light and music is molten to be
Integrally.
The present invention has an advantageous effect in that compared with background technology：Music fountain control system using EPA backbone networks,
The controlling network of the extensible architecture of micro network segment composition；EPA Internets support the physics/data link layer communication association of various main flows
View, the critical support technology of compatible original system when being music fountain transformation, dilatation, therefore, it is possible to protect the existing throwing of fountain industry
Money；Micro network segment improves bandwidth availability ratio and real-time simultaneously.The stepper motor of shower nozzle is driven with reference to stepper motor torque frequency feature,
Design stepper motor S-shaped acceleration and deceleration curves, S curve improves the reliability of equipment without acceleration/power mutation.System is controlled
Flow be divided into it is offline prelist with Online Music, water type, the synchronization of light three control flow；Synchronizing signal with voice data is as base
It is accurate：Regulation light, water type is controlled using GPC predictive control algorithms, makes the auditory perception of water type, the visual experience of light and music
It is molten to be integrated.Offline flow alleviates burden, the traffic of EPA of host computer with reference to the method for online flow, improve music,
Water type, the synchronism index of light.
Brief description of the drawings
Fig. 1 is the synchronous expansible fountain control system structure chart of music water type；
Fig. 2 is the network model figure of EPA agreements；
Fig. 3 is the graph of a relation of user data and other layers of EPA Communication Models；
Fig. 4 is the CAN interface circuit diagram of device node；
Fig. 5 is the stepper motor driving circuit figure of device node；
Fig. 6 is the S-shaped acceleration and deceleration curves figure of shower nozzle stepper motor；
Fig. 7 is the control flow chart of the synchronous expansible fountain system of music water type.
Specific embodiment
Below according to accompanying drawing, the present invention is further elaborated, the content of dotted line mark in figure only makees summary discussion.
As shown in Figure 1, 2, 3, the synchronous expansible fountain control system of music water type, system is constituted using EPA backbone networks, micro network segment
Two-tier system controlling network, micro network segment includes EPA micro network segments and non-EPA micro network segments, and EPA micro network segments access EPA trunks through bridge
Net, non-EPA micro network segments are then through gateway accessing EPA backbone networks；EPA controlling networks are divided into some control areas on demand, each control
Region processed sets 1 micro network segment, and EPA micro network segments are isolated by gateway by bridge, non-EPA micro network segments with other micro network segments, micro-
Communication between network segment internal unit node follows Same Physical/data link layer communication agreement and is limited to the control of this micro network segment
Region；Communication between different micro network segment device nodes need to be forwarded through bridge/pass；Music player is connected with host computer, host computer
Access EPA backbone networks；The communication protocol interface circuit that the device node of micro network segment passes through residing micro network segment is accessed, when using CAN
During the EPA micro network segments of physics/data link layer protocol, its device node need to be accessed through the CAN interface circuit of device node；Music
The LED lamp and nozzle stepper motor of fountain are the controll plants of micro network segment device node, i.e., nozzle stepper motor is by equipment section
The stepper motor driving circuit control of point；
Described fountain control system defines Internet and application with reference to the shelf theory model of ISO networks seven, EPA therein
Layer specification, conceals transport layer, session layer, expression layer；EPA Internets support the physics/data link layer communication association of various main flows
View, i.e., different physics/data link layers are transparent for EPA application layers, as long as there is path to be connected between node, are passed through
EPA Internets route achieves that direct communication；First, the user data of device node carries out EPA application layers in accordance with EPA agreements
The control encapsulation of agreement；Then, the control encapsulation of EPA network layer protocols is carried out；Finally, device node is using the logical of residing path
The control encapsulation of letter data link layer protocol, and the purpose equipment node of packet to this micro network segment is sent, extract user data
Unpacking process is in contrast；EPA Internets provide routing information for the device node communication of any two micro network segment, so that report
Text is effectively transmitted to destination；EPA Internets message transmissions need not be concerned about specific physical layer and data link layer, network report
, it is necessary to accordingly change the control of the data link layer protocol of packet when crossing over different communication protocol paths in literary transmission path
Encapsulation.
Illustrate 1：In EPA agreements, the device node communication of micro network segment is limited in itself micro network segment, is not take up other microgrids
Section bandwidth, therefore micro network segment technology improves the utilization rate of EPA bandwidth and the real-time of EPA systems.
Illustrate 2：If physics/the data link layer protocol of micro network segment application, should not in the range of the support of EPA Internets
Micro network segment is defined as non-EPA micro network segments；Otherwise it is EPA micro network segments.Without loss of generality, the content of non-EPA micro network segments is only made herein
Summary is discussed.
As shown in Fig. 4,1, the CAN interface circuit of described device node with MCU S3C2440 as core, CAN controller
MCP2515, CTM1050T are respectively with CAN transceiver chip；MCU S3C2440 are connected with the controll plant of device node；MCU
Pin K9, pin P9, pin L9, the pin U13 of S3C2440 pin 15, pin 14, pins 13, pin respectively with MCP2515
12 are connected, and when pin U13 sets low, MCP2515SPI slaves signal is effective, MCP2515 activation；The pin 1 of MCP2515, pin 2
Pin 1 respectively with CTM1050T, pin 4 are connected, and the pin 6 of CTM1050T, pin 7 access CAN；Follow CAN physics/
The EPA micro network segments of data link layer protocol, its device node for accessing configures CAN interface circuit；Follow physics/data link
The EPA micro network segments of layer protocol RS485, IEEE802.3 are similar.
Explanation：The device node communication of micro network segment 1 is limited in micro network segment 1, and the device node of micro network segment 1 follows link layer
It is the EPA agreements of CAN；The device node of micro network segment 1 communicates with the device node of micro network segment K, need to be turned by bridge 1, bridge K
Hair；The device node of micro network segment 1 communicates with the device node of micro network segment K+1, need to be forwarded by bridge 1, the communication protocol of gateway
Zhuan Change.
As shown in Figure 5,6, the synchronous expansible fountain control system of a kind of music water type, the stepping of described device node
With MCU S3C2440 as core, driving stepper motor module model is TA8435 to motor-drive circuit；MCU S3C2440 are passed through
It is the EPA micro network segments of RS485 that RS485 interface circuits access RS485 buses, i.e. physics/data link layer；The pin of S3C2440
The pin 5 of K2, pin K3, pin J7, pin K5, pin K6 and driving stepper motor module TA8435, pin 6, pin 7, draw
Pin 8, pin 9 are connected：GPIO pin K2, pin K5, the pin K6 of wherein S3C2440 respectively with driving stepper motor module
The pin 5 of TA8435, pin 8, pin 9 are connected, and control rotating and the working method of stepper motor, and the TOUT3 of S3C2440 draws
Pin K3 and TOUT2 pin J7 pins 6 respectively with TA8435, pin 7 are connected, pulse input, the subdivision of PWM control stepper motors
The step angle of stepper motor；
The pulse input of the stepper motor includes two parameters of number of pulses and pulse frequency, wherein number of pulses root Ju
The corner value of stepper motor is directly derived；Pulse frequency need to experience three steps and determine：The first step according to Ju stepper motor square frequently
The feasible higher limit of the stepper motor rotating speed of shower nozzle, i.e. pulse frequency are driven under the premise of characteristic, acquisition are out-of-step free, second step is driving
Stepper motor S-shaped acceleration and deceleration interval interior, the stepper motor S-shaped acceleration and deceleration curves of design driven shower nozzle of feasible value of dynamic shower nozzle, the
Three step S-shaped acceleration and deceleration curves discretizations are simultaneously mapped to the stepper motor pulse frequency table for driving shower nozzle；S-shaped acceleration and deceleration curves from
Acceleration visual angle is considered, by plus accelerations, even acceleration, subtract acceleration, at the uniform velocity, acceleration and deceleration, even deceleration, deceleration 7 stages constitute, from
Speed visual angle consider be divided into starting accelerate, at the uniform velocity with the part of braking deceleration three, and rise/retaining segment curve be in specular；S-shaped
Acceleration and deceleration curves are without sudden change of acceleration, i.e., powerless to be mutated the equipment dependability hidden danger for causing.S-shaped acceleration and deceleration curves start from point O, end
To point G；Add angular speed visual angle, V from stepper motorO-VA、VA-VB、VB-VC、VC-VD、VD-VE、VE-VFAnd VF-VGBy stepping electricity
Acceleration and deceleration process in machine operating is divided into 7 stages：Plus accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even
Braking section, subtract braking section；From the angular speed visual angle of stepper motor, S-shaped acceleration and deceleration curves can be divided into again：VO-VCStart acceleration, VC-
VDTravel at the uniform speed and VD-VGThree sections of braking deceleration.
As shown in fig. 7, the control flow of the synchronous expansible fountain system of music water type is divided into the offline control flow that prelists
With Online Music, water type, the synchronization of light three control flow；The offline control flow that prelists：Music fountain is called in host computer
The selected music track waveform of the computer-aided editing system of producer or third party's offer, display, by computer aided manufacturing assistant editor
The embedded expert system of the system of collecting and music knowledge storehouse, are segmented to the music track selected by man-machine interaction mode, set respectively
The initial time of section and terminate the state of shower nozzle and light in time and every time；Editor's water type is pre- with configuration light
Compile control flow generation configuration file；Configuration file is stored in the playlist of host computer, while by EPA backbone networks, micro-
The network segment is downloaded to each device node of correlation, water type, the light control of each device node storage music, water type and the synchronization of light three
Information processed；
Online Music, water type, the control flow of the synchronization of light three：When music fountain is performed, played column is sequentially performed one by one
Song in table, the song that parallel synchronous launch music fountain is played and water type, signal light control；On the one hand, host computer starts sound
Song in happy player plays list；On the other hand, each device node is stored in equipment in reading the offline control flow that prelists
The control parameter of the local configuration file of node, i.e. water type and light, host computer is set by EPA backbone networks, micro network segment to each
Slave node sends the synchronizing signal of voice data, the synchronizing signal regulation light according to voice data, according to the same of voice data
Step signal, water type is controlled using GPC predictive control algorithms, make that the auditory perception of water type, the visual experience of light and music is molten to be
Integrally；Offline flow alleviates burden, the traffic of EPA of host computer with reference to the method for online flow, improves music, water
Type, the synchronism index of light.
Music fountain is the organic integration of music system and fountain robot control system(RCS), the water type and light of music director fountain,
Water type and light express the intension of music；In view of the time of light response can be ignored, therefore music, water type, light three are same
The key of step is music synchronous with water type；Water type change is switch control, the frequency converter regulation water by magnetic valve to water route
Pump discharge change water spray height, driving stepper motor nozzle adjustment jet angle realize, therefore controlled device water type exist it is pure stagnant
Afterwards；The exactly pure lag characteristic of controlled device, causes the defect in terms of music and water type synchronism, overcomes the pure stagnant of controlled device
Afterwards, the synchronism index of music and water type can just be improved.Use for reference industrial control field and eliminate the fruitful PREDICTIVE CONTROL calculation of purely retarded
Method controls water type, is capable of achieving music synchronous with water type；Known in magnetic valve, frequency converter, water pump, the Mathematical Modeling category of stepper motor
Knowledge category, repeats no more herein, and purely retarded water type controlled device uses PREDICTIVE CONTROL GPC algorithms.Controlled autoregressive integration is slided
Dynamic averaging model CARIMA (Controlled Auto-Regressive Integrated Moving-Average) is to water type
Controlled device is described：
A(z-1) y (k)=B (z-1)u(k-1)+C(z-1)ξ(k)/Δ (1)
Wherein, y (k), u (k-1), ξ (k) are that system output, input and average are that zero, variance is σ2's
White noise；Δ is difference operator, Δ=1-z-1； Wherein ai、bi、ciIt is A (z-1)、B(z-1)、C(z-1) the n ranks that carry out after n class number expansion are normal
Amount.
Assuming that C (z-1)=1, solves following diophantus (Diophantine) equation, just can obtain j step prediction outputs：
1=Ej(z-1)Δ+z-jFj(z-1) (5)
Ej(z-1)Bj(z-1)=Gj(z-1)+z-jHj(z-1) (6)
In formula (5), (6), j=1,2 ... ... P, P are the step number of prediction,
For the convenience for representing, backward shift operator z omitted below-1, then P step prediction can further indicate that：
Yp(k+1)=G Δs U (k-1)+Fy (k)+H Δs U (k-1)+E (11)
Wherein, U (k-1)=[u (k-1), u (k) ..., u (k+p-2)]T (12)。
The purpose of generalized predictive control (GPC) is prediction is exported the tracking error minimum to reference locus, accordingly can be true
Fixed following performance indications：
Wherein, Yr(k+1)=[yr(k+2),yr(k+1),…yr(k+p+1)]T(14), y in formula (14)r(k+i) it is kth+i
The reference locus of step, wherein i=1 ... p.Desired value is represented, λ is weighted factor, orderObtain as
Under optimizing control rule：
Δ U (k)=(GTG+λI)-1GT[Yr(k+1)-Fy(k)-HΔu(k-1)] (16)
Make (GTG+λI)-1GTThe first row [l1,l2,…,lp]=L (17)
And L (z-1)=lp+lp-1z-1+…+l1z-p+1 (18)
According to rolling optimization and the principle of feedback compensation, can obtain generalized predictive control rule is：
The output forecast model of CARIMA models is：
Wherein, Fj(z-1)、Gj(z-1) it is in B (z-1)、C(z-1) and prediction length j be uniquely determined when oneself knows multinomial
Formula, andWherein fj,i、gj,iIt is Fj(z-1)Gj
(z-1) carry out the constant after n rank expansion.Formula (20) is the output fallout predictor equation of the advanced j steps based on formula (1) institute representation model.
Claims (3)
1. the synchronous expansible fountain control system of a kind of music water type, it is characterised in that system uses EPA backbone networks, micro network segment
The two-tier system controlling network of composition, micro network segment includes EPA micro network segments and non-EPA micro network segments, and EPA micro network segments are accessed through bridge
EPA backbone networks, non-EPA micro network segments are then through gateway accessing EPA backbone networks；EPA controlling networks are divided into some control areas on demand,
Each control area sets 1 micro network segment, EPA micro network segments by bridge, non-EPA micro network segments by gateway and other micro network segments every
From the communication between micro network segment internal unit node follows Same Physical/data link layer communication agreement and is limited to this micro network segment
Control area；Communication between different micro network segment device nodes need to be forwarded through bridge/pass；Music player is connected with host computer, on
Position machine accesses EPA backbone networks；The communication protocol interface circuit that the device node of micro network segment passes through residing micro network segment is accessed, and works as use
During the EPA micro network segments of CAN physics/data link layer protocol, its device node need to be accessed through the CAN interface circuit of device node；
The LED lamp and nozzle stepper motor of music fountain are the controll plants of micro network segment device node, i.e. nozzle stepper motor is by setting
The stepper motor driving circuit control of slave node；
, with reference to the shelf theory model of ISO networks seven, first, the user data of device node is in accordance with EPA for described fountain control system
Agreement carries out the control encapsulation of EPA application layer protocols；Then, the control encapsulation of EPA network layer protocols is carried out；Finally, equipment section
Point is encapsulated using the universal data link layer protocol control in residing path, and sends the purpose equipment section of packet to this micro network segment
Point, extracts the unpacking process of user data in contrast；EPA Internets are provided for the device node communication of any two micro network segment
Routing information, so that message is sent to destination；EPA Internets message transmissions need not be concerned about specific physical layer and Data-Link
Road floor, it is necessary to accordingly change the data link of packet when crossing over different communication protocol paths in network message transmission path
The control encapsulation of layer protocol.
2. the synchronous expansible fountain control system of a kind of music water type according to claim 1, it is characterised in that described
Device node stepper motor driving circuit with MCU S3C2440 as core, driving stepper motor module model is TA8435；
It is the EPA micro network segments of RS485 that MCU S3C2440 access RS485 buses, i.e. physics/data link layer through RS485 interface circuits；
The pin K2 of S3C2440, pin K3, pin J7, pin K5, the pin 5 of pin K6 and driving stepper motor module TA8435, draw
Pin 6, pin 7, pin 8, pin 9 are connected：GPIO pin K2, pin K5, the pin K6 of wherein S3C2440 respectively with stepper motor
The pin 5 of drive module TA8435, pin 8, pin 9 are connected, and control rotating and the working method of stepper motor, S3C2440
TOUT3 pin K3 and TOUT2 pins J7 pins 6 respectively with TA8435, pin 7 be connected, PWM controls the pulse of stepper motor
Input, the step angle of subdivision stepper motor；
The pulse input of the stepper motor includes two parameters of number of pulses and pulse frequency, wherein number of pulses root Ju stepping
The corner value of motor is directly derived；Pulse frequency need to experience three steps and determine：The first step according to Ju stepper motor torque frequency feature,
The feasible higher limit of the stepper motor rotating speed of shower nozzle, i.e. pulse frequency are driven under the premise of acquisition is out-of-step free, second step is driving spray
Stepper motor S-shaped acceleration and deceleration feasible value interval interior, the stepper motor S-shaped acceleration and deceleration curves of design driven shower nozzle, the 3rd step S of head
Shape acceleration and deceleration curves discretization is simultaneously mapped to the stepper motor pulse frequency table for driving shower nozzle；S-shaped acceleration and deceleration curves are from acceleration
Visual angle is considered, by plus accelerations, even acceleration, subtract acceleration, at the uniform velocity, acceleration and deceleration, even deceleration, deceleration 7 stages constitute, regarded from speed
Angle consider be divided into starting accelerate, at the uniform velocity with the part of braking deceleration three, and rise/retaining segment curve be in specular；S-shaped acceleration and deceleration
Curve is without sudden change of acceleration, i.e., powerless to be mutated the equipment dependability hidden danger for causing.
3. a kind of synchronous expansible water spray control method of music water type using system as claimed in claim 1, its feature exists
It is divided into the control flow of offline prelist control flow and Online Music, water type, the synchronization of light three in the control flow of system；Offline
Prelist control flow：The music track waveform for calling computer-aided editing system, display selected in host computer, by calculating
The embedded expert system of machine assist edit system and music knowledge storehouse, are divided the music track selected by man-machine interaction mode
Section, the initial time of each section of setting and terminate the state of shower nozzle and light in time and every time；Editor water type and configuration
The control flow generation configuration file that prelists of light；Configuration file is stored in the playlist of host computer, while passing through EPA master
Dry net, micro network segment are downloaded to each device node of correlation, the water of each device node storage music, water type and the synchronization of light three
Type, signal light control information；
Online Music, water type, the control flow of the synchronization of light three：When music fountain is performed, sequentially one by one in execution playlist
Song, parallel synchronous launch music fountain song play and water type, signal light control；On the one hand, host computer starts music and broadcasts
Put the song in device playlist；On the other hand, each device node is stored in device node in reading the offline control flow that prelists
The control parameter of local configuration file, i.e. water type and light, host computer is by EPA backbone networks, micro network segment to each equipment section
Point sends the synchronizing signal of voice data, the synchronizing signal regulation light according to voice data, the synchronization letter according to voice data
Number, water type is controlled using GPC predictive control algorithms, make that the auditory perception of water type, the visual experience of light and music is molten to be integrated.
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| CN105717845A (en) * | 2016-04-07 | 2016-06-29 | 上海景水环境科技有限公司 | Fountain control system and method |
| TWI679616B (en) * | 2017-10-23 | 2019-12-11 | 光吶全球科技股份有限公司 | System of synchronizing lighting effect control signals and patterns for controlling interactive lighting effect devices |
| CN108762151B (en) * | 2018-06-04 | 2021-04-13 | 绵阳逢研科技有限公司 | Intelligent information sharing guide identification post control system |
| CN109661082B (en) * | 2018-12-24 | 2020-09-04 | 福建星网视易信息***有限公司 | Digital audio-visual place light scene control method and storage medium |
| CN109909108A (en) * | 2019-04-15 | 2019-06-21 | 珠海精讯知识产权管理有限公司 | A kind of prolongable wireless music fountain system |
| CN110582150B (en) * | 2019-09-03 | 2021-06-22 | 无锡金顺照明科技有限公司 | Ambient light and music control system and method |
| CN110968015A (en) * | 2019-12-31 | 2020-04-07 | 深圳市荣合威科技有限公司 | System and method for controlling synchronous execution operation of multi-target terminal based on audio file |
| CN113067510B (en) * | 2021-03-16 | 2023-06-20 | 北京瑞控信科技股份有限公司 | Electric adjusting mirror control method and device and electric adjusting mirror system |
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