CN201477408U - Human-simulated logic controller and control device used for dynamic batching system - Google Patents
Human-simulated logic controller and control device used for dynamic batching system Download PDFInfo
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- CN201477408U CN201477408U CN2009201758798U CN200920175879U CN201477408U CN 201477408 U CN201477408 U CN 201477408U CN 2009201758798 U CN2009201758798 U CN 2009201758798U CN 200920175879 U CN200920175879 U CN 200920175879U CN 201477408 U CN201477408 U CN 201477408U
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Abstract
The utility model discloses a human-simulated logic controller and a control device used for a dynamic batching system. The controller comprises a logic control unit and a prediction control unit which are connected in sequence, wherein, the logic control unit is used for driving the system to be controlled into a normal operating state in the shortest time when the overshoot of the system diverges a set value or the control time/adjusting time of the system diverges a set value; and the prediction control unit is used for conducting model matching on the noise, the interference and/or the model distortion parameter of the site of the system according to an empirical value when the controlling force of the system is required to be maintained or when the system is required to overcome lifting/falling inertia. The controller and the control device provided by the utility model can overcome defects in the prior art that the amalgamation is poor, the delay control and the error control are difficult, and the cost is high. Therefore, the utility model has the advantages of good amalgamation, easy delay control, accurate batching, reasonable cost, and high benefit.
Description
Technical field
The utility model relates to the commercial Application automatic control technology, particularly, relates to the apery logic controller and is used for the control device of dynamic batching system.
Background technology
In recent years, the development of the industry-by-industry of China is rapid, and this technology of preparing burden is the important step in a lot of traditional industries.
Feed proportioning system is a kind of dosing device that is applied to industry and agricultural production robotization, uses the microcomputer that has the automatic blending algorithm software usually, is made up of a cover PLC dosing device and the upper machine monitoring dosing device of a cover, as the control system of automatic blending.Wherein, the PLC dosing device is made up of batching controller (as large man-hour for the STEC controller), batching instrument and communication cable, use ethernet communication between the STEC controller, the STEC controller also provides communications such as RS232, RS485 interface and ADSL, GPRS, CDMA, optical fiber; The ipc monitor dosing device adopts Windows operating system, large man-hour can be installed for SRDev2.0 programming software and HOMS5.0 configuration software.
Wherein, host computer is used for whole feed proportioning system is monitored in real time, and picture shows and report printing; PLC is used to realize the automatic control of preparing burden; PID adjusting and instantaneous delivery and the isoparametric demonstration of integrated flow that the batching instrument is used to prepare burden; Switch board is used for the logic control of feed proportioning system and supplies distribution; On-the-spot hand behaviour case is used for the start and stop control of on-the-spot single device.
In commercial Application, the dynamic batching system is mainly used in concrete and stirs batching, disk batching and logistics batching etc.; In agricultural was used, the dynamic batching system was mainly used in forage compounding.In automatic batching system, can adopt middle-size and small-size collecting and distributing control feed proportioning system, to have realized " decentralised control, centralized management ", to have overcome the problem of " dangerous concentrating "; Host computer and slave computer are relatively independent, have manual, automatic, semi-automatic handoff functionality, when online, exchange information by certain protocol to each other, and during off line, the separate unit scale can independently be realized the control of technology closed loop procedure; Host computer helps improving the stability of feed proportioning system away from operation site, and improves operator's working environment; Slave computer is selected Programmable Logic Controller for use, has very strong antijamming capability, and programming simply is easy to grasp, can be in the medium-term and long-term operation reliably of rugged environment; Adopt PID to regulate, improve the proportioning accuracy of feed proportioning system, and can best operating switch sequential be set, solve stub bar material tail problem preferably, revise the material proportion of feed proportioning system automatically according to production requirement.
Usually, the major function of feed proportioning system comprises: monitoring function: belt is claimed instantaneous delivery, day accumulative total, month to date, the year parameter such as accumulative total of blending process to detect and monitors; Picture shows: can show the operation conditions of relevant controlling parameters in the blending process by graphoscope, and show batching curve and form in real time; Print management: can print the batching form at any time, so that preserve and inquiry; Communication function: carry out between industrial computer and PLC and the instrument carrying out bi-directional data and message exchange; Data processing: feed proportioning system can carry out calculation process to the signal of gathering automatically, and outputs to the control corresponding amount; Control function: according to corresponding setting value before the operation, the normal operation of automatic control equipment comprises that PID regulates; Warning function: host computer with picture mode harmony mode optical signal various parameters is transfinited or equipment state is reported to the police unusually.
In the prior art, the kind of automatic batching system comprises: a, master-slave mode distribute and control microcomputer Control System for Materials Blending: adopt primary and secondary structure, many single chip microcomputers are connected into the powerful system of function, can be applicable to large-sized concrete batching station, Pei Liao material can reach the 9-12 kind simultaneously;
B, weightless scale automatic batching system: based on the structure of blk weigher, can directly carry out counterweight and demarcate, the test by to scale bucket each weight calculates actual withdrawal rate moment; Carry out the closed loop adjustment again, thereby can reach high control precision, as 0.5%; In industries such as chemical industry, building materials, metallurgy, often to carry out the continous batching of various materials, therefore often use weightless scale;
C, rate value feed proportioning system: in " about the research of cement raw mix proportioning formula " that the sincere newly built construction teacher of Liu of Henan silicate association in 1987 delivers, proposed the notion of rate value batching on " Henan building materials "; In addition, also publish monograph " the rate value equation of cement raw mix proportioning " in 1991, inquired into the whole bag of tricks of raw material feedback readjustment in detail, prove single control raw material CaO, Fe when composition of raw material fluctuates
2O
3Can not stablize the raw material three ratio, the notion of clear and definite rate value batching; And further studied 6 kinds of callback methods, and the calcium iron control qualified best callback method of fraction value has down been proposed, avoided the defective of calcium iron control to greatest extent; This callback method is generally adopted in the cement mill, carries out rate value batching; The fundamental assumption of rate value batching at present is: realization rate value batching must determine raw material silicon, iron, aluminium, 4 kinds of chemical constitutions of calcium.
In the dynamic batching system that engineering is used, stir feed proportioning system, disk feed proportioning system and logistics system etc. as concrete, the main working experience that relies on is regulated in the traditional proportioning technology, has the problem of following three aspects:
(1) stability of system, rapidity and accuracy can not merge fully: for control system, at first should consider its stability, that is to say that control system should have very strong stability, but, in the prior art, each performance index of conventional controller do not reach and merge coupling fully, influence the integrated performance index of control system;
(2) can not suppress delay phenomenon effectively: in many application projects, the solution of on-the-spot problem is complicated, and artifical influence factor is more, can not control material well, to suppress the on-the-spot hysteresis phenomenon that occurs effectively; For example, in the concrete stirring system, during usage level belt transported material, drawing the bucket lifting, opening and closing in the process close door and scale hooper and all delay phenomenon can occur;
(3) can not carry out error control effectively: when batching, the weighing value is difficult to the convergence setting value, and error is difficult to control;
(4) cost height: in the design of many application projects, need control cost under the prerequisite of quality guaranteeing, and produce rational economic benefit; That is to say that enterprise at first needs to obtain profit, seek development again, so essential consideration cost problem; But, in the prior art, can not realize accurate dosing, the error between the value of weighing and the setting value can not get effective control, and cost is reasonable inadequately, and the performance of enterprises does not reach maximization as yet.
Summary of the invention
The purpose of this utility model is, at the problems referred to above, proposes to be used for the apery logic controller of dynamic batching system, with realize that amalgamation is good, postpone that the control difficulty is little, batching accurately, cost rationally and the advantage of high efficiency.
For achieving the above object, the technical solution adopted in the utility model is: apery logic predictive controller, this controller comprises logic control element and the PREDICTIVE CONTROL unit that is linked in sequence, wherein: described logic control element, be used for overshoot in controlled system depart from setting value or the control time/the adjusting time is when departing from setting value, by the shortest time, bring described controlled system into normal operating condition; Described PREDICTIVE CONTROL unit is used for needing retentive control power or need overcoming rising/decline inertial time in controlled system, and rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter at controlled system scene.
Further, this controller also comprises running status judging unit and the controlled quentity controlled variable switch unit that is linked in sequence, and described controlled quentity controlled variable switch unit is connected with described logic control element and PREDICTIVE CONTROL unit respectively; Wherein: described running status judging unit, be used to judge the running status of controlled system obtain judged result, described judged result is sent to described controlled quentity controlled variable switch unit; Described controlled quentity controlled variable switch unit is used for according to described judged result, switches between described logic control element and PREDICTIVE CONTROL unit.
Further, described logic control element comprises pid control module, and the fuzzy control model that is connected with described pid control module; Wherein: described pid control module is used for controlled system is carried out PID control; Described fuzzy control model is used for introducing the proportional component P that described PID controls in the space three-dimensional phase plane, introduces error zero band and error and changes zero band, described space three-dimensional phase plane is carried out subregion, in corresponding interval size of regulating P; Described PREDICTIVE CONTROL unit is Model Predictive Control MPC.
Simultaneously, another technical scheme that the utility model adopts is: the control device that is used for the dynamic batching system, comprise the sensor, apery logic controller and the controlling object that are linked in sequence, wherein: described sensor is used for gathering in real time the variable quantity at dynamic batching scene; Described apery logic controller is used for carrying out logic control and prediction processing according to described variable quantity, obtains corresponding result; Described controlling object is used for the result according to correspondence, regulates parameter corresponding in the dynamic batching system.
Further, also comprise feedback element and comparer, described feedback element is connected between controlling object and the comparer, and described comparer is connected with apery logic predictive controller; Wherein: described feedback element is used for the output quantity of described controlling object is fed back to comparer; Described comparer is used for the variable quantity at described dynamic batching scene and the output quantity of controlling object are compared computing, obtains operation result, and described operation result is sent to apery logic predictive controller.
Further, described apery logic predictive controller comprises logic control element, controlled quentity controlled variable switch unit and the PREDICTIVE CONTROL unit that is linked in sequence, and the running status judging unit that is connected with described controlled quentity controlled variable switch unit; And described running status judging unit is connected with described logic control element and PREDICTIVE CONTROL unit respectively; Wherein: described running status judging unit, be used for according to described variable quantity, judge the running status of dynamic batching system, obtain judged result, described judged result is sent to described controlled quentity controlled variable switch unit; Described controlled quentity controlled variable switch unit is used for according to described judged result, switches between described logic control element and PREDICTIVE CONTROL unit; Described logic control element, be used for overshoot in the dynamic batching system depart from setting value or the control time/the adjusting time is when departing from setting value, by the shortest time, brings described dynamic batching system into normal operating condition; Described PREDICTIVE CONTROL unit is used for needing retentive control power or need overcoming rising/decline inertial time in the dynamic batching system, and rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter of dynamic batching system for field.
Further, described logic control element comprises pid control module and fuzzy control model, and described pid control module and fuzzy control model are connected; Wherein: described pid control module is used for the dynamic batching system is carried out PID control; Described fuzzy control model is used for introducing the proportional component P that described PID controls in the space three-dimensional phase plane, introduces error zero band and error and changes zero band, described space three-dimensional phase plane is carried out subregion, in corresponding interval size of regulating P; Described PREDICTIVE CONTROL unit is Model Predictive Control MPC.
Particularly, in the utility model, above-mentioned " the shortest time " be with engineering in the delay phenomenon correspondence.Such as, in the dynamic batching process, according to setting value, in the time of need weighing 1000Kg, optimal state is exactly: open door and begin discharging, the scale bucket begins to calculate the value of weighing, if just claim to meet the demands to 1000Kg, door is closed.But, during producing, engineering lags behind because of existing, and can not be so accurate; So, just require the scale bucket to be weighed near 1000Kg but＜1000Kg the time, close door, wait for that aerial clout (being drop) is in the scale bucket time, the value of the final actual batching during calculation stability in the scale bucket.
Wherein, " the shortest time " depend on precision induction degree, the rationality (comprising the distance of scale bucket and door, the speed of blanking and the size of Hatch Opening diameter etc.) of material proportion and the cost performance of equipment (for example, storage bin and scale bucket etc.) of sensor.Postpone because exist, just need utilize predictive controller to estimate control in advance, to reach best control effect (even the value of weighing can reach setting value) fast, steady, accurately.
In addition, when carrying out theoretical research, different values can be got, for example, Ts=3s, 5s or 6s etc. can be got.And in production application, should be determined on a case-by-case basis; In the utility model, by the control strategy of controller is set, can suppress delay phenomenon effectively, make in the scope that revert to the error permission time delay.
In the utility model, the principle of work of apery logic predictive controller is: when the dynamic batching system works, work simultaneously in logic control element and PREDICTIVE CONTROL unit, and logic control element is provided with the error control band e of broad
0, no matter its effect is to bring controlled system into normal condition with the shortest time, for the time being little fluctuation; The effect of PREDICTIVE CONTROL unit is to utilize forecast model, and controlled system is stabilized in normal condition, and makes control curve optimum; The controlled quentity controlled variable switch unit will be selected suitable opportunity, and the control signal of logic control element and PREDICTIVE CONTROL unit is switched.
The apery logic controller of each embodiment of the utility model and be used for the control device of dynamic batching system in conjunction with pid control module and fuzzy control model combination, obtains logic control element; And in conjunction with logic control element and PREDICTIVE CONTROL unit, anthropomorphic dummy's the mode of thinking, consider the thinking characteristic of people in control procedure, allow computing machine come anthropomorphic dummy's thinking, to dynamic batching system and operator, the requirement that all can satisfy active open cycle system, strong time-varying system and the characteristic of system be had certain experience, stability, rapidity and accuracy with system in effective solution and the realization dynamic batching system can not merge fully, can not suppress delay phenomenon effectively, can not carry out error control and defect of high cost effectively; Stability, rapidity and the accuracy of system can be merged fully, the hysteresis phenomenon that occurs in the effectively inhibition system, batching is (value of weighing convergence setting value, error is effectively controlled) accurately, and cost is more reasonable, helps realizing maximizing the benefits; Have amalgamation good, postpone that the control difficulty is little, batching accurately, cost rationally and the advantage of high efficiency.
Other features and advantages of the utility model will be set forth in the following description, and, partly from instructions, become apparent, perhaps understand by implementing the utility model.The purpose of this utility model and other advantages can realize and obtain by specifically noted structure in the instructions of being write, claims and accompanying drawing.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Accompanying drawing is used to provide further understanding of the present utility model, and constitutes the part of instructions, is used from explanation the utility model with embodiment one of the present utility model, does not constitute restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the principle schematic according to the applicating example of logic control element in the utility model apery logic controller;
Fig. 2 is the principle schematic according to the applicating example of PREDICTIVE CONTROL unit in the utility model apery logic controller;
Fig. 3 is the principle schematic according to the applicating example of the utility model apery logic controller;
Fig. 4 is for being used for the structured flowchart of the control device of dynamic batching system according to the utility model;
Fig. 5 is for being used for the workflow synoptic diagram of the control device of dynamic batching system according to the utility model.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the utility model, and be not used in qualification the utility model.
Apery logic predictive controller embodiment
According to the utility model embodiment, apery logic predictive controller is provided, comprise logic control element, PREDICTIVE CONTROL unit, running status judging unit and controlled quentity controlled variable switch unit, running status judging unit and controlled quentity controlled variable switch unit are linked in sequence, and the controlled quentity controlled variable switch unit is connected with logic control element and PREDICTIVE CONTROL unit respectively.
Wherein, the running status judging unit is used to judge the running status of controlled system obtain judged result, and judged result is sent to the controlled quentity controlled variable switch unit; The controlled quentity controlled variable switch unit is used for according to this judged result, switches between logic control element and PREDICTIVE CONTROL unit; Logic control element, be used for overshoot in controlled system depart from setting value or the control time/the adjusting time is when departing from setting value, by the shortest time, brings controlled system into normal operating condition; The PREDICTIVE CONTROL unit is used for needing retentive control power or need overcoming rising/decline inertial time in controlled system, and rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter at controlled system scene.
In the present embodiment, logic control element comprises pid control module, and the fuzzy control model that is connected with pid control module; Wherein: pid control module is used for controlled system is carried out PID control; Fuzzy control model is used for introducing the proportional component P that PID controls in the space three-dimensional phase plane, introduces error zero band and error and changes zero band, the space three-dimensional phase plane is carried out subregion, in corresponding interval size of regulating P.
In the present embodiment, the PREDICTIVE CONTROL unit is Model Predictive Control MPC.
Below in conjunction with Fig. 1-Fig. 3, the design basis and the principle of work of present embodiment apery logic predictive controller is specifically described.
(1) in the prior art, the parameter of PID control changes relatively more responsive, is not easy online adjusting; The output result of fuzzy control is difficult to observation and analysis intuitively.In the present embodiment, advantage in conjunction with PID control and fuzzy control, continue to use the thought of the fuzzy control of sum of errors error variation, the two-dimentional real domain of fuzzy control is extended to the space three-dimensional phase plane, with the phase plane is analysis tool, the movement locus of controlling object on response curve analyzed by phase plane, the feature of P in controlling in conjunction with PID simultaneously, introduce error zero band (being the scope that error allows) and error and change zero band (being that error changes the scope that allows), change zero band with error zero band and error phase plane is carried out subregion, different P is distributed on phase plane according to the interval, size by regulating P with, thereby reach control dynamic batching system purpose.
The concrete control strategy of such scheme is: K3+/-influence dynamically the time time delay (K3+/-↑ → td ↓), K2+ influence system the rapidity rise time (K2+ ↑ → tr ↓ but should be less than K3+).K1+/-have the damping tape effect (K1+/-↑ → ξ ↓), K4+/-effect (K4-↑ → σ ↓) of very strong inhibition overshoot is arranged and be uniquely in the control strategy direct control effect to be arranged anti-interference, K2-is to system oscillation number of times influential (K2-↑ → N ↓), the higher harmonic components influential (value for a short time help reduce higher harmonic components) of K0 during to stable state.In the present embodiment, the adjusting time is a kind of combination of a plurality of control strategy factors, and only when each several part was in optimum condition, the adjusting time just can reach perfect condition in response.
By above-mentioned control strategy, can draw to draw a conclusion:
(1) main performance index of dynamic batching system as overshoot, robustness, response speed, rise time and adjusting time etc., can be adjusted separately by the control action in corresponding each subregion and finish, and easy to adjust;
(2) logic control is not strict for the controlling object requirement, can continue the thought of fuzzy control, carries out segmentation control;
(3) antijamming capability is strong, and each parameter because employing space three-dimensional phase plane distributes is adjusted and do not disturbed mutually;
(4) strong robustness can continue the advantage of PID control, and proportional component P is incorporated into the space three-dimensional phase plane.
As seen, adopt the apery logic predictive controller of present embodiment, can solve the performance that occurs in the engineering application and merge problem fully, produced on-site is had directive significance.
The controlling schemes that above-mentioned PID control and fuzzy control combine can be called logic control element, below to logic control element to initiatively open loop control and become simulating of controlling when strong of people.
In Fig. 1, comprise error and error change detector 11, logic control element 12, executive component 13, controlling object 14 and feedback element 15, input quantity R (t) error originated from input and error change detector 11, after testing, with error e [t] and error variable quantity
Input logic control module 12, through logic control, logic control amount U
KAfter executive component 13 and controlling object 14 processing, obtain output quantity C (t) successively; Further, output quantity C (t) feeds back to error and error change detector 11 after feedback element 15 is handled, and error and error change detector 11 compare computing in conjunction with input quantity R (t) and feedback quantity, obtain new input quantity.Further control in real time through logic control element 12, executive component 13 and controlling object 14.
In Fig. 1, to initiatively open loop control and becoming in the simulation of control when strong of people, some wave phenomenons have appearred, need become optimal control when carrying out in conjunction with PREDICTIVE CONTROL, eliminate the wave phenomenon that occurs in the logic control.
(2) in general commercial production, for the delay phenomenon that occurs in the dynamic batching system, generally adopt the Smith Prediction Control to suppress, still, this control is very big to the influence of fluctuations of system, and susceptibility is not enough, and effect is undesirable.
In the present embodiment, use PREDICTIVE CONTROL to replace the Smith Prediction Control, PREDICTIVE CONTROL is the research and the application of algorithm, and Prediction and Control Technology is Model Predictive Control (being MPC) the most widely at present, almost can adapt to any control problem.
Above-mentioned PREDICTIVE CONTROL mainly can solve the problem of following type: (1) controlled system has a large amount of variablees that need control; (2) controlled variable has constraint; (3) inefficacy of the change of controlled target and opertaing device; (4) has the system of time delay.
In the engineering site production application, nearly all possess such characteristics.Therefore utilize PREDICTIVE CONTROL to handle the uncertain factor of on-the-spot installation and debug process, comparatively obvious as situation effects such as noise, interference, model distortions.
The concrete control strategy of such scheme is: on-line optimization then is the core of PREDICTIVE CONTROL, promptly utilizes Given information, becomes control action u (k) when obtaining, and makes output signal and input control require the error minimum.
Above-mentioned controlling schemes can be called the PREDICTIVE CONTROL unit, below to the simulating operator's experience of PREDICTIVE CONTROL unit.
In Fig. 2, comprise reference locus module 21, on-line correction module 22, comparer 23, computation optimization module 24, process processing module 25 and PREDICTIVE CONTROL unit 26, setting value input reference locus module 21, treated, obtain k+i reference locus y constantly
r(k+i), k+i reference locus y constantly
r(k+i), obtain the k actual output quantity y of process (k) constantly successively through comparer 23, computation optimization module 24 and process processing module 25; Wherein, k+i reference locus y constantly
r(k+i) handle through comparer 23 and computation optimization module 24 successively, obtain k optimal control amount u (k) constantly, k optimal control amount u (k) constantly is 26 processing through the PREDICTIVE CONTROL unit, obtain k+i model prediction output quantity y constantly
m(k+i), k+i model prediction output quantity y constantly
m(k+i) feed back to comparer 23 through on-line correction module 22; Simultaneously, the backfeed loop of the k actual output quantity y of process (k) constantly is divided into two: first feedback component feeds back to 21, the second feedback components of reference locus module and feeds back to on-line correction module 22.
(3), the characteristics and the principle of work of apery logic predictive controller described below in conjunction with the feature of logic control element and PREDICTIVE CONTROL unit.
The essential characteristic of apery logic predictive controller: logic control element and PREDICTIVE CONTROL unit become control when all belonging to initiatively, satisfy three characteristics of apery thinking; The combination of the two, be to people's control thinking characteristic than comprehensive simulated.
Wherein, the thinking of artificial treatment is meant: experienced operator is when controlled system goes beyond the limit of even be in danger, meeting some important path of cut-out without the least hesitation then according to experience control, makes fluctuation as far as possible little when controlled system work is in normal range.Controlled system is steady at normal section operation, and accident moment switching can be guaranteed controlled system safety, and (guaranteeing controlled parameter under stable prerequisite, the variation of parameter) during model mismatch also can the satisfaction guaranted operation.
Perhaps, above-mentioned processing scheme is not a global optimum, but can be in the local optimum of guaranteeing on the strong robustness basis, and a kind of like this strategy is most important for some Industry Control.
In the present embodiment, the principle of work of apery logic PREDICTIVE CONTROL lacquer is: when controlled system is worked, work simultaneously in logic control element and PREDICTIVE CONTROL unit, and its control output quantity is respectively K (t) and U (t).Logic control element is provided with the error control band e of broad
0, no matter its effect is to bring controlled system into normal condition with the shortest time, for the time being little fluctuation.The effect of PREDICTIVE CONTROL unit is to utilize forecast model, and controlled system is stabilized in normal condition, and makes control curve optimum.The controlled quentity controlled variable switch unit will be selected suitable opportunity, and the control signal of logic control element and PREDICTIVE CONTROL unit is switched.
Particularly, when controlled system away from normal condition, promptly by the running status judging unit, judgement is by the running status of do-nothing system, when the running status of controlled system be system performance index " positive overshoot " (K4+), system performance index " negative overshoot " (K4-), system performance index " time delay " (K3+) or system performance index " leading time " (K3-) time, the controlled quentity controlled variable switch unit switches to logic control element with control signal; Near operating in setting value, controlled system needs to overcome decline inertia (K1+), need to overcome rising inertia (K1-) near operating in setting value, or retentive control power, when influencing final value size (K0), the controlled quentity controlled variable switch unit switches to the PREDICTIVE CONTROL unit with control signal, and the experience that be equivalent to the master worker this moment begins to work.
The control structure that above-mentioned employing logic control element combines with the PREDICTIVE CONTROL unit, made full use of logic control Model Matching has been required extremely low characteristics, under the situation of model mismatch, still can obtain promising result, and under the Model Matching situation, obtain optimal effectiveness.Become open loop control when the essence of present embodiment apery logic predictive controller is and add closed-loop corrected control, its clear physics conception, coefficient is adjusted conveniently, is that thinking control mode with the people is fused to the result in the model.
In Fig. 3, comprise first comparer 31, running status judging unit 32, logic control element 33, rolling optimization module 34, controlled quentity controlled variable switch unit 35, controlling object 36, forecast model 37 and second comparer 38, input quantity R (t) imports first comparer 31, after first comparer 31 is handled, be divided into two-way: the one tunnel handles through running status judging unit 32 and logic control element 33 successively, obtains logic control amount K (t); The amount of being optimized U (t) is handled through rolling optimization module 34 in another road; Logic control amount K (t) and optimized amount U (t) all import controlled quentity controlled variable switch unit 35, after controlled quentity controlled variable switch unit 35 is handled, be divided into two-way: the one tunnel through controlling object 36 processing, obtain output quantity Y (t), and output quantity Y (t) feeds back to first comparer 31 and second comparer 38 respectively; Another road feeds back to second comparer 38 after forecast model 37 is handled; Second comparer 38 is handled in conjunction with the feedback quantity of output quantity Y (t) and the feedback quantity of forecast model 37, and in second comparer, the 38 gained treatment capacities: predicted value feeds back to the rolling optimization module, and predicated error e also feeds back to rolling optimization module 34.
Control device embodiment
According to the utility model embodiment, provide the control device that is used for the dynamic batching system.As shown in Figure 4, present embodiment comprises: sensor 41, apery logic controller 43, controlling object 44, feedback element 45 and comparer 42, sensor 41, apery logic controller 43 and controlling object 44 are linked in sequence, feedback element 45 is connected between controlling object 44 and the comparer 42, and comparer 42 is connected with apery logic predictive controller 43.
Wherein, sensor 41 is used for gathering in real time the variable quantity at dynamic batching scene; Apery logic controller 43 is used for carrying out logic control and prediction processing according to this variable quantity, obtains corresponding result; Controlling object 44 is used for the result according to correspondence, regulates parameter corresponding in the dynamic batching system; Feedback element 45 is used for the output quantity of controlling object 44 is fed back to comparer 42; Comparer 42 is used for the variable quantity at dynamic batching scene and the output quantity of controlling object 44 are compared computing, obtains operation result, and this operation result is sent to apery logic predictive controller 43.
Further, in the present embodiment, apery logic predictive controller 43 comprises logic control element 4304, controlled quentity controlled variable switch unit 4302 and the PREDICTIVE CONTROL unit 4303 that is linked in sequence, and the running status judging unit 4301 that is connected with controlled quentity controlled variable switch unit 4302; And running status judging unit 4301 is connected with logic control element 4304 and PREDICTIVE CONTROL unit 4303 respectively.
In the present embodiment, running status judging unit 4301 is used for according to variable quantity, judges the running status of dynamic batching system, obtains judged result, and judged result is sent to described controlled quentity controlled variable switch unit 4302; Controlled quentity controlled variable switch unit 4302 is used for according to judged result, switches between logic control element 4304 and PREDICTIVE CONTROL unit 4303; Logic control element 4304, be used for overshoot in the dynamic batching system depart from setting value or the control time/the adjusting time, by the shortest time, system brought normal operating condition into dynamic batching when departing from setting value; PREDICTIVE CONTROL unit 4303 is Model Predictive Control MPC, be used for needing retentive control power or need overcoming rising/decline inertial time in the dynamic batching system, rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter of dynamic batching system for field.
In the present embodiment, logic control element 4304 comprises pid control module and the fuzzy control model that is connected, and wherein, pid control module is used for the dynamic batching system is carried out PID control; Fuzzy control model is used for introducing the proportional component P that described PID controls in the space three-dimensional phase plane, introduces error zero band and error and changes zero band, this space three-dimensional phase plane is carried out subregion, in corresponding interval size of regulating P.
In the present embodiment, the design of apery logic predictive controller 43 is based on apery thought, that is: the mode of thinking that can the anthropomorphic dummy is considered the thinking characteristic of people in control procedure, and allowed computing machine come anthropomorphic dummy's thinking; Can satisfy dynamic batching system and operator to active open cycle system, strong time-varying system and the requirement that the characteristic of system had certain experience three aspects.
In the present embodiment, the principle of work of apery logic predictive controller 43 please refer to the related description of the above apery logic controller embodiment, does not repeat them here.
Further, in Fig. 5, provide the workflow synoptic diagram that is used for the control device of dynamic batching system according to the utility model the foregoing description, this workflow specifically comprises the steps:
Step 501: when the dynamic batching system works, gather the variable quantity at dynamic batching scene in real time;
Step 502: gather the gained variable quantity according to step 501, judge the running status of dynamic batching system;
Particularly, when the overshoot of dynamic batching system depart from setting value or the control time/the adjusting time is when departing from setting value, execution in step 503; When the dynamic batching system needs retentive control power or need overcome rising/decline inertial time, execution in step 504;
Step 503: switch to logic control element, by the shortest time, system brings normal operating condition into dynamic batching; Afterwards, execution in step 505;
Step 504: switch to the PREDICTIVE CONTROL unit, rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter of dynamic batching system for field; Afterwards, execution in step 505;
Step 505: regulate parameter corresponding in the dynamic batching system, execution in step 506;
Step 506: feed back the output quantity of controlling object in the dynamic batching system in real time, execution in step 507;
Step 507: integrating step 501 is gathered gained variable quantity and step 506 feedback gained output quantity, compares computing; Afterwards, execution in step 508;
Step 508: according to step 507 gained operation result, switch to logic control element or PREDICTIVE CONTROL unit, carry out corresponding processing; Afterwards, execution in step 509;
Particularly, when this result for the overshoot of dynamic batching system depart from setting value or the control time/the adjusting time is when departing from setting value, switches to logic control element, brings the dynamic batching system into normal operating condition; When this result needs retentive control power or need overcome rising/decline inertial time for the dynamic batching system, switch to the PREDICTIVE CONTROL unit, rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter of dynamic batching system for field;
Step 509:, regulate parameter corresponding in the dynamic batching system according to step 508 gained result.
Through above-mentioned steps 501-step 509, can finish the once control of dynamic batching system.
In sum, the apery logic controller of each embodiment of the utility model and be used for the control device of dynamic batching system in conjunction with pid control module and fuzzy control model combination, obtains logic control element; And in conjunction with logic control element and PREDICTIVE CONTROL unit, anthropomorphic dummy's the mode of thinking, when the overshoot of dynamic batching system depart from setting value or the control time/the adjusting time is when departing from setting value, switches to logic control element, system brings normal operating condition into dynamic batching; When the dynamic batching system needs retentive control power or need overcome rising/decline inertial time, switch to the PREDICTIVE CONTROL unit, rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter of dynamic batching system for field; Can effectively realize and solve the several problems that occur in the above commercial production: stability, rapidity and the accuracy of (1) system can merge fully; (2) hysteresis phenomenon that occurs in the effectively inhibition system in the concrete stirring system, the horizontal belt transported material, is drawn the bucket lifting, is opened and closed in the process close door and scale hooper and all delay phenomenon can occur; (3) batching is accurate, the value of weighing convergence setting value, and error is effectively controlled, and cost rationalizes, maximizing the benefits.
It should be noted that at last: the above only is preferred embodiment of the present utility model, be not limited to the utility model, although the utility model is had been described in detail with reference to previous embodiment, for a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement.All within spirit of the present utility model and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (7)
1. apery logic predictive controller is characterized in that, this controller comprises logic control element and the PREDICTIVE CONTROL unit that is linked in sequence, wherein:
Described logic control element, be used for overshoot in controlled system depart from setting value or the control time/the adjusting time is when departing from setting value, by the shortest time, brings described controlled system into normal operating condition;
Described PREDICTIVE CONTROL unit is used for needing retentive control power or need overcoming rising/decline inertial time in controlled system, and rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter at controlled system scene.
2. apery logic predictive controller according to claim 1, it is characterized in that, this controller also comprises running status judging unit and the controlled quentity controlled variable switch unit that is linked in sequence, and described controlled quentity controlled variable switch unit is connected with described logic control element and PREDICTIVE CONTROL unit respectively; Wherein:
Described running status judging unit is used to judge the running status of controlled system obtain judged result, and described judged result is sent to described controlled quentity controlled variable switch unit;
Described controlled quentity controlled variable switch unit is used for according to described judged result, switches between described logic control element and PREDICTIVE CONTROL unit.
3. apery logic predictive controller according to claim 1 and 2 is characterized in that described logic control element comprises pid control module, and the fuzzy control model that is connected with described pid control module; Wherein:
Described pid control module is used for controlled system is carried out PID control;
Described fuzzy control model is used for introducing the proportional component P that described PID controls in the space three-dimensional phase plane, introduces error zero band and error and changes zero band, described space three-dimensional phase plane is carried out subregion, in corresponding interval size of regulating P;
Described PREDICTIVE CONTROL unit is Model Predictive Control MPC.
4. be used for the control device of dynamic batching system, it is characterized in that, comprise the sensor, apery logic controller and the controlling object that are linked in sequence, wherein:
Described sensor is used for gathering in real time the variable quantity at dynamic batching scene;
Described apery logic controller is used for carrying out logic control and prediction processing according to described variable quantity, obtains corresponding result;
Described controlling object is used for the result according to correspondence, regulates parameter corresponding in the dynamic batching system.
5. the control device that is used for the dynamic batching system according to claim 4 is characterized in that, also comprises feedback element and comparer, and described feedback element is connected between controlling object and the comparer, and described comparer is connected with apery logic predictive controller; Wherein:
Described feedback element is used for the output quantity of described controlling object is fed back to comparer;
Described comparer is used for the variable quantity at described dynamic batching scene and the output quantity of controlling object are compared computing, obtains operation result, and described operation result is sent to apery logic predictive controller.
6. according to claim 4 or the 5 described control device that are used for the dynamic batching system, it is characterized in that, described apery logic predictive controller comprises logic control element, controlled quentity controlled variable switch unit and the PREDICTIVE CONTROL unit that is linked in sequence, and the running status judging unit that is connected with described controlled quentity controlled variable switch unit; And described running status judging unit is connected with described logic control element and PREDICTIVE CONTROL unit respectively; Wherein:
Described running status judging unit is used for according to described variable quantity, judges the running status of dynamic batching system, obtains judged result, and described judged result is sent to described controlled quentity controlled variable switch unit;
Described controlled quentity controlled variable switch unit is used for according to described judged result, switches between described logic control element and PREDICTIVE CONTROL unit;
Described logic control element, be used for overshoot in the dynamic batching system depart from setting value or the control time/the adjusting time is when departing from setting value, by the shortest time, brings described dynamic batching system into normal operating condition;
Described PREDICTIVE CONTROL unit is used for needing retentive control power or need overcoming rising/decline inertial time in the dynamic batching system, and rule of thumb value is carried out Model Matching to noise, interference and/or the model distortion parameter of dynamic batching system for field.
7. the control device that is used for the dynamic batching system according to claim 6 is characterized in that described logic control element comprises pid control module and fuzzy control model, and described pid control module and fuzzy control model are connected; Wherein:
Described pid control module is used for the dynamic batching system is carried out PID control;
Described fuzzy control model is used for introducing the proportional component P that described PID controls in the space three-dimensional phase plane, introduces error zero band and error and changes zero band, described space three-dimensional phase plane is carried out subregion, in corresponding interval size of regulating P;
Described PREDICTIVE CONTROL unit is Model Predictive Control MPC.
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