CN108549265B - Passive electronic hard tag magnet insertion control method based on fuzzy control - Google Patents
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Abstract
The invention discloses a passive electronic tag magnetism-inserting control method based on fuzzy control. The invention adopts the fuzzy control algorithm aiming at the characteristics that the nonlinear relation exists between the magnetic insertion depth of the control object and the controlled resonant frequency and the control object can not be described by a mathematical model, provides a fuzzy control design process, has high control process precision, good effect and high automation degree, and greatly improves the magnetic insertion production efficiency.
Description
The technical field is as follows:
the invention belongs to the technical field of commodity anti-theft systems, and particularly relates to a passive electronic hard tag magnetism-inserting control method based on fuzzy control.
Background art:
the production of domestic passive hard tags is concentrated in small and micro enterprises in Jiangzhe and Zhejiang, and the magnetic insertion process in the production process of the hard tags (a magnetic rod is inserted into a framework wound with a coil to adjust the inductance value in a hard tag resonant circuit so that the resonant frequency of a series circuit formed by a hard tag inductor and a capacitor meets the industrial requirements) basically adopts a semi-automatic mode, namely, the magnetic rod is manually inserted into the framework, and the magnetic insertion control device is used for pressing down to ensure that the resonant frequency of the hard tags meets the industrial specified range.
Referring to relevant documents, a hard tag frequency detection sensor for providing a control signal for a plug-in control device can be mainly divided into a single coil structure, a double coil structure and a three coil structure according to the probe structure. The Shengqingyuan et al analyzes the working principle of the three-coil sensing probe structure, and can effectively solve the problem of indirect acquisition and frequency deviation test of a single coil and a double coil. At present, the magnetic insertion control device basically provides a control signal for the control device by using a three-coil sensor, and the traditional method of adopting a frequency sweep method to detect the resonant frequency in real time is time-consuming. The patent application with the application number of 201710566364.x provides a hard tag magnetic insertion device and a control method thereof, and the structure of a core component of the magnetic insertion device is shown in figure 1: the frequency modulation device comprises a base 1, a stepping motor 2, a lead screw 3, a moving block 4, a pressing block 5, a mounting seat 6, a tag 7 to be frequency modulated, a magnetic bar 8, a transmitting coil 9, a first receiving coil 10, a second receiving coil 11 and the like. The control unit of the magnetic insertion device is shown in fig. 2: the control circuit unit comprises a sensitive probe, a signal processing module 12, a control unit 13, a man-machine interaction interface 14, a power supply module 15 and a stepping motor driver 16, wherein the sensitive probe consists of a transmitting coil 9, a first receiving coil 10 and a second receiving coil 11, the signal processing module 12 comprises an excitation signal source unit 1201, a difference unit 1202, a true effective value detection unit 1203 and an A/D conversion unit 1204, and the hard tag magnet inserting device and the control method thereof adopt a constant frequency control pressing-in step and a frequency hopping control pressing-in step during the magnet inserting control, namely the control process comprises an upper limit frequency fast pressing-down step, an upper limit frequency slow pressing-down step and a quality judgment fine adjustment step. The two control methods can control the resonant frequency within the range required by the industry, but have deviation with the control center frequency value, and the control precision is not high.
The document three-coil passive electronic tag quality parameter detection technical research by Shengqingyuan and the like provides a mathematical model for detecting the resonant frequency of a hard tag by three-coil sensing, and several parameters in the model have a nonlinear relation with the press-in depth of a magnetic rod and cannot be quantitatively described by the mathematical model. Obviously, the conventional PID control method based on an accurate model cannot meet the control requirement, and the general intermittent control method for measuring the resonant frequency of the hard tag and controlling the stepper motor to rotate by a certain angle has too low efficiency and is difficult to determine the minimum rotation angle of a motion.
The invention content is as follows:
therefore, the technical problem to be solved by the invention is to provide a control method for inserting magnetism of a passive electronic hard tag based on fuzzy control, wherein the deviation exists between the resonance frequency of the controlled hard tag and the central frequency value, and the control precision is not high in the control method for inserting magnetism of the passive electronic hard tag in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a passive electronic tag magnetism-inserting control method based on fuzzy control comprises the following steps:
s1: initializing a device;
s2: judging whether the start magnet insertion key is pressed, if so, entering the step S3, otherwise, returning to the step S1;
s3: controlling the excitation signal source unit to generate the control target resonant frequency FkThe excitation signal of (a);
s4: acquiring a response signal in real time by using an A/D conversion unit;
s5: judging whether the response signal is larger than a set threshold value, if so, entering a step S7, otherwise, entering a step S6;
s6: the stepping motor is pressed down rapidly, the A/D conversion unit acquires a response signal in real time and returns to the step S5;
s7: controlling the excitation signal source unit to generate excitation signals with different frequencies, and correspondingly acquiring different response signals | U by the A/D conversion unit0Selecting the maximum value of the response signal | U0|maxThe frequency of the corresponding excitation signal source unit is the resonant frequency Fx；
S8: calculating a deviation and a deviation variation amount, the deviation being the resonance frequency F in the step S7xAnd the control target resonance frequency F in said step S3kThe deviation variation is the difference between the two previous deviations;
s9: carrying out fuzzy control according to the deviation and the deviation variable quantity to obtain an output quantity, wherein the output quantity is the driving pulse frequency of the stepping motor;
s10: controlling the rotation speed of the stepping motor according to the output quantity obtained in the step S9;
s11: and judging whether the output quantity is zero, if so, ending the magnet insertion, and otherwise, returning to the step S7.
Preferably, the step S9 specifically includes the following steps:
s91: taking the deviation as a first fuzzy input variable, taking the deviation variable quantity as a second fuzzy input variable, and taking the output pulse frequency of the stepping motor as a fuzzy output variable;
s92, dividing the linguistic value of the first fuzzy input variable into five grades, namely NB1, NM1, NS1, Z1 and PS1, wherein the first fuzzy input variable is graded by taking 0, + -0.5 △ F, - △ F and-1.5 △ F as demarcation points in a domain, NB1 is negative and large, NM1 is negative and medium, NS1 is negative and small, Z1 is zero, PS1 is positive and small, and △ F defines a control target resonant frequency F for the hard label by the industrykAccording to the deviation in S8, obtaining a first gear stage corresponding to the deviation;
s93: and respectively inputting the language values of the second fuzzy input variable into five levels: the second fuzzy input variable is classified by taking-2, -1, 0, 1 and 2 as a demarcation point in a discourse domain, wherein NM2 is negative and medium, NS2 is negative and small, Z2 is zero, PS2 is positive and small, and PM2 is middle, and a second gear level corresponding to the deviation variation is obtained according to the deviation variation in S8;
s94: the fuzzy output variable linguistic values are divided into five stages: z3, PZ3, PS3, PM3 and PB3, wherein fuzzy output variables are classified in a theoretical domain by taking 0, 1, 2, 3 and 4 as boundary points, wherein Z3 is zero, and the corresponding pressing speed is stopped; PZ3 is positive zero, corresponding to a slow press-in speed; PS3 is positive or small, and the corresponding pressing speed is medium; PM3 is in the middle, corresponding to a high pressing speed; PB3 is positive, corresponding to a very fast press-in speed;
s95: manufacturing a fuzzy control rule table according to the fuzzy control rule, wherein the fuzzy control rule table is as follows:
s96: substituting the first gear stage in S92 and the second gear stage in S93 into the fuzzy control rule table in S95, and obtaining a third gear stage of the fuzzy output variable, that is, obtaining an output quantity: the pulse output frequency of the stepper motor.
Preferably, in the step S95, the step of:
the basic principle of compiling the fuzzy control rule is as follows: the larger the negative deviation of the resonant frequency is, the larger the pulse frequency of the stepping motor is controlled to be, so that the error is eliminated as soon as possible; when the negative deviation is smaller, the smaller the pulse frequency of the selected control quantity is, and the deviation is prevented from being changed into positive deviation by overshoot; the offset change fuzzy amount is used to control the switching of the fuzzy set of output amounts.
Preferably, in the step S1, the step of:
device initialization includes initializing I/O ports, timers/counters in the control unit.
Preferably, the excitation signal source unit is an AD9833 chip.
Preferably, the a/D conversion unit adopts an ADS1115 chip with 16-bit resolution.
The invention has the beneficial effects that: the invention adopts the fuzzy control algorithm aiming at the characteristics that the nonlinear relation exists between the magnetic insertion depth of the control object and the controlled resonant frequency and the control object can not be described by a mathematical model, provides a fuzzy control design process, has high control process precision, good effect and high automation degree, and greatly improves the magnetic insertion production efficiency.
Description of the drawings:
the drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1 is a schematic diagram of a core component structure of a prior art magnetophoresis device;
FIG. 2 is a block diagram of a control circuit of a prior art magnetophoresis device;
fig. 3 is a flowchart of a method for controlling magnetic insertion of a passive electronic tag based on fuzzy control according to an embodiment of the present invention;
FIG. 4 is a graph of input-output membership functions according to one embodiment of the present invention;
FIG. 5 is a functional block diagram of a controller in accordance with one embodiment of the present invention.
The symbols in the drawings illustrate that:
the device comprises a base 1, a stepping motor 2, a lead screw 3, a moving block 4, a pressing block 5, a mounting seat 6, a tag to be frequency modulated 7, a magnetic bar 8, a transmitting coil 9, a first receiving coil 10, a second receiving coil 11, a signal processing module 12, a control unit 13, a human-computer interaction interface 14, a power supply module 15 and a stepping motor driver 16.
The specific implementation mode is as follows:
as shown in fig. 3, the passive electronic tag magnetism-inserting control method based on fuzzy control of the present invention includes the following steps:
s1: initializing a device; device initialization includes initializing I/O ports, timers/counters in the control unit.
S2: judging whether the start magnet insertion key is pressed, if so, entering the step S3, otherwise, returning to the step S1;
s3: controlling the excitation signal source unit to generate the control target resonant frequency FkThe excitation signal of (a);
s4: acquiring a response signal in real time by using an A/D conversion unit;
s5: judging whether the response signal is larger than a set threshold value, if so, entering a step S7, otherwise, entering a step S6;
s6: the stepping motor is pressed down rapidly, the A/D conversion unit acquires a response signal in real time and returns to the step S5;
s7: controlling the excitation signal source unit to generate excitation signals with different frequencies, and correspondingly acquiring different response signals | U by the A/D conversion unit0Selecting the maximum value of the response signal | U0|maxThe frequency of the corresponding excitation signal source unit is the resonant frequency Fx；
Wherein, M, M1Mutual inductance coefficient of the hard tag, the transmitting coil and the second receiving radiation coil respectively, R is the equivalent resistance of the hard tag, I1For the current flowing through the transmitting coil, T (jw) a normalized amplitude-frequency characteristic curve formula of the hard tag LCR series circuit, wherein w is the angular frequency corresponding to the excitation signals with different frequencies generated by the excitation signal source unit, and theta is the current I1And the vector angle between the passive electronic tag admittance. As shown in the formula (1), when the magnetic rod is located at the coil fixing position, and the hard tag, the transmitting coil and the receiving coil are also fixed, the frequency sweep signal | U can be obtained by the frequency sweep method0The inversion provides the hard tag resonant frequency Fx。
M, M during pressing in the magnetic bar1And the passive electronic tag admittance and the magnetic rod press-in depth have a nonlinear relation, and can not be quantitatively described by a mathematical model. The fuzzy control is not dependent on an accurate mathematical model, so that the fuzzy control is suitable for controlling nonlinear, time-varying and pure-lag objects.
S8: calculating a deviation and a deviation variation amount, the deviation being the resonance frequency F in the step S7xAnd the control target resonance frequency F in said step S3kThe deviation variation is the difference between the two previous deviations;
s9: and carrying out fuzzy control according to the deviation and the deviation variable quantity to obtain an output quantity, wherein the output quantity is the driving pulse frequency of the stepping motor.
The system takes the press-in depth of a magnetic rod as a control object, actually controls the rotating speed of a stepping motor as a target, takes the error between the target resonant frequency of a hard tag and the actually measured resonant frequency as an input quantity of deviation e, takes the variable quantity ec of the deviation as an input variable, and takes the rotating speed of the stepping motor, namely the pulse frequency driven by the stepping motor, as an output quantity to construct a two-dimensional univariate fuzzy controller, wherein the functional block diagram of the controller is shown in figure 5. Wherein r is the target resonant frequency; e is a deviation; ec is the deviation variation; u is the driving pulse frequency of the stepping motor; y is the measured resonant frequency Fx。
KT in FIG. 5 is control switching, the control rule adopts segmented control, and the system is provided with a threshold value. Qualitative analysis for formula (1): m, M1And | cos θ | during the bar magnet insertion process, M, M1And | cos θ | are increased and then decreased, | U0I is also first increased and then decreased. In control, first | U0When the | digital quantity is less than the threshold value, the | U is used0The | digital quantity is a control signal, so that the magnetic rod is quickly pressed in; then, from | U0I inverted resonance frequency FxAnd then, fuzzy control rules are adopted, the input quantity is input into the system after fuzzification, fuzzy reasoning is carried out, finally defuzzification is carried out, accurate output quantity is obtained, an actuating mechanism is controlled, and the control of the pressing-in depth of the magnetic rod is implemented.
The step S9 specifically includes the following steps:
s91: taking the deviation as a first fuzzy input variable, taking the deviation variable quantity as a second fuzzy input variable, and taking the output pulse frequency of the stepping motor as a fuzzy output variable;
s92, as shown in FIG. 4, dividing the linguistic values of the first fuzzy input variables into five stages, NB1, NM1, NS1, Z1 and PS1, wherein the first fuzzy input variables are divided into 0, +/-0.5 △ f, - △ f and-1.5 △ f as demarcation points in the universe of discourseThe resonant frequency of the hard tag is defined by △ F, wherein NB1 is large negative, NM1 is medium negative, NS1 is small negative, Z1 is zero, PS1 is small positive, and NB △ F is the control target resonant frequency F specified by the industry for the hard tagkAccording to the deviation in S8, obtaining a first gear stage corresponding to the deviation;
s93: as shown in fig. 4, the linguistic values of the second fuzzy input variable are respectively set to five levels: the second fuzzy input variable is classified by taking-2, -1, 0, 1 and 2 as a demarcation point in a discourse domain, wherein NM2 is negative and medium, NS2 is negative and small, Z2 is zero, PS2 is positive and small, and PM2 is middle, and a second gear level corresponding to the deviation variation is obtained according to the deviation variation in S8;
s94: as shown in FIG. 4, the fuzzy output variable linguistic values are divided into five stages: z3, PZ3, PS3, PM3 and PB3, wherein fuzzy output variables are classified in a theoretical domain by taking 0, 1, 2, 3 and 4 as boundary points, wherein Z3 is zero, and the corresponding pressing speed is stopped; PZ3 is positive zero, corresponding to a slow press-in speed; PS3 is positive or small, and the corresponding pressing speed is medium; PM3 is in the middle, corresponding to a high pressing speed; PB3 is positive, corresponding to a very fast press-in speed;
s95: manufacturing a fuzzy control rule table according to the fuzzy control rule, wherein the fuzzy control rule table is as follows:
the basic principle of compiling the fuzzy control rule is as follows: the larger the negative deviation of the resonant frequency is, the larger the pulse frequency of the stepping motor is controlled to be, so that the error is eliminated as soon as possible; when the negative deviation is smaller, the smaller the pulse frequency of the selected control quantity is, and the deviation is prevented from being changed into positive deviation by overshoot; the offset change fuzzy amount is used to control the switching of the fuzzy set of output amounts.
S96: substituting the first gear stage in S92 and the second gear stage in S93 into the fuzzy control rule table in S95, and obtaining a third gear stage of the fuzzy output variable, that is, obtaining an output quantity: the pulse output frequency of the stepper motor.
S10: controlling the rotation speed of the stepping motor according to the output quantity obtained in the step S9;
s11: and judging whether the output quantity is zero, if so, ending the magnet insertion, and otherwise, returning to the step S7.
In a specific experiment, a stepping motor is 57BYG250B and is provided with a TB6600 driver. The control circuit unit adopts a modular design, an MSP430F14 development board is selected as the control unit, an AD9833 chip is adopted as an excitation signal source, an AD8129 differential amplifier is adopted as a differential unit, an AD637 chip is adopted for true effective value detection, and an ADS1115 chip with 16-bit resolution is adopted as an A/D conversion unit.
In the embodiment, a commercially available 58kHz acousto-magnetic passive electronic hard tag is used as a test object, the hard tag to be frequency-modulated is inserted into the mounting seat in fig. 1, the magnetic rod is manually inserted into the hard tag framework, the controller is started, and the magnetic insertion frequency modulation process is automatically completed.
During the test, 20 pairs of hard tags to be frequency-modulated and magnetic rods provided by a cooperative manufacturer are randomly extracted for magnetic insertion test, after magnetic insertion, the resonance frequency of the hard tags is detected by using a commercial EAS frequency detector (E-X5006AM), and in order to illustrate the magnetic insertion performance of the device, the resonance frequency of the hard tags which are randomly extracted and manually inserted is used for comparison. The test data are shown in table 2 below.
TABLE 2 test data analysis Table Unit kHz
As can be seen from Table 2, the maximum value and the variance of the absolute error of the hard tag magnetism-inserting control system are 60Hz less than those of manual control, the variance is 0.000569, and the effect is obvious. In addition, 100 continuous magnetic insertion tests are carried out, the error of the resonant frequency is within +/-100 Hz, the average magnetic insertion process is about 2.3s, and the efficiency is equivalent to that of manual operation, so that the system meets the requirements of manufacturers on improving the production efficiency and the product quality.
The hard tag production magnetic insertion process has the advantages of low production efficiency, high product quality fluctuation and high labor cost due to a manual method. An automatic magnetism inserting control method is designed for the process. A method for detecting a hard tag by adopting a three-coil mode adopts a fuzzy control algorithm and gives a fuzzy control design process aiming at the characteristics that a nonlinear relation exists between the magnetic insertion depth of a control object and a controlled resonant frequency and the control object cannot be described by a mathematical model. The manufactured hard tag magnetism inserting device is tested by using commercially available 58kHz sound magnetic passive electronic hard tag frequency modulation production, and tests show that the maximum absolute error value of the hard tag magnetism inserting control system is 60Hz smaller than that of manual control, the variance is one order of magnitude smaller, the effect is obvious, and the overall effect is better than that of manual operation. Next step, the device can be utilized, an automatic magnetic inserting feeding mechanism is additionally developed, a magnetic inserting device with more than two paths is designed, the automation level of magnetic inserting production of hard labels can be further realized, and the magnetic inserting production efficiency is greatly improved.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (6)
1. A passive electronic tag magnetism-inserting control method based on fuzzy control is characterized by comprising the following steps:
s1: initializing a device;
s2: judging whether the start magnet insertion key is pressed, if so, entering the step S3, otherwise, returning to the step S1;
s3: controlling the excitation signal source unit to generate the control target resonant frequency FkThe excitation signal of (a);
s4: acquiring a response signal in real time by using an A/D conversion unit;
s5: judging whether the response signal is larger than a set threshold value, if so, entering a step S7, otherwise, entering a step S6;
s6: the stepping motor is pressed down rapidly, the A/D conversion unit acquires a response signal in real time and returns to the step S5;
s7: controlling the excitation signal source unit to generate excitation signals with different frequencies, and correspondingly acquiring different response signals | U by the A/D conversion unit0Selecting the maximum value of the response signal | U0|maxThe frequency of the corresponding excitation signal source unit is the resonant frequency Fx；
S8: calculating a deviation and a deviation variation amount, the deviation being the resonance frequency F in the step S7xAnd the control target resonance frequency F in said step S3kThe deviation variation is the difference between the two previous deviations;
s9: carrying out fuzzy control according to the deviation and the deviation variable quantity to obtain an output quantity, wherein the output quantity is the driving pulse frequency of the stepping motor;
s10: controlling the rotation speed of the stepping motor according to the output quantity obtained in the step S9;
s11: and judging whether the output quantity is zero, if so, ending the magnet insertion, and otherwise, returning to the step S7.
2. The passive electronic tag magnetism-inserting control method based on fuzzy control as claimed in claim 1, wherein said step S9 specifically includes the following steps:
s91: taking the deviation as a first fuzzy input variable, taking the deviation variable quantity as a second fuzzy input variable, and taking the output pulse frequency of the stepping motor as a fuzzy output variable;
s92, dividing the linguistic value of the first fuzzy input variable into five grades, namely NB1, NM1, NS1, Z1 and PS1, wherein the first fuzzy input variable is graded by taking 0, + -0.5 △ F, - △ F and-1.5 △ F as demarcation points in a domain, NB1 is negative and large, NM1 is negative and medium, NS1 is negative and small, Z1 is zero, PS1 is positive and small, and △ F defines a control target resonant frequency F for the hard label by the industrykAccording to the deviation in S8, obtaining a first gear stage corresponding to the deviation;
s93: and respectively inputting the language values of the second fuzzy input variable into five levels: the second fuzzy input variable is classified by taking-2, -1, 0, 1 and 2 as a demarcation point in a discourse domain, wherein NM2 is negative and medium, NS2 is negative and small, Z2 is zero, PS2 is positive and small, and PM2 is middle, and a second gear level corresponding to the deviation variation is obtained according to the deviation variation in S8;
s94: the fuzzy output variable linguistic values are divided into five stages: z3, PZ3, PS3, PM3 and PB3, wherein fuzzy output variables are classified in a theoretical domain by taking 0, 1, 2, 3 and 4 as boundary points, wherein Z3 is zero, and the corresponding pressing speed is stopped; PZ3 is positive zero, corresponding to a slow press-in speed; PS3 is positive or small, and the corresponding pressing speed is medium; PM3 is in the middle, corresponding to a high pressing speed; PB3 is positive, corresponding to a very fast press-in speed;
s95: manufacturing a fuzzy control rule table according to the fuzzy control rule, wherein the fuzzy control rule table is as follows:
s96: substituting the first gear stage in S92 and the second gear stage in S93 into the fuzzy control rule table in S95, and obtaining a third gear stage of the fuzzy output variable, that is, obtaining an output quantity: the pulse output frequency of the stepper motor.
3. The passive tag magnetization switching control method based on fuzzy control according to claim 2, wherein in step S95:
the basic principle of compiling the fuzzy control rule is as follows: the larger the negative deviation of the resonant frequency is, the larger the pulse frequency of the stepping motor is controlled to be, so that the error is eliminated as soon as possible; when the negative deviation is smaller, the smaller the pulse frequency of the selected control quantity is, and the deviation is prevented from being changed into positive deviation by overshoot; the offset change fuzzy amount is used to control the switching of the fuzzy set of output amounts.
4. The passive tag magnetization switching control method based on fuzzy control according to claim 1, wherein in step S1:
device initialization includes initializing I/O ports, timers/counters in the control unit.
5. The fuzzy control-based passive electronic tag magnetism-inserting control method according to claim 1, characterized in that:
the excitation signal source unit adopts an AD9833 chip.
6. The fuzzy control-based passive electronic tag magnetism-inserting control method according to claim 1, characterized in that:
the A/D conversion unit adopts an ADS1115 chip with 16-bit resolution.
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| CN107064650A (en) * | 2017-03-30 | 2017-08-18 | 绍兴职业技术学院 | A kind of EAS electronic tags mass parameter detector and its detection method |
| CN107239079A (en) * | 2017-07-12 | 2017-10-10 | 绍兴职业技术学院 | A kind of hard label plugs in magnetic device and its control method |
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