CN109445276A - Filter stick supplying system design method based on fuzzy-adaptation PID control - Google Patents
Filter stick supplying system design method based on fuzzy-adaptation PID control Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000013461 design Methods 0.000 title claims abstract description 23
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 12
- 238000012856 packing Methods 0.000 claims abstract description 9
- 235000019504 cigarettes Nutrition 0.000 claims abstract description 6
- 230000006870 function Effects 0.000 claims description 26
- 230000008569 process Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 6
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- 238000004364 calculation method Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000008030 elimination Effects 0.000 claims description 3
- 238000003379 elimination reaction Methods 0.000 claims description 3
- 230000006872 improvement Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 238000011002 quantification Methods 0.000 claims description 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
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- 230000033001 locomotion Effects 0.000 description 6
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- 230000005540 biological transmission Effects 0.000 description 2
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- 238000004092 self-diagnosis Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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- 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.
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
- B65B19/02—Packaging cigarettes
-
- 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
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- 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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- Automation & Control Theory (AREA)
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- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Mechanical Engineering (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Feedback Control In General (AREA)
Abstract
The filter stick supplying system design method based on fuzzy-adaptation PID control that the invention discloses a kind of, including setting filter stick box packing machine delivery device, Design of Fuzzy PID Controller, algorithm design and etc..The present invention makes delivery device that flexible filter stick for cigarettes mounted box may be implemented, and positioning accuracy is better than 0.1mm, improves the mounted box quality of filter stick box packing machine.
Description
Technical field
The filter stick supplying system design method based on fuzzy-adaptation PID control that the present invention relates to a kind of.
Background technique
HCF80 and YJ36 type box packing machine is widely applied in country's cigarette and filter material manufacturing enterprise at present, can not accomplish high quality,
High efficiency, high the degree of automation and the full-automatic of On-line self-diagnosis are run, and main problem is that filter stick is beated when being packed into carton
With shock, cause top layer filter stick uneven, need manually mend branch, influence mounted box quality, can not by filter stick quickly, accurately push into
Box.
Summary of the invention
The purpose of the present invention is to provide a kind of response speed for effectively improving system with control precision based on fuzzy
The filter stick supplying system design method of control.
The technical solution of the invention is as follows:
A kind of filter stick supplying system design method based on fuzzy-adaptation PID control, including setting filter stick box packing machine delivery device,
The filter stick box packing machine delivery device includes upper and lower push plate module, whole pushing mechanism, and in filter stick binning process, filling mechanism will be arranged
The filter stick arranged is fitly seated in Chu Bangcang, and the whole box of filter stick for the proper alignment stored up in stick storehouse is pushed to sky paper by delivery device
In box；It is characterized in that: delivery device servo-control system uses semi-closed loop control structure, by touch screen, programmable controller, mould
Self-adaptive fuzzy PID controller, servo-driver and servo motor constitute control system；Length through touch screen setting filter stick for cigarettes
Parameter, filter stick range are 70mm~200mm, send position signal and the collected actual position signal of encoder by PLC
The input of error and error change as Fuzzy Self-adaptive PID, exports the correction amount of real-time position signal；It is obscuring certainly
It adapts to, using the on-line automatic adjustment PID controller optimal parameter of fuzzy control rule, be driven by servo-driver in PID controller
Dynamic servo motor drives screw rod to complete the control that delivery device acts；
Design of Fuzzy PID Controller:
Designing Fuzzy PID Control System is the system that dual input three exports, Proportional coefficient KPEffect is raising system tune
Save precision；Integral coefficient KIEffect is the steady-state error of elimination system；Differential coefficient KDEffect is the dynamic of improvement system
Energy；Utilize system deviation E and deviation variation rate EC online self-tuning parameter KP、KI、KD, control system is adjusted in time
System parameter is enable to respond quickly；
According to the positioning requirements of delivery device, if input language variable E and EC, output language variable Δ KP、ΔKI、Δ
KDDomain be [- 6 ,+6], as { -6, -4, -2,0 ,+2 ,+4 ,+6 }, fuzzy set be NB, NM, NS, Z, PS, PM,
PB }, they respectively indicate negative big, bear, bear it is small, zero, just small, center is honest；The quantizing factor of input signal e and ec are distinguished
For Ke=0.1467, Kec=5.96, the quantizing factor of output variable is K1(ΔKP)=0.1, K2(ΔKI)=0.016, K3(Δ
KD)=0.012；
After domain and fuzzy set determine, need to determine fuzzy variable that membership function determines that is, to fuzzy variable assignment
Degree of membership of the domain interior element to fuzzy variable；The membership function of input language variable selects Gaussian function, output language variable
Subordinating degree function selection sensitivity is higher, the simple triangular function of algorithm；
The adjustment of pid parameter must take into account different moments KP、KIAnd KDThe effect of parameter and mutual relationship are different
Deviation E and deviation variation rate EC the adjusting of PID controller parameter is required it is different；
The precision of fuzzy control quantity is also known as ambiguity solution, since weighted mean method is more suited to the degree of membership of output fuzzy set
Function is symmetrical situation, therefore uses the accurate fuzzy control quantity of weighted mean method, and calculation formula is as follows:
In formula, kj=μ (ωj), j=1,2, n.ωjWith μ (ωj) respectively indicate each symmetrical subordinating degree function
Mass center and be subordinate to angle value；During on-line operation, control system by result treatment to fuzzy rule, table look-up and operation,
Complete the online self-adjusting to pid parameter；
Algorithm design:
System carries out fuzzy-adaptation PID control by PLC, need to store into the data module of PLC fuzzy control rule table, lead to
It crosses and writes look-up routine, download to and realize fuzzy-adaptation PID control in PLC；Fuzzy control is using PLC table look-at method；Fuzzy
It needs to realize input quantity blurring, online query fuzzy control rule table, control amount deblurring in control program；Algorithm design be
DB data block is established in program, from top to bottom by fuzzy polling list, sequence from left to right is stored in plc data block respectively
In, quantizing factor Ke、Kec、K1(ΔKp), K2(ΔKi), K3(ΔKd) also be written PLC data register, then, sampling calculate
e1、e2, ec, and by calculated result be stored in data register in, whether error in judgement e out-of-limit with error rate ec, if out-of-limit, will get over
Limit specification of variables is upper limit or lower limit, if, by e and ec multiplied by quantizing factor, rounding up and being quantified without out-of-limit
Grade is calculated fuzzy controller output parameter in the storage address of DB data block according still further to formula, utilizes indirect memory
The mode of addressing obtains Δ KP、ΔKI、ΔKDThe fuzzy reasoning output valve of three parameters, finally, fuzzy reasoning output valve is multiplied
With quantizing factor, the actual correction value of pid parameter is obtained.
The fuzzy control rule table is according to KP、KIAnd KDΔ K can be obtained in the Adjustment principle of parameterP、ΔKI、ΔKDGinseng
Several adjusting rule lists:
The present invention makes delivery device that flexible filter stick for cigarettes mounted box may be implemented, and positioning accuracy is better than ± 0.1mm, improves filter
The mounted box quality of stick box packing machine.
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is commercially available delivery device mechanical structure schematic diagram.
Fig. 2 is delivery device coordinated operation flow chart.
Fig. 3 is control system overall construction drawing.
Fig. 4 is fuzzy-adaptation PID control schematic diagram.
Fig. 5 is the subordinating degree function curve of input variable e.
Fig. 6 is output variable Δ KPSubordinating degree function curve.
Fig. 7 is Fuzzy PID Control Simulation illustraton of model.
Fig. 8 is system response signal graph.
Fig. 9 is fuzzy PID algorithm flow chart.
Figure 10 is system speed and displacement relation figure.
Specific embodiment
1. system control requires and design
Filter stick box packing machine delivery device[3,4]Including upper and lower push plate module, whole pushing mechanism.In filter stick binning process, filling
The filter stick arranged is fitly seated in Chu Bangcang by mechanism, and delivery device pushes away the whole box of filter stick for the proper alignment stored up in stick storehouse
It send into empty carton.Entire delivery device includes upper push plate, lower push plate and whole pushing mechanism.Specific mechanical structure is as shown in Figure 1.
The control of delivery device requires as shown in Figure 2.Delivery device controls servo-driver by PLC[5,6], drive three
Push process is completed in servo motor movement, and three motors control push plate, lower push plate and the movement of whole pushing mechanism respectively.But in reality
In the operation of border, there are the push positioning of upper push plate, lower push plate and whole pushing mechanism is inaccurate, and occur filter stick hit, horizontal branch the problems such as.
According to real work production line needs, guarantee in position fixing process, the positioning control accuracy requirement of push plate is less than etc.
In 0.1mm.Fuzzy PID Control System is used herein, adaptively adjusts pid parameter using fuzzy control[7-9], improve delivery device
The precision and stability of system.Delivery device servo-control system uses semi-closed loop control structure, by touch screen, PLC technology
Device, Fuzzy Self-adaptive PID, servo-driver and servo motor constitute control system.Through touch screen, filter stick for cigarettes is set
Length parameter (filter stick range is 70mm~200mm, meets actual production requirement]), position signal and encoder are sent by PLC
Input of the error and error change of collected actual position signal as Fuzzy Self-adaptive PID, output are real-time
The correction amount of position signal improves the control precision of system.In Fuzzy Self-adaptive PID, advised using fuzzy control
Then on-line automatic adjustment PID controller optimal parameter.Screw rod is driven to complete delivery device by servo driver drives servo motor
The control of movement.The overall structure of the control system is as shown in Figure 3.
2. Design of Fuzzy PID Controller
2.1 Design of Fuzzy PID Controller
Designing Fuzzy PID Control System is the system that dual input three exports, Proportional coefficient KPEffect is raising system tune
Save precision；Integral coefficient KIEffect is the steady-state error of elimination system；Differential coefficient KDEffect is the dynamic of improvement system
Energy.
Utilize system deviation E and deviation variation rate EC online self-tuning parameter KP、KI、KD, enable control system timely
System parameter is adjusted, is enable to respond quickly, accuracy is high, stability is strong.Its control process schematic diagram is as shown in Figure 4.
According to the positioning requirements of delivery device, if input language variable E and EC, output language variable Δ KP、ΔKI、Δ
KDDomain be [- 6 ,+6], as { -6, -4, -2,0 ,+2 ,+4 ,+6 }, fuzzy set be NB, NM, NS, Z, PS, PM,
PB}.They respectively indicate negative big, bear, bear it is small, zero, just small, center is honest.The quantizing factor of input signal e and ec are distinguished
For Ke=0.1467, Kec=5.96, the quantizing factor of output variable is K1(ΔKP)=0.1, K2(ΔKI)=0.016, K3(Δ
KD)=0.012.
After domain and fuzzy set determine, need to determine fuzzy variable that membership function determines that is, to fuzzy variable assignment
Degree of membership of the domain interior element to fuzzy variable.The membership function of input language variable selects Gaussian function, output language variable
Subordinating degree function selection sensitivity is higher, the simple triangular function of algorithm.The subordinating degree function that Fig. 5 is input variable e is bent
Line chart.Fig. 6 is output variable Δ KPSubordinating degree function curve graph.
The adjustment of pid parameter must take into account different moments KP、KIAnd KDThe effect of parameter and mutual relationship are different
Deviation E and deviation variation rate EC the adjusting of PID controller parameter is required it is different.It, can according to the Adjustment principle of three parameters
Obtain Δ KP、ΔKI、ΔKDThe adjusting rule list of parameter is as shown in table 1.
1 fuzzy control rule table of table
The precision of fuzzy control quantity is also known as ambiguity solution, since weighted mean method is more suited to the degree of membership of output fuzzy set
Function is symmetrical situation, therefore uses the accurate fuzzy control quantity of weighted mean method.Its calculation formula is as follows:
In formula, kj=μ (ωj), j=1,2, n.ωjWith μ (ωj) respectively indicate each symmetrical subordinating degree function
Mass center and be subordinate to angle value.During on-line operation, control system by result treatment to fuzzy rule, table look-up and operation,
Complete the online self-adjusting to pid parameter.
2.2 simulation analysis
It chooses conventional PID control and fuzzy-adaptation PID control and carries out simulation analysis, built using MATLAB/Simulink software
The vertical algorithm Controlling model for establishing system ambiguous PID, traditional PI D, sets corresponding parameter, is emulated, by Scope into
Row receives image.In fuzzy-adaptation PID control model, designed fuzzy controller is embedded into Simulink platform, is established such as
Analogue system shown in Fig. 7.This system is Positioning Servo System, with reference to pertinent literature[10], it is known that second-order system is position
A kind of common controlled device in servo-system, selecting the typical second-order system of damping ratio ξ=0.2 is simulation object, quilt
Control object transmission function beBy the analysis to oscillograph output waveform, to system parameter and fuzzy control
The control rule of device carries out adjustment appropriate, and the performance of control system is made to reach best.
Conventional PID control system and Fuzzy PID Control Simulation response curve are compared, as shown in figure 8, two kinds of control modes
Can tend towards stability state, and the system adjusting settling time of traditional PID control system response curve is long, using fuzzy
Control controls its performance and significantly improves, and the stable time is fast, has better dynamic property and robustness.
3. algorithm designs
The core that this system controls program is fuzzy-adaptation PID control.System carries out fuzzy-adaptation PID control by PLC, and needing will be above-mentioned
The fuzzy control rule table that MATLAB is calculated is stored into the data module of PLC, by writing look-up routine in STEP7, under
It is downloaded in PLC and realizes fuzzy-adaptation PID control.Algorithm design is as shown in Figure 9.Fuzzy control is using PLC table look-at method.Fuzzy
The problems such as realizing input quantity blurring, online query fuzzy control rule table, control amount deblurring is needed in control program.
DB data block is established in a program, and from top to bottom by fuzzy polling list, sequence from left to right is stored in respectively
In plc data block, quantizing factor Ke、Kec、K1(ΔKp), K2(ΔKi), K3(ΔKd) also be written PLC data register, then,
Sampling calculates e1、e2, ec, and by calculated result be stored in data register in, whether error in judgement e out-of-limit with error rate ec, if get over
Out-of-limit specification of variables is upper limit or lower limit, if, by e and ec multiplied by quantizing factor, rounding up without out-of-limit by limit
To quantification gradation, fuzzy controller output parameter is calculated in the storage address of DB data block according still further to formula, utilizes storage
The mode of device indirect addressing obtains Δ KP、ΔKI、ΔKDThe fuzzy reasoning output valve of three parameters, finally, fuzzy reasoning is defeated
It is worth the actual correction value that pid parameter is obtained multiplied by quantizing factor out.
4. system experimentation and conclusion
To test delivery device system performance, three servo motor motion platforms and servo-driver, PLC controller are utilized
Experiment porch is built to be tested.
It is required according to design control, selects speed and displacement relation figure, as shown in Figure 10.Consider according to the actual situation, it will
The total kilometres of delivery device are set as 470mm, and the length of filter stick is b.In entire motion process, 1~7 part is work into process, 8
~10 parts are to reply initial position process.In work into the process, the 1st, 2 part motor a (upper push plate) and motor b (lower push plate)
10mm is all run with identical speed, third portion is motor a, motor b with 5.4m/min, and motor c (whole pushing mechanism) is with 6m/min
100mm is run simultaneously.4th part, motor a and motor b are respectively with 0.75m/min, 1.5m/min operation；5th part motor a and
Motor b is with the operation of 2m/min, 1.5m/min speed, and motor a and motor b operation total distance is all 50mm in 4,5 parts.?
Six parts, the filter rod box 160-b distance that motor c is finished with the speed transmission mounted box of 7.5m/min, and slow down in Part VII and transport
Row 20mm.In Recovery Process, motor c, motor b and motor a are respectively with 6m/min, 5m/min, 4m/min operation.
By test, fault-free, stability are high in operation for this system.During the test, system response time is very fast,
The sliding block of servo motion platform is overlapped with target position distance, accurate positioning.
This secondary design use Fuzzy PID Control System, and to the push process of delivery device redesign improve, develop and
A kind of novel push servo precision control system is devised, passes through simulation analysis, it is known that compared to traditional PID control, be
Precision of uniting is higher, stability is good.Meanwhile being tested by experiment porch, delivery device positioning accuracy is high, stablizes, realization will be whole
Box filter stick high speed pushes in box to continuously smooth speed change, high elaborate position, be not in filter stick hit, horizontal branch the problems such as.
System control precision is high, at low cost, can complete filter stick with high quality and push into box.
Claims (2)
1. a kind of filter stick supplying system design method based on fuzzy-adaptation PID control, including setting filter stick box packing machine delivery device, institute
Stating filter stick box packing machine delivery device includes upper and lower push plate module, whole pushing mechanism, and in filter stick binning process, filling mechanism will be arranged
Good filter stick is fitly seated in Chu Bangcang, and the whole box of filter stick for the proper alignment stored up in stick storehouse is pushed to sky carton by delivery device
In；It is characterized in that: delivery device servo-control system uses semi-closed loop control structure, by touch screen, programmable controller, obscure
Self-adaptive PID controller, servo-driver and servo motor constitute control system；Length ginseng through touch screen setting filter stick for cigarettes
Number, filter stick range are 70mm~200mm, and the mistake of position signal and the collected actual position signal of encoder is sent by PLC
Difference and input of the error change as Fuzzy Self-adaptive PID, export the correction amount of real-time position signal；It is adaptive obscuring
It answers in PID controller, using the on-line automatic adjustment PID controller optimal parameter of fuzzy control rule, by servo driver drives
Servo motor drives screw rod to complete the control that delivery device acts；
Design of Fuzzy PID Controller:
Designing Fuzzy PID Control System is the system that dual input three exports, Proportional coefficient KPEffect is that raising system adjusts essence
Degree；Integral coefficient KIEffect is the steady-state error of elimination system；Differential coefficient KDEffect is the dynamic property of improvement system；
Utilize system deviation E and deviation variation rate EC online self-tuning parameter KP、KI、KD, control system is enabled to adjust system in time
Parameter is enable to respond quickly；
According to the positioning requirements of delivery device, if input language variable E and EC, output language variable Δ KP、ΔKI、ΔKD's
Domain is [- 6 ,+6], as { -6, -4, -2,0 ,+2 ,+4 ,+6 }, and fuzzy set is { NB, NM, NS, Z, PS, PM, PB }, it
Respectively indicate negative big, bear, bear it is small, zero, just small, center is honest；The quantizing factor of input signal e and ec are respectively Ke=
0.1467, Kec=5.96, the quantizing factor of output variable is K1(ΔKP)=0.1, K2(ΔKI)=0.016, K3(ΔKD)=
0.012；
After domain and fuzzy set determine, need to determine fuzzy variable that membership function determines domain that is, to fuzzy variable assignment
Degree of membership of the interior element to fuzzy variable；The membership function of input language variable selects Gaussian function, the person in servitude of output language variable
Category degree function selects that sensitivity is higher, the simple triangular function of algorithm；
The adjustment of pid parameter must take into account different moments KP、KIAnd KDThe effect of parameter and mutual relationship, different is inclined
Poor E and deviation variation rate EC requires the adjusting of PID controller parameter different；
The precision of fuzzy control quantity is also known as ambiguity solution, since weighted mean method is more suited to the subordinating degree function of output fuzzy set
It is symmetrical situation, therefore uses the accurate fuzzy control quantity of weighted mean method, calculation formula is as follows:
In formula, kj=μ (ωj), j=1,2 ..., n.ωjWith μ (ωj) respectively indicate mass center and the person in servitude of each symmetrical subordinating degree function
Belong to angle value；During on-line operation, control system by result treatment to fuzzy rule, table look-up and operation, complete to join PID
Several online self-adjustings；
Algorithm design:
System carries out fuzzy-adaptation PID control by PLC, need to store into the data module of PLC fuzzy control rule table, pass through volume
Look-up routine is write, downloads to and realizes fuzzy-adaptation PID control in PLC；Fuzzy control is using PLC table look-at method；In fuzzy control
It needs to realize input quantity blurring, online query fuzzy control rule table, control amount deblurring in program；Algorithm design is in program
In establish DB data block, from top to bottom by fuzzy polling list, sequence from left to right is stored in respectively in plc data block, amount
Change factor Ke、Kec、K1(ΔKp), K2(ΔKi), K3(ΔKd) also be written PLC data register, then, sampling calculate e1、e2、
Ec, and calculated result is stored in data register, whether error in judgement e is out-of-limit with error rate ec, if out-of-limit, by out-of-limit variable
It is set as upper limit or lower limit, if it, by e and ec multiplied by quantizing factor, rounds up to obtain quantification gradation without out-of-limit, then
Fuzzy controller output parameter is calculated in the storage address of DB data block, the side addressed using indirect memory according to formula
Formula obtains Δ KP、ΔKI、ΔKDThe fuzzy reasoning output valve of three parameters, finally, by fuzzy reasoning output valve multiplied by quantization because
Son obtains the actual correction value of pid parameter.
2. the filter stick supplying system design method according to claim 1 based on fuzzy-adaptation PID control, it is characterized in that: described
Fuzzy control rule table is according to KP、KIAnd KDΔ K can be obtained in the Adjustment principle of parameterP、ΔKI、ΔKDThe adjusting rule of parameter
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| CN110705083A (en) * | 2019-09-25 | 2020-01-17 | 上海烟草集团有限责任公司 | Method, device, equipment and medium for automatically designing parameters of transparent paper packaging machine |
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| CN103309233A (en) * | 2013-05-13 | 2013-09-18 | 陕西国防工业职业技术学院 | Designing method of fuzzy PID (Proportion-Integration-Differential) controller |
| CN203897274U (en) * | 2013-12-13 | 2014-10-29 | 贵州中烟工业有限责任公司 | Filter stick counting machine |
| EP3026507A1 (en) * | 2014-11-27 | 2016-06-01 | Elka-Elektronik GmbH | Method for controlling a variable which can be regulated by a building technology installation |
| CN108100443A (en) * | 2016-11-24 | 2018-06-01 | 上海烟草集团有限责任公司 | Filter stick apparatus for placing |
| CN208016900U (en) * | 2018-01-31 | 2018-10-30 | 南通烟滤嘴有限责任公司 | Synchronous groove filtering pole shaping machine |
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| CN110705083A (en) * | 2019-09-25 | 2020-01-17 | 上海烟草集团有限责任公司 | Method, device, equipment and medium for automatically designing parameters of transparent paper packaging machine |
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