CN107526291A - 一种基于模糊pid的低压铸造液面加压控制*** - Google Patents

一种基于模糊pid的低压铸造液面加压控制*** Download PDF

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CN107526291A
CN107526291A CN201610449454.6A CN201610449454A CN107526291A CN 107526291 A CN107526291 A CN 107526291A CN 201610449454 A CN201610449454 A CN 201610449454A CN 107526291 A CN107526291 A CN 107526291A
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die casting
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李征
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D18/00—Pressure casting; Vacuum casting
    • B22D18/04—Low pressure casting, i.e. making use of pressures up to a few bars to fill the mould
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D18/00—Pressure casting; Vacuum casting
    • B22D18/08—Controlling, supervising, e.g. for safety reasons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Medical Informatics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Fuzzy Systems (AREA)
  • Feedback Control In General (AREA)

Abstract

一种基于模糊PID的低压铸造液面加压控制***，主要由Siemens 57‑400 PLC和模拟输入/输出模块即5M431/SM432等组成。将人工智能与PID控制结合起来，根据低压铸造的工作状况不断在线修正K p、K i和K d参数，大大提高了低压铸造液面加压的动态性能和控制精度，在实际调试中得到了较好的效果。该控制***克服了常规PID控制的一些缺点，既有模糊控制不需要建立精确数学模型，且鲁棒性强、超调小的特点，又具有PID控制动态跟踪品质好、稳态精度高的优点。

Description

一种基于模糊PID的低压铸造液面加压控制***
所属技术领域
本发明涉及一种基于模糊PID的低压铸造液面加压控制***，适用于机械领域。
背景技术
低压铸造是目前广泛应用于铸造、冶金等领域的特种铸造成型工艺，其主要工艺过程(升液、充型、增压和保压等)都是靠液面加压控制***对压力的控制来实现的。因此，液面加压控制***是低压铸造设备的关键组成部分，是低压铸造成品率和低压铸件质量的根本保证。
现有的液面加压控制***多采用PID(比例、微分、积分)控制，PID控制***性能的好坏取决于PID参数K p、K i和K d，的准确度，获得准确的K p、K i和K d参数要求建立精确的数学模型，而低压铸造加压***是一个大滞后、非线性的时变***，难以建立准确的数学模型。并且，由于低压铸造生产过程中，液面下降、温度波动以及供气压力变化等干扰因素的存在，即使得到较准确的K p、K i和K d参数，固定的K p、K i和K d参数也不能使整个控制过程达到最优。所以常规PID液面加压控制***在实际生产中存在压力波动大、实际的加压曲线不能很好跟踪给定加压曲线等缺点，造成铸件质量差且不稳定。
发明内容
本发明提出了一种基于模糊PID的低压铸造液面加压控制***，将人工智能与PID控制结合起来，根据低压铸造的工作状况不断在线修正K p、K i和K d参数，大大提高了低压铸造液面加压的动态性能和控制精度，在实际调试中得到了较好的效果。
本发明所采用的技术方案是：
所述液面加压控制***主要由Siemens 57-400 PLC和模拟输入/输出模块即5M431/SM432等组成。
所述控制***采用高性能的Siemens CPU 414-2处理器，执行一条二进制指令仅需0.75μs，S7-400PLC还具有完整强大的指令集，可实现复杂的逻辑和算术运算，因此***能根据e和ec，实时查询△K P，△K i和△K a的查询表，并进行反模糊化等运算，保证了液面加压控制的实时性。
所述控制***的整个软件设计采用模块化设计方法，实现模糊PID加压控制***的主要功能块有：用于循环程序处理的组织块OB1，周期性中断组织块OB30，模糊化处理功能块FC60，模糊控制表查询功能块FC61，反模糊化处理功能块FC62，PID运算功能块FC64等。
本发明的有益效果是：该控制***克服了常规PID控制的一些缺点，既有模糊控制不需要建立精确数学模型，且鲁棒性强、超调小的特点，又具有PID控制动态跟踪品质好、稳态精度高的优点。
附图说明
图1是本发明的模糊PID控制程序流程图。
图2是本发明的液面加压控制***硬件原理框图。
具体实施方式
下面结合附图和实施例对本发明作进一步说明。
如图1，液面加压控制***主要由Siemens 57-400 PLC和模拟输入/输出模块即5M431/SM432等组成。
控制***采用高性能的Siemens CPU 414-2处理器，执行一条二进制指令仅需0.75μs，S7-400PLC还具有完整强大的指令集，可实现复杂的逻辑和算术运算，因此***能根据e和ec，实时查询△K P，△K i和△K a的查询表，并进行反模糊化等运算，保证了液面加压控制的实时性。
控制***的整个软件设计采用模块化设计方法，实现模糊PID加压控制***的主要功能块有：用于循环程序处理的组织块OB1，周期性中断组织块OB30，模糊化处理功能块FC60，模糊控制表查询功能块FC61，反模糊化处理功能块FC62，PID运算功能块FC64等。
如图2，该模糊控制器满足不同的压力偏差，和压力偏差变化率ec对PID自整定的要求，其根据模糊控制规则进行模糊推理，在线对PID参数进行修正。
根据模糊控制规则，应用模糊推理的合成规则离线计算出模糊控制器的输出，也就是PID参数K P，K i和K a的校正量△K P，△K i和△K a。然后把校正量存入计算机内存中，得到△K P，△K i和△K a的查询表。实时控制时，首先根据。和ec的量化值直接从离线获得的查询表中查出校正量△K P，△K i和△K a的量化值，再通过解模糊处理，得到△K P，△K i和△K a的精确值，最后把它们和PID参数的基值。

Claims (3)

1.一种基于模糊PID的低压铸造液面加压控制***，其特征是：所述液面加压控制***主要由Siemens 57-400 PLC和模拟输入/输出模块即5M431/SM432等组成。
2. 根据权利要求1所述的一种基于模糊PID的低压铸造液面加压控制***，其特征是：所述控制***采用高性能的Siemens CPU 414-2处理器，执行一条二进制指令仅需0.75μs，S7-400PLC还具有完整强大的指令集，可实现复杂的逻辑和算术运算，因此***能根据e和ec，实时查询△K P，△K i和△K a的查询表，并进行反模糊化等运算，保证了液面加压控制的实时性。
3. 根据权利要求1所述的一种基于模糊PID的低压铸造液面加压控制***，其特征是：所述控制***的整个软件设计采用模块化设计方法，实现模糊PID加压控制***的主要功能块有用于循环程序处理的组织块OB1，周期性中断组织块OB30，模糊化处理功能块FC60，模糊控制表查询功能块FC61，反模糊化处理功能块FC62，PID运算功能块FC64等。
CN201610449454.6A 2016-06-21 2016-06-21 一种基于模糊pid的低压铸造液面加压控制*** Pending CN107526291A (zh)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109581863A (zh) * 2019-01-02 2019-04-05 青岛理工大学 一种智能混肥控制***水肥浓度控制器
CN113862728A (zh) * 2021-09-30 2021-12-31 佛山仙湖实验室 Pem纯水电解制氢的压力控制方法、***、设备及介质

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109581863A (zh) * 2019-01-02 2019-04-05 青岛理工大学 一种智能混肥控制***水肥浓度控制器
WO2020140188A1 (zh) * 2019-01-02 2020-07-09 青岛理工大学 一种智能混肥控制方法及控制***
CN113862728A (zh) * 2021-09-30 2021-12-31 佛山仙湖实验室 Pem纯水电解制氢的压力控制方法、***、设备及介质
CN113862728B (zh) * 2021-09-30 2024-01-09 佛山仙湖实验室 Pem纯水电解制氢的压力控制方法、***、设备及介质

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Application publication date: 20171229