CN106205344A - Four hold high water tank Control release system - Google Patents
Four hold high water tank Control release system Download PDFInfo
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Abstract
The invention discloses a kind of four and hold high water tank Control release system, including hardware system and software system, described hardware system includes framework, lucite, tank, No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4 water tanks, liquid level sensor, data collecting card, water pump and speed adjusting module, industrial computer and regulated power supply, framework upper end is provided with lucite, four water tanks are bolted on poly (methyl methacrylate) plate respectively, water pump is connected by plastic union pipe with each water tank, No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4 water tank bottoms are mounted on the liquid level sensor for detecting liquid level, described software system includes Operating Interface Module, parameter configuration module, data acquisition module, control functional module, image display module, algorithms selection module.The present invention is that simple to operate, stable performance, algorithm are open, has the strongest industrial background and actual application value.
Description
Technical field
The present invention relates to process control field, be specifically related to a kind of four and hold high water tank Control release system.
Background technology
Along with the development of production and improving constantly of technological level, more and more have time lag, non-linear, the complexity of coupling
Controlled device is applied in the production process of reality, under normal circumstances by simple control algolithm, such as PID controller, is applied to
Complicated controlled device is difficult to reach intended and controls effect, is therefore highly desirable to research advanced control algorithm right to realize
The control of complicated controlled device.If advanced control algorithm lacks physical varification, advanced control algolithm puts into reality application will
It can be a cycle the longest.Therefore according to the characteristic of typical subject in process control, a set of reality with industrial background is developed
Experiment device has critically important realistic meaning.
Summary of the invention
For solving the problems referred to above, the invention provides a kind of four and hold high water tank Control release system.
For achieving the above object, the technical scheme that the present invention takes is:
Four hold high water tank Control release systems, including hardware system and software system, described hardware system include framework,
Lucite, tank, No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4 water tanks, liquid level sensor, data collecting card, water pump and
Speed adjusting module, industrial computer and regulated power supply, framework upper end is provided with lucite, and four water tanks have been bolted on respectively
On machine glass plate, water pump is connected by plastic union pipe with each water tank, at the bottom of No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4 water tanks
Portion is mounted on the liquid level sensor for detecting liquid level, and liquid level sensor exports with voltage signal, passes through data acquisition
Voltage signal is acquired by card analog quantity input, at the control algolithm that writes the in advance data to gathering
Reason, output conditioning voltage signal, by the analog output port of data collecting card, voltage signal is flowed to speed adjusting module,
The input voltage of speed adjusting module generation pwm signal regulation water pump is to the first scalable water pump and the second scalable water pump, thus controls
The size of Loop Water flow processed, described regulated power supply is that the first scalable water pump, the second scalable water pump are powered, the first scalable
Water pump respectively give No. 1 water tank and No. 4 cistern water supplies, the second scalable water pump respectively give No. 2 water tanks and No. 3 cistern water supplies, four
Being respectively arranged with an apopore below water tank, the water of No. 3 water tank outflows injects in No. 1 water tank, water No. 2 water of injection that No. 4 water tanks flow out
In case, the water that No. 1 water tank, No. 2 water tanks flow out flows directly in the tank of bottom, at inlet channel and the outlet pipe of each water tank
It is equipped with a manually adjustable valve on road, for adjusting water outlet flow, thus changes tank characteristic, No. 1 water tank, No. 2
Water tank, No. 3 water tanks, No. 4 tank top are equipped with overflow pipe, are used for ensureing to flow via it when high water tank reaches maximum
To the tank of bottom, to prevent the water in water case from overflowing, No. 1 water tank and No. 2 water tank bottom sides, equipped with hand-operated valve, can be arranged
Radiator leak trouble point, tank is No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4 water tanks provide water sources, the first scalable water pump and
Equipped with proportional diverter valve on the supply channel of the second scalable water pump, two can be regulated by the aperture of regulation proportional diverter valve
Water tank assignment of traffic ratio, it is achieved system is in minimum phase system and the conversion of non-minimum phase system, by control valve
Opening and closing may be constructed Dan Rong, double volume, four appearance system controlled devices, is changed the spy of single water tank by the aperture of valve simultaneously
Property, described liquid level sensor uses MPX5010DP type differential pressure pick-up, and described software system includes
Operating Interface Module, interacts with four appearance systems for user, described Operating Interface Module be provided with other five
The button of individual functional module and coordinate axes, by operating the function that just can realize correspondence to associated button；
Parameter configuration module, for configuring reference level value, sampling time and sample frequency；
Data acquisition module, for collection and the output of control signal of liquid level sensor analogue signal；Data storage, number
It is investigated and see etc. that function is realized by GUI operation interface, by checking the storage of data and historical data, facilitate the later stage
The data gathered are analyzed.
Control functional module, for system operation is controlled, there is system initialization, start experiment, stopping
With the function exiting experiment porch.
Image display module, for the coordinate axes displaying data in real-time curve at GUI operation interface, convenient observation liquid level
Change curve and pump capacity change, and carry out real time value and show；
Algorithms selection module, for carrying out the selection of the algorithm routine write with MATLAB, it is achieved hold system liquid level to four
Control.
Preferably, described water pump uses SHURFLO 2088-343-135 type water pump, and water pump voltage is by DTS-V-10-24FS
Type DC motor speed-regulating module is adjusted.
Preferably, described DC motor speed-regulating module uses DTS-V-10-24FS type DC motor speed-regulating module.
Preferably, described data collecting card PCI-1710U data collecting card, described industrial computer uses IPC-610L industry control
Machine.
Preferably, described Operating Interface Module includes:
Control functional area, for realizing process control to system, including initializing, start, stop, exit button.
Parameter read-in registration table system arranged by function of initializing, and the parameter of experimental provision is imported to MATLAB work sky
In between；The i.e. halt system of stop button runs；Exit button is then the operation interface that logs off, and the sampling ginseng set by deletion
Number, but sampled data can be automatically saved；
Data acquisition function region, be provided with data storage, data check and print data functional keys, data storage is passed through
MATLAB data storage function realize, * .mat file or * .xls file can be saved as, by call function uigetfile and
Uiputfile obtains the input of user, and return path and filename character string, and data are checked and beaten by MATLAB operation interface
Open file folder realizes look facility；
Graphics display area, shows in real time for controlling curve figure, it is simple to viewing system controls process, including two coordinates
Axle, the liquid level change curve check box of water tank, liquid level numerical value show, pump capacity change curve and numerical value show, pass through
Check box can realize showing any high water tank change curve and pump capacity change curve；
Parameter setting area, for carrying out selection, sampling time, sample frequency and the liquid level reference value of data collecting card
Arrange；Control algolithm can be selected by algorithms selection drop-down menu hurdle.
Preferably, by drive software DAQNavi, data collecting card parameter is configured, write interface routine and realize number
Be connected with MATLAB software communication according to capture card, by programming Control Calling MATLAB data acquisition provide order and
Function, it is achieved the collection of data and the output of controlled quentity controlled variable.
Preferably, described tank and water tank are made up of high grade of transparency acrylic material.
The method have the advantages that
The present invention is a multiple-input and multiple-output, time lag, coupling, the nonlinear system of phase-adjustable, has the strongest work
Industry background and actual application value, be scientific research institution and the universities and colleges important controlled device that carries out teaching and scientific research, it is possible to achieve PID
Control, internal model control, Model Predictive Control, ANN Control, H∞The various control algorithms such as control, fuzzy control, in science
Serving important function in research and theory innovation, simple to operate, stable performance, algorithm are open.
Fig. 1 is that the embodiment of the present invention four holds the structural representation of hardware system in system experimentation system.
Fig. 2 is that the embodiment of the present invention four holds the structural representation of software system in system experimentation system.
Fig. 3 is the schematic diagram operating interface in software system.
Fig. 4 is System Identification Toolbox working interface figure in the present invention.
Fig. 5 is system identification data importing figure in the present invention.
Fig. 6 is internal model control isoboles in the present invention.
Fig. 7 is identification model and simulation curve fitting result in the present invention.
Fig. 8 is that in the present invention, four appearance system dispersion inner imitations are really schemed.
Fig. 9 is that in the present invention, four appearance water tank dispersion internal mode controller control design sketch.
Figure 10 is four appearance system H in the present invention∞STATE FEEDBACK CONTROL analogous diagram.
Figure 11 is four appearance system H in the present invention∞STATE FEEDBACK CONTROL Simulation Control amount output figure.
Figure 12 is four appearance systems H in the present invention∞Control release figure.
Figure 13 is H in the present invention∞State feedback controller experiment output schematic diagram.
Figure 14 is four appearance system dispersion internal model control structure figure in the present invention.
Detailed description of the invention
In order to make objects and advantages of the present invention clearer, below in conjunction with embodiment, the present invention is entered one
Step describes in detail.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit this
Bright.
As it is shown in figure 1, embodiments provide four appearance system experimentation systems, including hardware system and software system,
Described hardware system includes that framework, lucite, tank, 1, No. 2 water tanks of No. 1 water tank, 3, No. 4 water tanks 4 of 2, No. 3 water tanks, liquid level pass
Sensor, data collecting card, water pump and speed adjusting module, industrial computer and regulated power supply, framework upper end is provided with lucite, four
Water tank is bolted on poly (methyl methacrylate) plate respectively, and water pump is connected by plastic union pipe with each water tank, No. 1 water tank 1,
It is mounted on the liquid level sensor 5 for detecting liquid level, level sensing bottom No. 2 water tanks 3, No. 4 water tanks 4 of 2, No. 3 water tanks
Device exports with voltage signal, is acquired by voltage signal by data collecting card analog input end, by writing in advance
Control algolithm to gather data process, output conditioning voltage signal, by the analog output end of data collecting card
Voltage signal is flowed to speed adjusting module by mouth, and speed adjusting module generates the input voltage of pwm signal regulation water pump to the first scalable
Water pump 6 and the second scalable water pump 7, thus control the size of Loop Water flow, described regulated power supply is the first scalable water pump
6, the second scalable water pump 7 is powered, and the first scalable water pump gives No. 1 water tank and No. 4 cistern water supplies, the second scalable water pump respectively
Give No. 2 water tanks and No. 3 cistern water supplies respectively, below four water tanks, be respectively arranged with an apopore, the water injection 1 that No. 3 water tanks flow out
In water tank, the water that No. 4 water tanks flow out injects in No. 2 water tanks, and the water that No. 1 water tank, No. 2 water tanks flow out flows directly into the tank of bottom
In, the inlet channel and outlet conduit of each water tank are equipped with a manually adjustable valve 8, are used for adjusting current
Amount, thus change tank characteristic, No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4 tank top are equipped with overflow pipe, are used for protecting
Card flow in the tank of bottom via it when high water tank reaches maximum, to prevent the water in water case from overflowing, and No. 1 water tank and 2
Number water tank bottom side, equipped with hand-operated valve, can arrange radiator leak trouble point, and tank is No. 1 water tank, No. 2 water tanks, No. 3 water
Case, No. 4 water tanks provide water source, equipped with proportional diverter valve 9 on the supply channel of the first scalable water pump and the second scalable water pump,
Can be by aperture two water tank assignment of traffic ratios of regulation of regulation proportional diverter valve, it is achieved system in minimum phase system and
The conversion of non-minimum phase system, may be constructed Dan Rong, double volume, four appearance system controlled devices by the opening and closing of control valve, with
Time changed the characteristic of single water tank by the aperture of valve, described liquid level sensor uses MPX5010DP type differential pressure pick-up.
As in figure 2 it is shown, described software system includes
Operating Interface Module, interacts with four appearance systems for user, described Operating Interface Module be provided with other five
The button of individual functional module and coordinate axes, by operating the function that just can realize correspondence to associated button；
Parameter configuration module, for configuring reference level value, sampling time and sample frequency；
Data acquisition module, for collection and the output of control signal of liquid level sensor analogue signal；Data storage, number
It is investigated and see etc. that function is realized by GUI operation interface, by checking the storage of data and historical data, facilitate the later stage
The data gathered are analyzed.
Control functional module, for system operation is controlled, there is system initialization, start experiment, stopping
With the function exiting experiment porch.
Image display module, for the coordinate axes displaying data in real-time curve at GUI operation interface, convenient liquid level of observing becomes
Change curve and pump capacity change, and carry out real time value and show；
Algorithms selection module, for carrying out the selection of the algorithm routine write with MATLAB, it is achieved hold system liquid level to four
Control.
Described water pump uses SHURFLO 2088-343-135 type water pump, and described DC motor speed-regulating module uses DTS-V-
10-24FS type DC motor speed-regulating module, described data collecting card PCI-1710U data collecting card, described industrial computer uses
IPC-610L industrial computer.
As it is shown on figure 3, described Operating Interface Module includes:
Control functional area, for realizing process control to system, including initializing, start, stop, exit button.
Parameter read-in registration table system arranged by function of initializing, and the parameter of experimental provision is imported to MATLAB work sky
In between；The i.e. halt system of stop button runs；Exit button is then the operation interface that logs off, and the sampling ginseng set by deletion
Number, but sampled data can be automatically saved；
Data acquisition function region, be provided with data storage, data check and print data functional keys, data storage is passed through
MATLAB data storage function realize, * .mat file or * .xls file can be saved as, by call function uigetfile and
Uiputfile obtains the input of user, and return path and filename character string, and data are checked and beaten by MATLAB operation interface
Open file folder realizes look facility；
Graphics display area, shows in real time for controlling curve figure, it is simple to viewing system controls process, including two coordinates
Axle, the liquid level change curve check box of water tank, liquid level numerical value show, pump capacity change curve and numerical value show, pass through
Check box can realize showing any high water tank change curve and pump capacity change curve；
Parameter setting area, for carrying out selection, sampling time, sample frequency and the liquid level reference value of data collecting card
Arrange；Control algolithm can be selected by algorithms selection drop-down menu hurdle.
By to the collection of sensor output voltage signal and curve fitting procedure we be obtained with liquid level with
Mathematical relationship expression formula between output voltage.
No. 1 water tank: h1=24.4552*u1-4.9674
No. 2 water tank: h2=24.2996*u2-4.0499
No. 3 water tank: h3=24.3059*u3-3.3717
No. 4 water tank: h4=24.4156*u4-5.8083
Wherein hi(i=1.2.3.4) liquid level, u are representedj(j=1.2.3.4) output voltage is represented.
By to water pump input voltage signal and pump capacity signals collecting, utilize curve fitting procedure can obtain water pump
Input voltage and flow between mathematical relationship expression formula as follows:
First scalable water pump: Q1=41.1428*v1-16.5592
Second scalable water pump: Q2=41.1199*v2-17.0442
Wherein, Q1, Q2 represent the first scalable water pump and the flow of the second scalable water pump respectively, and v1, v2 represent respectively
First scalable water pump and the voltage of the second scalable water pump.
Four structures holding system mathematic model
Four appearance systems are the discharge entering water tank by controlling the voltage-regulation of water pump, are finally reached the following water tank of control
Liquid level.Controlled quentity controlled variable is water pump voltage v, and controlled volume is lower header liquid level h.
Set: u1It is that the first scalable water pump input voltage (by controlling the control voltage of the first scalable water pump, controls
The discharge of the first scalable water pump)；u2It is that the second scalable water pump input voltage is (by controlling the second scalable water pump
Control voltage, control the discharge of the second scalable water pump)；h1、h2It is No. 1 water tank and the liquid level of No. 2 water tanks respectively,
0≤h in this experimental provisioni≤ 60, i=1,2,3,4；
System Working Principles are held it is known that the first scalable water pump input voltage u according to four1Change affect liquid level h1With
h2, equally, the second scalable water pump input voltage u2Change affect liquid level h1And h2, so four appearance systems are individual the most
The coupled system of input multi output.For each water tank, according to dynamic material equilibrium relationSet up system
System mathematical model, wherein A is water tank cross-sectional area；qinAnd qoutFlow of inlet water and water flow for this water tank；H is that liquid level is high
Degree.
In four appearance systems, it is assumed that the discharge of the first scalable water pump is Q1, the discharge of the second scalable water pump is
Q2；γ1Representing that the first scalable water pump enters No. 1 water tank and No. 4 water tank flow-rate ratios, the i.e. first scalable water pump enters No. 1 water tank
Flow be γ1*Q1, then the first adjustable water infusion enters the flow of No. 4 water tanks just for (1-γ1)*Q1；Same γ2Represent second
Scalable water pump enters No. 2 water tanks and No. 3 water tank flow-rate ratios, and it is γ that the second scalable water pump flows into the flow of No. 2 water tanks2*Q2,
Second adjustable water infusion enters the flow of No. 3 water tanks just for (1-γ2)*Q2.Wherein γ1∈ [0,1], i=1,2.We can obtain
The dynamic equilibrium equation going out four appearance systems is as follows:
In formula (1), AiAnd hiIt is respectively sectional area and liquid level height value, the Q of i (i=1,2,3,4) number water tankkjFor k (k
=1,2,3,4) number water tank represents bottom tank to the flow of j (j=0,1,2) number water tank, No. 0 water tank.
The nonlinear equation expression formula that can obtain four appearance systems according to Bernoulli equation is as follows:
In formula (2), aiFor i (i=1,2,3,4) number water tank bottom apopore sectional area；G is acceleration of gravity.By formula
(2) visible, liquid level and discharge are non-linear relation.
If four equilibrium points holding system areDefined variable
Here i=1,2,3,4, j=1,2.System linearisation at equilibrium point launches, and its state-space expression is as follows:
In above formula
Systematic procedure dynamic transfer function matrix is
Voltage v is controlled according to above-mentioned water pump1With pump capacity Q1, v2And Q2Mathematical relationship,
Q1=41.1428*v1-16.5592 (5)
Q2=41.1199*v2-17.0442
The form that formula (5) is write as matrix is as follows:
As BIBO system, here with the first scalable water pump and the voltage control quantity of the second scalable water pump
v1、v2Respectively as input quantity, No. 1 water tank and the liquid level height value y of No. 2 water tanks1、y2As output, wherein the first scalable
Water pump is respectively G to the control modulation trnasfer function of No. 1 water tank, No. 2 water tanks11(s)、G21S (), the second scalable water pump is to No. 1 water
Case, the transmission function of No. 2 water tanks are respectively G12(s)、G22(s).The transfer function matrix of its object can be write as
Four appearance system experimental device model parameters are as shown in table 1.
Table 1 four holds system model parameter
Four hold system, and as self regulating plant, (in process control, object, after perturbation action destroys its balance condition, is not having
Under the intervention of operator or actuator, the characteristic of automatic recovery is referred to as self-balance characteristic, and corresponding object is referred to as self-balance right
As), after given Spline smoothing, system can reach a stable state.Considering the delay of actuator, first is adjustable
The transmission function of liquid level 2 can be represented, i.e. by water saving pump by liquid level 1, the second scalable water pump with the first order inertial loop of band time lagThe transmission function of liquid level 1 can be used to by the first scalable water pump by liquid level 2, the second scalable water pump with second order
Property adds delay component and represents, i.e.Function can be transmitted by solving system by step response method
Parameter.
Four hold Parameter identification
We hold system controlled device by MATLAB System Identification Toolbox to four and carry out parameter identification.MATLAB system
Identification toolbox working interface is as shown in Figure 4.First click on import data (importing data) drop-down menu, select time domain number
According to, eject the dialog box of import data, as shown in Figure 5.The array gathered for the first time is imported to identification work after treatment
The browsing data window of tool case, to be set the sampling time of data when importing data；Then the array imported is carried out
The pretreatment such as Remove trend (removal trend), Remove mean (removal average), Filter (filtering)；Pretreated
Data be dragged to Working Data (operational data) working area, checking data be dragged to Validation Data (checking number
According to) working area, select the Process Model (process model) in Estimate (estimation) to carry out identification.Process Model
Model comprise gain K, limit number select, zero point select, system delay link select.System mechanism model u is held according to four1
To y1, u2To y2Approximation one order inertia delay component, we select following identification model structure:
u1To y2, u2To y1Approximate second link, we select following model structure:
By the same way, the data that second time is collected by we carry out Parameter identification.Obtained by identification
System transter is as follows:
Because identification obtains transmitting function G11、G12、G22Time lag item Td=0, transmit function G21Time lag item Td=
0.15, owing to time lag is the least, system is controlled impact little, we are ignored, so obtaining respectively transmitting function in formula (10)
In without time lag item.
Excitation vibration output is with analogue model output matching as shown in Figure 7.G11Qualified rates of fitting is 91.15%, G21Matching
Rate is 97.55%, G12Qualified rates of fitting is 97.65%, G22Qualified rates of fitting is 98.5%.
Four hold system dispersion internal model control
For ease of obtaining the relation of input and its exterior interference and output and being easy to practical engineering application, by internal model control
Structure chart carries out conversion of equal value as shown in Figure 6.
Inner loop feedback device C for Fig. 6c(s), its transmission function is:
Four hold system decentralized control structure as shown in figure 14.
According to dispersion internal model control design, we with the first adjustable water pump discharge to No. 1 high water tank height shadow
Ringing, the second adjustable water pump discharge is on the impact of No. 2 high water tank height as major loop, and the first scalable water pump is to No. 2 water
Case, the impact of No. 1 water tank is regarded as interference is controlled device design by the second scalable water pump.By system identification, we obtain
Four process models holding system are
Hypothetical model mates, i.e. P (s)=M (s), designs internal mode controller CIMCIt is divided into two steps:
The first step: model decomposition.Process model M (s) resolves into two parts:
M (s)=M+(s)M-(s) (12)
M+S () is the irreversible part of process model, contain all non-minimum phase zero points and Process Control System
Time lag.M-S () is reversible part in model, contain the minimum phase transfer function part of system.
Owing to four appearance systematic procedure models not containing time lag, inertial element and Right-half-plant zero, so,
Second step: design CIMC.According to preferable control, following design can be carried out: introducing wave filter f (s) is to make control
Device processed can realize, and can guarantee that Control platform and the robustness of internal model control system.Design of Internal Model Controller is as follows:
In formulaα is filter parameter, and n is filter order.The selection of filter order n should ensure that
CIMCS () canonical (order of denominator is more than or equal to the order of molecule) is reasonable.In the design of internal mode controller, in wave filter
Parameter alpha be the parameter uniquely can adjusted.Wave filter i.e. overcomes the random disturbances of system and the most well solves model mismatch
Problem.
According to formula (15) we to design internal mode controller as follows:
For ensureing that internal mode controller canonical is reasonable, we take the exponent number n of wave filter here1=n2=1.Formula (16), (17) can
It is written as form:
α in internal mode controller1And α2It it is adjustable parameter.α value is the least, and system response time is the fastest, otherwise system has ratio
Preferably stability and robustness.
Simulation analysis
We build four appearance mission nonlinear models under MATLAB/Simlink environment, and carry out the controller of design
Simulation analysis.We set the initial liquid level height of No. 1 water tank and No. 2 water tanks and are respectively 26cm and 32.5cm, and No. 1 water tank is at t
During=920s, level set value transition is 30cm, and when t=1380s, level set value transition is 26cm, and No. 2 water tanks are at t=
During 700s, level set value transition is 37.5cm, and when t=1200s, level set value transition is 32.5cm, mould control in dispersion
System emulation is as shown in Figure 8.
Dispersion internal model control is capable of the quick tracking of four appearance default level values, and does not has overshoot.Setting liquid
When place value changes, system also can realize quickly following the tracks of, and the change of a high water tank setting value is to another one water tank
Impact the least, system has good capacity of resisting disturbance.
Dispersion internal model control experiment
Dispersion internal mode controller is used for four appearance system experimental devices and carries out Liquid level by us, sets the ginseng of No. 1 water tank
Examining level value is 26cm, and the reference level value of No. 2 water tanks is 32.5cm, No. 1 water tank when t=930s, level set value transition
For 30cm, when t=1380s, level set value transition is 26cm, and No. 2 water tanks are when t=700s, and level set value transition is
32.5cm, when t=1200s, level set value transition is 32.5cm, and experimental result is as shown in Figure 9.
As seen from Figure 9, the four appearance systems with dispersion internal mode controller can reach set liquid level at 170 seconds
Highly, when the level set value of a water tank changes, less on the impact of another one water tank.System has satisfied control
Result processed.
H∞State feedback controller designs
According to LMI (Linear Matrix Inequality, LMI) design H∞State feedback controller.
Consider following linear time invariant continuous system
Meet following time-domain hard constraints
|z2i|≤z2i, max, i=1,2 ..., nz2, t >=0 (21)
WhereinFor system mode,For exogenous disturbances,For controlling input,For H∞Performance
Output,For constraint output.We assume that D21=0, i.e. the constraint of system is exported and does not directly affect by exogenous disturbances.
Assuming that system mode can be measured completely, it is considered to state feedback control law u=Kx, corresponding closed loop system is
Wherein Acl=A+B2K, CCl, 1=C1+D12K, CCl, 2=C2+D22K, Bcl=B1, DCl, 1=D11。
Proposition 1. designs a controller so that closed loop system internal stability, from exogenous disturbances w (t) to optimizing output z1
The H of (t)∞Norm minimum, meets time-domain hard constraints z simultaneously2。
Given scalar γ ＞ α, if there is matrix Q (QT=Q ＞ 0) and Y meet following MATRIX INEQUALITIES,
Here * represents transposed matrix symmetry elements diagonally, and I is the unit matrix of corresponding dimension.Definition feedback increases
Benefit K:=YP, wherein P:=Q-1.May certify that then feedback of status K can ensure that A+BK is Asymptotic Stability if LMI (23) is feasible
's.Define secondary storage function V (x)=xTPx, then inequality (23) is of equal value with following dissipation inequality
To above formula in [0, t >=0] interval upper integral, and then derive dissipation integral inequality
Due to V (x) >=0, so it is recognised that when x (0)=0, exogenous disturbances w to performance export z1H∞
Norm is less than γ.
Assume interfering energy bounded, i.e.
This means that the state trajectory of this interference is included in following elliptic domain
Ω (P, α) :={ x ∈ Rn|V(x)≤α} (27)
Here α :=γ wmax+V(x(0)).Given P and α, in the case of interference bounded, elliptic domain Ω (P, α) comprises and closes
The all of state of loop systems.Derive according to Cauchy-Schwarz inequality available:
If Q, Y meet with lower inequality in formula (23)
Constraint output | | z2i||≤z2i, maxIt is met.WhereinThe off diagonal element of z is zero.
To sum up, based on LMI (Iinear matrix inequality, LMI) method, we can obtain
To solving constraint H∞The Semidefinite Programming of state feedback controller:
According to existing document, system mode feedback rate control K*=Y*(Q*)-1.Wherein Y*, Q*It is problem (30)
Solve, K*It it is optimum control.
Four hold water tank H∞Control
First formula (3) is carried out linearisation, normalized, the state space after linearisation, normalization at equilibrium point
Expression formula is as follows
Owing to four appearance systems are that following two water tank is carried out Liquid level, it is desirable to liquid level can reach setting value, we
Using the liquid level of No. 1 water tank and No. 2 water tanks as H∞The performance output of STATE FEEDBACK CONTROL.
Considering that actuating mechanism controls exports saturated restriction, pump capacity not can exceed that maximum stream flow, i.e.
Q1i(t)≤Q1, max t≥0
Q2i(t)≤Q2, max t≥0
Therefore by pump capacity Q1、Q2For constraint output
At 4 appearance system balancing points, data are as shown in table 2
Table 2 four holds system balancing point
Represent and reach four during balance to the electrical voltage system of two water pump 4V respectively
The liquid level of individual water tank and the first scalable water pump, the flow velocity of the second scalable water pump, r1、r2Represent valve 1 and valve 2
Aperture.
By the LMI workbox in MATLAB, according to formula (30), H can be solved∞State feedback controller gain K matrix
As follows
Simulation and analysis
In order to verify H∞State feedback controller control performance, we hold the non-linear of system in Matlab environmental structure four
Model, carries out simulating, verifying to designed controller.
We are separately added into external disturbance by two water tanks below, are used for simulating radiator leak, controller simulation such as Figure 10
Shown in.H in figure1、h2It is respectively No. 1 water tank and the liquid level change curve of No. 2 water tanks, hr1、hr2It is respectively No. 1 water tank and No. 2 water
The level set value of case, when system is run 380 seconds, we add an amplitude at No. 1 water tank is 0.2, and the persistent period is 20 seconds
Interference signal, adding an amplitude when 640 seconds at No. 2 water tanks is 0.2, and the persistent period is the interference signal of 20 seconds, Wo Menke
To see, after adding interference signal, system can reach balance in 100 seconds again.Controlled quentity controlled variable exports as shown in figure 11, in figure
u1、u2It is respectively the first scalable water pump and the input voltage of the second scalable water pump.Simulation result shows, H∞Feedback of status control
Device processed can quickly realize the liquid level definite value of four appearance systems and follow the tracks of, and has good interference free performance.
H∞Control release
We are by H∞State feedback controller carries out Control release in four appearance systems, and experimental result is as shown in Figure 12.
H in figure1、h2It is respectively No. 1 water tank and the liquid level change curve of No. 2 water tanks, hr1、hr2It is respectively No. 1 water tank and 2
The level set value of number water tank, when system is run 380 seconds, arranges No. 1 radiator leak trouble point, and leak duration 5 seconds, water leakage
1000 milliliters, when system is run 640 seconds, arranging No. 2 radiator leak trouble points, leak duration 6 seconds, water leakage 1200 milliliters.
Controller exports as shown in figure 13, u in figure1、u2It is respectively the first scalable water pump and the input voltage of the second scalable water pump.
Test result indicate that H based on mechanism model∞State feedback controller has good tracking special in four appearance systems
Property, system rejection to disturbance is strong.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. four hold high water tank Control release system, including hardware system and software system, it is characterised in that described hardware system
Including framework, lucite, tank, No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4 water tanks, liquid level sensor, data collecting card,
Water pump and speed adjusting module, industrial computer and regulated power supply, framework upper end is provided with lucite, and four water tanks pass through bolt respectively
Being fixed on poly (methyl methacrylate) plate, water pump is connected by plastic union pipe with each water tank, No. 1 water tank, No. 2 water tanks, No. 3 water tanks, 4
Number water tank bottom is mounted on the liquid level sensor for detecting liquid level, and liquid level sensor exports with voltage signal, passes through
Voltage signal is acquired by data collecting card analog input end, by the control algolithm that writes the in advance data to gathering
Process, output conditioning voltage signal, by the analog output port of data collecting card, voltage signal is flowed to speed governing
Module, the input voltage of speed adjusting module generation pwm signal regulation water pump to the first scalable water pump and the second scalable water pump, from
And controlling the size of Loop Water flow, described regulated power supply is that the first scalable water pump, the second scalable water pump are powered, and first can
Regulation water pump gives No. 1 water tank and No. 4 cistern water supplies respectively, and the second scalable water pump gives No. 2 water tanks and No. 3 cistern water supplies respectively,
Being respectively arranged with an apopore below four water tanks, the water of No. 3 water tank outflows injects in No. 1 water tank, the water injection 2 that No. 4 water tanks flow out
In number water tank, the water that No. 1 water tank, No. 2 water tanks flow out flows directly in the tank of bottom, at the inlet channel of each water tank with go out
Being equipped with a manually adjustable valve on waterpipe, No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4 tank top are equipped with
Overflow pipe, No. 1 water tank and No. 2 water tank bottom sides equipped with hand-operated valve, tank be No. 1 water tank, No. 2 water tanks, No. 3 water tanks, No. 4
Water tank provide water source, the first scalable water pump, the second scalable water pump supply channel on equipped with proportional diverter valve, described liquid level
Sensor uses MPX5010DP type differential pressure pick-up, and described software system includes
Operating Interface Module, interacts with four appearance systems for user, and described Operating Interface Module is provided with other five merits
The button of energy module and coordinate axes, by operating the function that just can realize correspondence to associated button；
Parameter configuration module, for configuring reference level value, sampling time and sample frequency；
Data acquisition module, for collection and the output of control signal of liquid level sensor analogue signal；
Control functional module, for system operation is controlled, there is system initialization, start to test, stop and moving back
Go out the function of experiment porch.
Image display module, for the coordinate axes displaying data in real-time curve at GUI operation interface, convenient liquid level of observing changes song
Line and pump capacity change, and carry out real time value and show；
Algorithms selection module, for carrying out the selection of the algorithm routine write with MATLAB, it is achieved to four controls holding system liquid level
System.
The most according to claim 1 four hold high water tank Control release system, it is characterised in that described water pump uses
SHURFLO 2088-343-135 type water pump, the regulation signal of water pump input voltage is adjusted by DTS-V-10-24FS type direct current generator
Speed module generates.
The most according to claim 1 four hold high water tank Control release system, it is characterised in that described DC motor speed-regulating
Module uses DTS-V-10-24FS type DC motor speed-regulating module.
The most according to claim 1 four hold high water tank Control release system, it is characterised in that described data collecting card
PCI-1710U data collecting card, described industrial computer uses IPC-610L industrial computer.
The most according to claim 1 four hold high water tank Control release system, it is characterised in that described Operating Interface Module
Including:
Control functional area, for realizing process control to system, including initializing, start, stop, exit button.Pass through
The parameter read-in registration table that system is arranged by function of initializing, and the parameter of experimental provision is imported to MATLAB work space
In；The i.e. halt system of stop button runs；Exit button is then the operation interface that logs off, and the sampling ginseng set by deletion
Number, but sampled data can be automatically saved；
Data acquisition function region, be provided with data storage, data check and print data functional keys, data storage is passed through
MATLAB data storage function realize, * .mat file or * .xls file can be saved as, by call function uigetfile and
Uiputfile obtains the input of user, and return path and filename character string, and data are checked and beaten by MATLAB operation interface
Open file folder realizes look facility；
Graphics display area, shows in real time for controlling curve figure, it is simple to viewing system control process, including two coordinate axess,
The liquid level change curve check box of water tank, liquid level numerical value show, pump capacity change curve and numerical value show, pass through final election
Frame can realize showing any high water tank change curve and pump capacity change curve；
Parameter setting area, for setting selection, sampling time, sample frequency and the liquid level reference value of data collecting card
Put；Control algolithm can be selected by algorithms selection drop-down menu hurdle.
The most according to claim 1 four hold high water tank Control release system, it is characterised in that pass through drive software
Data collecting card parameter is configured by DAQNavi, writes interface routine and realizes data collecting card with MATLAB software communication even
Connect, the order provided by programming Control Calling MATLAB data acquisition and function, it is achieved the collection of data and control
The output of amount.
The most according to claim 1 four hold high water tank Control release systems, it is characterised in that described tank and water tank by
High grade of transparency acrylic material is made.
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