CN100595371C - Intelligent control method for tentering of weft through embedding type camera shot and control apparatus thereof - Google Patents

Abstract

The present invention relates to an embedded image pick-up weft straightening intelligent control method and its control equipment. Said control method is characterized by that: adopting ARM embeddedcontrol chip and DSP control chip and using them as main controller and auxiliary controller respectively; utilizing CCD camera as skewing signal sensor and adopting image processing method to make skewing calculation and analysis; and adopting immune fuzzy intelligent control method with learning, memory and adaptive capability. The controd equipment adopting above-mentioned method includes the following several portions: hardware, software portion, image processing module, input signal pretreatment module, control algorithm module, output interface, communication interface, embedded intelligent controller and CCD camera.

Description

Tentering of weft through embedding type camera shot intelligence control method and control device thereof

Technical field

The present invention relates to image and handle and the automatic control technology field, specifically refer to a kind of tentering of weft through embedding type camera shot intelligence control method and control device thereof.

Background technology

In the fabric dyeing and finishing process process, owing to machinery and operational reason, it is crooked that weft yarn is taken place, buckling phenomenon, weft yarn offset phenomenas such as curved and " S " type latitude of skew of weft, the latitude that must rely on whole latitude equipment to correct fabric to occur in operation process is curved are to put forward product quality.Its main mechanism of action is, apply two lasting pulling force at the two ends of cloth parallel, and keep two power separate, meet at right angles with the direction of travel of cloth, just can correct the various skew of wefts of cloth, this is that parallel is for reaching beeline after being bestowed certain tension force because of cloth, will stretching all skew of wefts, therefore also just realized the purpose of whole latitude.Therefore say that whole latitude is an one procedure very important in the after-finishing of textile products technical process.

The control accuracy of whole latitude instrument is subjected to influence of various factors such as accuracy of detection, executing agency's operation precision, control algolithm.The design that is used for the controller of whole latitude instrument is the most key, also is one of the most unmanageable link.Because the kind of fabric, braid method, humidity all can directly have influence on the tension force of fabric, can't set up the explicit mathematical model, it is uncertain to make that the control effect produces.

Based on the Mamdani fuzzy model, a kind of parameter adaptive fuzzy controller of proposition, the fuzzy regulation rule of certainty is adopted in its parameter adjustment, thereby makes the simplicity of design of controller, easily.On domain engineering such as weaving, PID control remains most widely used control law so far, this is because the PID controller architecture is simple, can satisfy the control requirement of a large amount of industrial process, and particularly the strong robustness of PID control makes it the large-scope change of procedure of adaptation operating mode preferably.Yet practice shows, adopts the whole latitude instrument of tradition of PID control method, be only applicable to the fabric of a certain particular types, fabric types that can control is single, the close fabric of parameter such as tension force size, lining humidity for example, and can't adapt to the demand of handling many kinds fabric.

Summary of the invention

The object of the present invention is to provide a kind of tentering of weft through embedding type camera shot intelligence control method and control device thereof, utilize ccd video camera to gather the skew of weft parameter of current fabric, employing is in time made correction based on the embedded controller of immune FUZZY ALGORITHMS FOR CONTROL to the skew of weft degree of cloth, thereby makes the skew of weft extent control of fabric after the whole latitude of process within the desired accuracy rating of this fabric production technology.

To achieve these goals, the present invention has adopted following technical scheme:

The tentering of weft through embedding type camera shot intelligence control method, its substantive distinguishing features is that it comprises:

1) adopt ARM embedded control chip and DSP control chip respectively as master and slave controller;

2) utilize ccd video camera as the skew of weft signal transducer, and adopt image processing method to carry out the skew of weft computational analysis;

3) adopt the immune fuzzy intelligent control method that possesses study, memory and adaptive ability, comprise step:

A) when each control cycle begins, by the skew of weft image of ccd sensor reception fabric, the process dsp controller obtains the skew of weft amount of fabric at test point after carrying out skew of weft calculating; The controller that is connected with whole latitude machine adopts the adjustable Increment Type Digital Hydraulic PID controller of a kind of parameter, and its form is:

Δu(k)＝K _p[(E(k)-E(k-1)]+K _iE(k)+K _d[ΔE(k)-ΔE(k-1)]

Δ u (k) is the increment of PID controller output controlled quentity controlled variable in the formula; K _p, K _i, K _dRepresent ratio, integration, differential action parameter respectively; E (k), E (k-1) represent the error of skew of weft amount at k and k-1 control cycle respectively; Δ E (k), Δ E (k-1) represents the error rate of skew of weft amount at k and k-1 control cycle respectively;

B) with fabric the skew of weft amount of test point as the immune fuzzy intelligent controller in the input of immunomodulatory moiety, according to immune mechanism, k is expressed as for the B cell concentration:

B(k)＝T _H(k)-T _S(k)

Wherein, T _H(k)=k ₁ε (k) T _S(k)=k ₂F[Δ B (k-d)] ε (k)

In the formula, ε (k) is that k is for antigen concentration; T _H(k) be short B cell bifurcated concentration; T _S(k) for suppressing B cell bifurcated concentration; Δ B (k) is the change in concentration of B cell; F () is a nonlinear function, following formula can be regarded as:

u(k)＝k ₁e(k)-k ₂f[Δu(k)]·e(k)＝k ₁{1-μ·f[Δu(k)]}e(k)

In the formula, u (k) is the output quantity of immune fuzzy intelligent controller at k control cycle; E (k) is the error of skew of weft amount at k control cycle; k ₁, k ₂Be proportionality coefficient, k ₂=k ₁μ; k ₁{ 1-μ f[Δ u (k)] } can regard the variable proportion gain coefficient K of PID controller as _p

C) with fabric the skew of weft amount of test point as the immune fuzzy intelligent controller in the input of fuzzy reasoning part, the input variable of setting indistinct logic computer is the domain scope of E and Δ E, pid parameter is normalized to parameter K between [0,1] ' _p, K ' _i, K ' _d, and set output quantity K ' _p, K ' _i, K ' _dThe fuzzy subset; Membership function all adopts triangular function, and adopts irregular division, at dead-center position higher precision is arranged; For adopting univariate two dimensional form, control law service condition statement form can be expressed as with this design of Fuzzy Controller:

if?E＝A _i?and?ΔE＝B _i?then?K＝C _i，i＝1，2，3，…，n

Wherein, A _i, B _i, C _iBe E, Δ E, the fuzzy set of pid control parameter on domain separately; Fuzzy controller adopts the Mamdani Fuzzy Logic Reasoning Algorithm, adopts the little operation rule ambiguity in definition relation of getting, and ambiguity solution adopts center of gravity ambiguity solution device to find the solution.

D) according to the variable proportion COEFFICIENT K _pWith normalized parameter K ' _p, K ' _i, K ' _dTry to achieve the proportionality coefficient K of PID controller _p, integral coefficient K _iWith differential coefficient K _dThen PID controller actual parameter can be regarded as:

K _p＝K _p·K′ _p，K _i＝K _p·K′ _i·T _i，K _d＝K _p·K′ _d/T _d；

Wherein, T _iBe integration time constant; T _dBe derivative time constant;

E) with the proportionality coefficient K of the PID controller obtained _p, integral coefficient K _iWith differential coefficient K _dThe PID controller of packing into, the whole latitude machine object motion of control to be eliminating skew of weft, and enter next control cycle.

Above-mentioned tentering of weft through embedding type camera shot intelligence control method, wherein:

1) adopts resolution ratio more than or equal to 512 * 512 black and white/color ccd sensor, guarantee to reach the theoretical skew of weft accuracy of detection of 0.15 degree;

2) each ccd sensor adopts the skew of weft calculating that walk abreast of independent dsp controller, has sufficiently high detection speed when the complete machine speed of a motor vehicle is 0～120 meter/minute;

3) each dsp controller carries out initial analysis to the skew of weft signal separately, and adopting 32 ARM controllers is the main control chip, carries out data fusion and Synchronization Control;

4) various control model selection, can carry out static state, dynamically, the skew of weft under the off-line state detects, reduce and advance the cloth waste;

5) the whole latitude controller of two parallel immune fuzzy intelligent has self study, inferential capability;

6) Industrial Ethernet interface is realized the data sync of many complete machines, remote parameter set-up function;

7) use WinCE operating system, and adopt touch-screen to realize graphical user control interface.

Above-mentioned tentering of weft through embedding type camera shot intelligence control method, wherein, the skew of weft of described image processing method detects step and is:

1) adopts infrared light supply as the ccd sensor light source, reduce the noise signal of cloth textured generation;

2) carry out fast two-dimensional fourier transformation (FFT), obtain the power spectrum gray level image;

3) the power spectrum greyscale image transitions with gained is the power spectrum bianry image;

4) the power spectrum bianry image is set up the coordinate relation, the utilization statistical method obtains the direction coefficient of image texture.

Adopt the control device of above-mentioned tentering of weft through embedding type camera shot intelligence control method, its formation comprises hardware components, software section;

Described hardware components comprises main frame, slave, peripheral interface; Wherein,

The CPU of main frame adopts 32, the ARM7 family chip;

Adopt SDRAM and FLASH flash memory respectively as calculator memory reservoir and storage operating system, application software and control memory body library file; Adopt the external world that power mode is provided;

The CPU of slave adopts 16, dsp processor;

Adopt matrix CCD as the key data source; Adopt the outside that power mode is provided;

Peripheral interface comprises:

Data communication interface: USB, VGA, RJ45, RS232, RS485 and power interface that standard is provided;

Analog signal interface: the I/O of 4～20mA electric current, the I/O of 1～5V dc voltage are provided;

Described hardware components also comprises: image processing module, input signal pretreatment module, control algorithm module, output interface and communication interface; Wherein,

Described image processing module comprises ccd sensor (group) and image recognition transmission processor (group);

Described control algorithm module comprises auxiliary pid algorithm and immune FUZZY ALGORITHMS FOR CONTROL.

Described software section comprises operating system, bitcom, WEB remote access software and input/output interface software; Wherein,

Operating system adopts the embedded OS one Win CE that has with the window application compatibility;

Bitcom adopts the support software that ICP/IP protocol, RS232 or 485 agreements are provided;

The WEB remote access software is used to finish remote access, communication, operating function;

Input/output interface software is used to finish the I/O of analog signal or data signal.

Owing to adopted above-mentioned technical scheme, the present invention compared with prior art has following advantage and good effect:

Because the present invention adopts a kind of tentering of weft through embedding type camera shot intelligence control method and has comprised hardware, the control device of software section, the photoelectric probe of utilizing ccd video camera to replace the whole latitude machine of traditional photo-electric type obtains the skew of weft parameter of fabric, the study that possesses based on the design of immune fuzzy intelligent reasoning principle, memory and adaptive ability, the novel embedded intelligent controller (EIC) of characteristics such as remote access is regulated and supported to control parameter online adaptive, it comprises image processing module, the input signal pretreatment module, control algorithm module, output interface and communication interface etc., wherein, 32 ARM chips of embedded intelligent controller employing are that master controller cooperates a plurality of slave controllers based on DSP to realize the control of many ccd sensors array; The CCD camera replaces the whole latitude of traditional photo-electric type, and better cloth kind adaptability is arranged, higher accuracy of detection, and can realize shutting down parallel and detect, significantly reduce waste; Control algorithm module is made up of parameter adjustable PID controller and immune fuzzy inference system.When control deviation occurred for the first time, EIC learnt reasoning according to the feature of control deviation, and storage control corresponding memory body and parameter thereof; When control deviation occurred once more, it carried out reasoning once more according to the characteristic of existing control memory body and current control deviation; Realize the control deviation on-line tuning.So follow reciprocal ring and realize Based Intelligent Control.

Utilize ccd video camera to gather the skew of weft parameter of current fabric, employing is in time made correction based on the embedded controller of immune FUZZY ALGORITHMS FOR CONTROL to the skew of weft degree of cloth, compare with the whole latitude instrument of the tradition that adopts the PID control method, can satisfy the demand of many kinds fabric dyeing and finishing process.Thereby the quality of fabric dyeing and finishing process process is effectively controlled.

Description of drawings

By following examples and in conjunction with the description of its accompanying drawing, can further understand purpose of the present invention, specific structural features and advantage.In the accompanying drawing,

Fig. 1 is the workflow diagram of tentering of weft through embedding type camera shot intelligence control method of the present invention;

Fig. 2 is immune fuzzy intelligent control principle figure;

Fig. 3 is an immune fuzzy intelligent control system block diagram of the present invention;

Fig. 4 is the theory diagram of control system of the present invention;

Fig. 5,6 is for the hardware principle block diagram of control device of the present invention;

Simulation Control design sketch when Fig. 7 meets fabric parameter for the present invention;

Fig. 8 changes post-simulation control design sketch for fabric parameter of the present invention.

Among the figure:

1. image processing module; 2. input signal pretreatment module; 3. auxiliary pid algorithm; 4. control algorithm module; 5. immune FUZZY ALGORITHMS FOR CONTROL; 6. output interface; 7.CCD sensor (group); 8. image recognition transmission processor (group); 9. communication interface; 10.CPU; 11.SDRAM memory; 12.FLASH flash memory.

The specific embodiment

Referring to Fig. 1, cooperate referring to Fig. 3, tentering of weft through embedding type camera shot intelligence control method of the present invention mainly comprises:

1) adopt ARM embedded control chip and DSP control chip respectively as master and slave controller;

2) utilize ccd video camera as the skew of weft signal transducer, and adopt image processing method to carry out the skew of weft computational analysis;

3) adopt the immune fuzzy intelligent control method that possesses study, memory and adaptive ability.

The job step of above-mentioned embedded controller is:

1) adopts resolution ratio more than or equal to 512 * 512 black and white/color ccd sensor, guarantee to reach the theoretical skew of weft accuracy of detection of 0.15 degree;

2) each ccd sensor adopts the skew of weft calculating that walk abreast of independent dsp controller, has sufficiently high detection speed when the complete machine speed of a motor vehicle is 0～120 meter/minute;

3) each dsp controller carries out initial analysis to the skew of weft signal separately, and adopting 32 ARM controllers is the main control chip, carries out data fusion and Synchronization Control;

4) various control model selection, can carry out static state, dynamically, the skew of weft under the off-line state detects, reduce and advance the cloth waste;

5) the whole latitude controller of two parallel immune fuzzy intelligent has self study, inferential capability;

6) Industrial Ethernet interface is realized the data sync of many complete machines, remote parameter set-up function;

7) use WinCE operating system, and adopt touch-screen to realize graphical user control interface.

It is as follows to the present invention is based on the operation principle that skew of weft that image handles detects:

At this, the fabric that skew of weft does not take place is defined as zero skew of weft fabric, its skew of weft characteristic value is defined as the standard feature value, as a reference value of further calculating fabric skew amount.Every width of cloth textile image all has its skew of weft characteristic value, can obtain its skew of weft parameter with standard feature value comparison with kind fabric, as the weft straightener parameter of control automatically, so that the skew of weft degree of cloth is in time made correction.In view of the above, the invention provides whole latitude control method of a kind of intelligence that shooting detects based on CCD and control device thereof.

Simultaneously, the present invention is based on following understanding:

Fourier transform power spectrum bianry image still satisfies the self registration character of Fourier transform amplitude spectrum, and the grain direction feature of source textile image still superposes in the position of former line orientations in the central vertical of power spectrum bianry image.With this center is that initial point is set up polar coordinate system, with the stack of the gray values of pixel points on each angle, can reflect the texture features of source textile in the vertical direction of this angle.

In sum, the cloth textured image-recognizing method towards camara weft straightener of the present invention comprises the following steps:

1. calculate the direction character value of current textile image:

A. adopt the CCD camera collection to move the image of middle fabric, carry out fast Fourier transform (FFT), obtain the power spectrum gray level image, its process comprises:

1) the capture element is 2 ^X* 2 ^XSquare-shaped image be converted into gray level image, X=1 wherein, 2,3,

2) above-mentioned gray level image is carried out the Two-dimensional FFT conversion;

3) the Two-dimensional FFT transformation results is carried out modular arithmetic, obtain the power spectrum gray level image.

B. the power spectrum greyscale image transitions being become the power spectrum bianry image, is right:

The brightest N point in the power spectrum gray level image of obtaining, establishing its value is 1, the value of other point all is made as 0.Wherein,

C. set up coordinate system in the power spectrum bianry image, the utilization statistical method obtains the direction coefficient of image texture, and its process comprises:

1) is round dot with power spectrum bianry image central point, sets up rectangular coordinate system and polar coordinate system respectively;

2) establish the image meta be changed to (x, the polar coordinates of some correspondence y) are (lcos θ, lsin θ), then this point to the absolute distance of initial point be l (x, y), its gray value be G (x, y);

3) establishing straight line k (θ) was that initial point becomes the θ angle counterclockwise with x axle positive axis, the definition L (θ) be all points on straight line k (θ) on the image the absolute distance two-value with, as accompanying drawing 2 (d), then

$L\left(\mathrm{\θ}\right)=\underset{(x_i,y_i)\∈\mathrm{k\θ}}{\mathrm{\Σ}}{l}_i(x_i,y_i)\×G_i(x_i,y_i)$

4) exist Scope in the search L (θ) at the bimodal maximum L of π in the cycle _p, corresponding θ value is the direction character value of textile image, is designated as θ _p, here, θ ₀For not rotating the direction character value of textile image, in bimodal, appoint and get.

L (θ) is in the bimodal problem of π in the cycle: the Fourier transform power spectrum chart picture of textile image is about former point symmetry, so the cycle of absolute distance two-value and L (θ) is π.Because the peak value of Fu Shi power spectrum is present on the vertical direction of texture place direction in the image, the radially texture and the broadwise texture of textile image all peak value may occur in the power spectrum π cycle, Here it is absolute distance two-value and L (θ) is in the bimodal problem of π in the cycle.Generally speaking, two peak values differ

Obviously, radially can choose here as the characteristic parameter of cloth textured identification with any one peak value of broadwise

Peak value in the scope, and definite direction character value.

The operation principle of immune fuzzy intelligent controller of the present invention is as follows:

The present invention adopts fuzzy control that people's control experience is summarized as fuzzy rule, need not the control model is described accurately, can solve the control problem of non-linear, large dead time, variable element object preferably, therefore is widely used in various control systems.Adopt the immune control device simultaneously, it uses for reference the immune mechanism of biosystem and a kind of non-linear P controller designed.In immune system, because the invasion of antigen, the B cell is subjected to T on the one hand _HThe activation of cell is also accepted T on the other hand _SThe cell inhibiting effect.Follow above mechanism, the immune control device can dynamically change system gain by current deviation and the rate of change thereof of dependence system, and its principle as shown in Figure 2.

Simultaneously, the present invention is based on following understanding:

When control deviation occurred for the first time, EIC learnt reasoning according to the feature of control deviation, and produced corresponding pid control parameter, produced the control corresponding memory body simultaneously and stored it; When control deviation occurred once more, it carried out reasoning once more according to the characteristic of existing control memory body and current control deviation; The Correction and Control memory body produces new pid control parameter simultaneously; PID controller binding immunoassay indistinct logic computer is realized the control deviation on-line tuning.

Embedded type immune fuzzy intelligence controller of the present invention mainly comprises:

A. the whole latitude controller of two parallel intelligence:

Whole latitude controller is made up of two independently parallel immune fuzzy PID controllers, and each immune fuzzy PID controller is made up of parameter adjustable PID controller and immune fuzzy inference system.Fuzzy inference system is the indistinct logic computer of a two dimension, selects for use the deviation E of controlled device and deviation variation rate Δ E as input variable, adopts fuzzy reasoning method to calculate the proportional gain K of PID _p, storage gain K _iWith differential gain K _d, to realize to the self-regulating requirement of pid parameter, referring to system block diagram as shown in Figure 3.

B. the adjustable increment type PID controller of parameter:

System adopts the adjustable Increment Type Digital Hydraulic PID controller of a kind of parameter, and its form is:

Δu(k)＝K _p[(E(k)-E(k-1)]+K _iE(k)+K _d[ΔE(k)-ΔE(k-1)]

K in the formula _p, K _i, K _dRepresent ratio, integration, differential action parameter respectively.

C. textile image skew of weft processor:

1) uses the CCD camera collection to move the image of middle fabric, carry out fast Fourier transform (FFT), and the Two-dimensional FFT transformation results is carried out modular arithmetic, obtain the power spectrum gray level image.

2) the power spectrum greyscale image transitions is become the power spectrum bianry image, the brightest N point in the power spectrum gray level image of obtaining, establishing its value is 1, the value of other point all is made as 0.

3) be round dot with power spectrum bianry image central point, set up rectangular coordinate system and polar coordinate system respectively, the utilization statistical method obtains the direction coefficient of image texture.

The step of immune fuzzy intelligent control method of the present invention is:

A) when each control cycle begins, by the skew of weft image of ccd sensor reception fabric, the process dsp controller obtains the skew of weft amount of fabric at test point after carrying out skew of weft calculating; The controller that is connected with whole latitude machine adopts the adjustable Increment Type Digital Hydraulic PID controller of a kind of parameter, and its form is:

Δu(k)＝K _p[(E(k)-E(k-1)]+K _iE(k)+K _d[ΔE(k)-ΔE(k-1)]

Δ u (k) is the increment of PID controller output controlled quentity controlled variable in the formula; K _p, K _i, K _dRepresent ratio, integration, differential action parameter respectively; E (k), E (k-1) represent the error of skew of weft amount at k and k-1 control cycle respectively; Δ E (k), Δ E (k-1) represents the error rate of skew of weft amount at k and k-1 control cycle respectively;

B) with fabric the skew of weft amount of test point as the immune fuzzy intelligent controller in the input of immunomodulatory moiety, according to immune mechanism, k is expressed as for the B cell concentration:

B(k)＝T _H(k)-T _S(k)

Wherein, T _H(k)=k ₁ε (k) T _S(k)=k ₂F[Δ B (k-d)] ε (k)

In the formula, ε (k) is that k is for antigen concentration; T _H(k) be short B cell bifurcated concentration; T _S(k) for suppressing B cell bifurcated concentration; Δ B (k) is the change in concentration of B cell; F () is a nonlinear function, following formula can be regarded as:

u(k)＝k ₁e(k)-k ₂f[Δu(k)]·e(k)＝k ₁{1-μ·f[Δu(k)]}e(k)

In the formula, u (k) is the output quantity of immune fuzzy intelligent controller at k control cycle; E (k) is the error of skew of weft amount at k control cycle; k ₁, k ₂Be proportionality coefficient, k ₂=k ₁μ; k ₁{ 1-μ f[Δ u (k)] } can regard the variable proportion gain coefficient K of PID controller as _p

C) with fabric the skew of weft amount of test point as the immune fuzzy intelligent controller in the input of fuzzy reasoning part, the input variable of setting indistinct logic computer is the domain scope of E and Δ E, pid parameter is normalized to parameter K between [0,1] ' _p, K ' _i, K ' _d, and set output quantity K ' _p, K ' _i, K ' _dThe fuzzy subset; Membership function all adopts triangular function, and adopts irregular division, at dead-center position higher precision is arranged;

For adopting univariate two dimensional form, control law service condition statement form can be expressed as with this design of Fuzzy Controller:

if?E＝A _i?and?ΔE＝B _i?then?K＝C _i，i＝1，2，3，…，n

Wherein, A _i, B _i, C _iBe E, Δ E, the fuzzy set of pid control parameter on domain separately; Fuzzy controller adopts the Mamdani Fuzzy Logic Reasoning Algorithm, adopts the little operation rule ambiguity in definition relation of getting, and ambiguity solution adopts center of gravity ambiguity solution device to find the solution.

D) according to the variable proportion COEFFICIENT K _pWith normalized parameter K ' _p, K ' _i, K ' _dTry to achieve the proportionality coefficient K of PID controller _p, integral coefficient K _iWith differential coefficient K _dThen PID controller actual parameter can be regarded as:

K _p＝K _p·K′ _p，K _i＝K _p·K′ _i·T _i，K _d＝K _p·K′ _d/T _d；

Wherein, T _iBe integration time constant; T _dBe derivative time constant;

E) with the proportionality coefficient K of the PID controller obtained _p, integral coefficient K _iWith differential coefficient K _dThe PID controller of packing into, the whole latitude machine object motion of control to be eliminating skew of weft, and enter next control cycle.

In the present embodiment, its immune fuzzy inference system

1), k is expressed as for the B cell concentration according to immune mechanism:

B(k)＝T _H(k)-T _S(k)

Wherein: T _H(k)=k ₁ε (k) T _S(k)=k ₂F[Δ B (k-d)] ε (k)

In the formula, ε (k) is that k is for antigen concentration; Δ B (k) is the change in concentration of B cell; F () is a nonlinear function, and is relevant with the change in concentration of B cell, be illustrated in k for the time, the antibody of B emiocytosis and the immune effect behind the AI.Regard the B cell concentration as controller output, antigen concentration is regarded systematic error as, following formula can be regarded as:

u(k)＝k ₁e(k)-k ₂f[Δu(k)]·e(k)＝k ₁{1-μ·f[Δu(k)]}e(k)

In the formula, k ₁1-μ f[Δ u (k)] } can regard variable proportion gain coefficient K as _p

2) input variable of setting indistinct logic computer be E and Δ E the domain scope for 15, the 15} degree, its fuzzy subset is { negative big, negative little, zero is negative, and zero, zero just, just little, honest }, and is labeled as { NB, NS, NZ, Z, PZ, PS, PB}.For convenience's sake, pid parameter is normalized to parameter K between [0,1] ' _p, K ' _i, K ' _d, and set output quantity K ' _p, K ' _i, K ' _dThe fuzzy subset be { Z, S, M, B}.

PID controller actual parameter can be regarded as:

K _p＝K _p·K′ _p，K _i＝K _p·K′ _i·T _i，K _d＝K _p·K′ _d/T _d

Membership function all adopts triangular function.In order to guarantee that system reaches high control precision, the fuzzy subset of deviation E adopts irregular division, at dead-center position higher precision is arranged.

For adopting univariate two dimensional form, control law service condition statement form can be expressed as with this design of Fuzzy Controller:

if?E＝A _i?and?ΔE＝B _i?then?K＝C _i，i＝1，2，3，...，n

Wherein, A _i, B _i, C _iBe E, Δ E, the fuzzy set of pid control parameter on domain separately.Fuzzy controller adopts the Mamdani Fuzzy Logic Reasoning Algorithm, adopts the little operation rule ambiguity in definition relation of getting, and ambiguity solution adopts center of gravity ambiguity solution device to find the solution.

Comprehensive above-mentioned steps, overall flow of the present invention as shown in Figure 4.

Shown in Fig. 1,3,5,6, the formation of tentering of weft through embedding type camera shot intelligence controlling device of the present invention comprises hardware components, software section;

Hardware components comprises main frame, slave, peripheral interface; Wherein,

The CPU10 of main frame adopts 32, the ARM7 family chip;

Adopt SDRAM memory 11 and FLASH flash memory 12 respectively as calculator memory reservoir and storage operating system, application software and control memory body library file; Adopt the external world that power mode is provided;

The CPU of slave adopts 16, dsp processor;

Adopt matrix CCD as the key data source; Adopt the outside that power mode is provided;

Peripheral interface comprises:

Data communication interface: USB, VGA, RJ45, RS232, RS485 and power interface that standard is provided;

Analog signal interface: the I/O of 4～20mA electric current, the I/O of 1～5V dc voltage are provided;

In addition, hardware components of the present invention also comprises: image processing module 1, input signal pretreatment module 2, control algorithm module 4, output interface 6 and communication interface 9; Wherein,

Image processing module 1 comprises at least one ccd sensor 7 and at least one image recognition transmission processor (group) 8;

Control algorithm module 4 comprises auxiliary pid algorithm 3 and immune FUZZY ALGORITHMS FOR CONTROL 5.

Software section comprises operating system, bitcom, WEB remote access software and input/output interface software; Wherein,

Operating system adopts the embedded OS-WinCE that has with the window application compatibility;

Bitcom adopts the support software that ICP/IP protocol, RS232 or 485 agreements are provided;

The WEB remote access software is used to finish remote access, communication, operating function;

Input/output interface software is used to finish the I/O of analog signal or data signal.

In order to verify the feasibility of above whole control system for woof, we set up a whole latitude machine system model of being made up of 4 sensors.The fabric parallel is modeled to the curved section that 1000 discrete points are formed, and each point represents this position to horizontal distance.The skew of weft of known fabrics is produced by preceding working procedure, and promptly simulation produces a weft yarn that exists skew of weft, latitude to bend on complete machine advances to layout.By the angle of correct roller, the range of driving that calculates the current location generation is poor, and generates corresponding parallel when going out cloth.

Analog sensor be evenly distributed in complete machine go out to layout on, by the G-bar of current location as the skew of weft amount.The skew of weft amount of 4 sensors is as the input quantity of controller.Owing to have certain running distance to going out to layout at the rectification point, whole latitude machine is the object of a band delay component.For this reason, we add a delay component between going out to layout and advancing to layout, and hysteresis constant is according to the whole latitude equipment of difference and slightly different, are generally 4～6 meters advance the cloth time.

When the design fuzzy controller, use parameter regulation means earlier, as the Ziegler-Nichols method, the control parameter of online design PID controller.According to the PID controller parameter indistinct logic computer parameter is designed then.For the control performance of relative immunity fuzzy and conventional PID, we are according to corresponding immune fuzzy PID of the Fabric Design of certain specific tensile attribute and conventional PID controller.Be controlled to be example with skew of weft, under the situation that parameter is fit to, two kinds of controllers all can be put in order latitude to fabric preferably, as shown in Figure 7.Then, we change the tension force attribute of fabric, and under the identical situation of controller parameter, significantly concussion appears in conventional PID controllers.Adopt the PID controller system overshoot of immune fuzzy PID control ratio routine obviously to reduce, the adjusting time obviously improves, and does not also have reforming phenomena, as shown in Figure 8.

Claims (4)

1. tentering of weft through embedding type camera shot intelligence control method is characterized in that it comprises:

1) adopt ARM embedded control chip and DSP control chip respectively as master and slave controller;

2) utilize ccd video camera as the skew of weft signal transducer, and adopt image processing method to carry out the skew of weft computational analysis;

3) adopt the immune fuzzy intelligent control method that possesses study, memory and adaptive ability, comprise step:

A) when each control cycle begins, by the skew of weft image of ccd sensor reception fabric, the process dsp controller obtains the skew of weft amount of fabric at test point after carrying out skew of weft calculating; The controller that is connected with whole latitude machine adopts the adjustable Increment Type Digital Hydraulic PID controller of a kind of parameter, and its form is:

Δu(k)＝K _p[(E(k)-E(k-1)]+K _iE(k)+K _d[ΔE(k)-ΔE(k-1)]

Δ u (k) is the increment of PI D controller output controlled quentity controlled variable in the formula; K _p, K _i, K _dRepresent ratio, integration, differential action parameter respectively; E (k), E (k-1) represent the error of skew of weft amount at k and k-1 control cycle respectively; Δ E (k), Δ E (k-1) represents the error rate of skew of weft amount at k and k-1 control cycle respectively;

B) with fabric the skew of weft amount of test point as the immune fuzzy intelligent controller in the input of immunomodulatory moiety, according to immune mechanism, k is expressed as for the B cell concentration:

B(k)＝T _H(k)-T _S(k)

Wherein, T _H(k)=k ₁ε (k) T _S(k)=k ₂F[Δ B (k-d)] ε (k)

In the formula, ε (k) is that k is for antigen concentration; T _H(k) be short B cell bifurcated concentration; T _S(k) for suppressing B cell bifurcated concentration; Δ B (k) is the change in concentration of B cell; F () is a nonlinear function, following formula can be regarded as:

u(k)＝k ₁e(k)-k ₂f[Δu(k)]·e(k)＝k ₁{1-μ·f[Δu(k)]}e(k)

In the formula, u (k) is the output quantity of immune fuzzy intelligent controller at k control cycle; E (k) is the error of skew of weft amount at k control cycle; k ₁, k ₂Be proportionality coefficient, k ₂=k ₁μ; k ₁{ 1-μ f[Δ u (k)] } can regard the variable proportion gain coefficient K of PID controller as _p

C) with fabric the skew of weft amount of test point as the immune fuzzy intelligent controller in the input of fuzzy reasoning part, the input variable of setting indistinct logic computer is the domain scope of E and Δ E, pid parameter is normalized to parameter K between [0,1] ' _p, K ' _i, K ' _d, and set output quantity K ' _p, K ' _i, K ' _dThe fuzzy subset; Membership function all adopts triangular function, and adopts irregular division, at dead-center position higher precision is arranged; For adopting univariate two dimensional form, control law service condition statement form can be expressed as with this design of Fuzzy Controller:

if?E＝A _i?and?ΔE＝B _i?then?K＝C _i，i＝1，2，3，…，n

Wherein, A _i, B _i, C _iBe E, Δ E, the fuzzy set of pid control parameter on domain separately; Fuzzy controller adopts the Mamdani Fuzzy Logic Reasoning Algorithm, adopts the little operation rule ambiguity in definition relation of getting, and ambiguity solution adopts center of gravity ambiguity solution device to find the solution;

D) according to the variable proportion COEFFICIENT K _pWith normalized parameter K ' _p, K ' _i, K ' _dTry to achieve the proportionality coefficient K of PID controller _p, integral coefficient K _iWith differential coefficient K _dThen PID controller actual parameter can be regarded as:

K _p＝K _p·K′ _p，K _i＝K _p·K′ _i·T _i，K _d＝K _p·K′ _d/T _d；

Wherein, T _iBe integration time constant; T _dBe derivative time constant;

E) with the proportionality coefficient K of the PID controller obtained _p, integral coefficient K _iWith differential coefficient K _dThe PID controller of packing into, the whole latitude machine object motion of control to be eliminating skew of weft, and enter next control cycle.

2. tentering of weft through embedding type camera shot intelligence control method according to claim 1 is characterized in that,

1) adopts resolution ratio more than or equal to 512 * 512 black and white/color ccd sensor, guarantee to reach the theoretical skew of weft accuracy of detection of 0.15 degree;

2) each ccd sensor adopts the skew of weft calculating that walk abreast of independent dsp controller, has sufficiently high detection speed when the complete machine speed of a motor vehicle is 0～120 meter/minute;

3) each dsp controller carries out initial analysis to the skew of weft signal separately, and adopting 32 ARM controllers is the main control chip, carries out data fusion and Synchronization Control;

4) various control model selection, can carry out static state, dynamically, the skew of weft under the off-line state detects, reduce and advance the cloth waste;

5) the whole latitude controller of two parallel immune fuzzy intelligent has self study, inferential capability;

6) Industrial Ethernet interface is realized the data sync of many complete machines, remote parameter set-up function;

7) use WinCE operating system, and adopt touch-screen to realize graphical user control interface.

3. tentering of weft through embedding type camera shot intelligence control method according to claim 1 is characterized in that, the skew of weft of described image processing method detects step and is:

1) adopts infrared light supply as the ccd sensor light source, reduce the noise signal of cloth textured generation;

2) carry out fast two-dimensional fourier transformation (FFT), obtain the power spectrum gray level image;

3) the power spectrum greyscale image transitions with gained is the power spectrum bianry image;

4) the power spectrum bianry image is set up the coordinate relation, the utilization statistical method obtains the direction coefficient of image texture.

4. adopt the control device of tentering of weft through embedding type camera shot intelligence control method as claimed in claim 1, it is characterized in that, its formation comprises hardware components, software section;

Described hardware components comprises main frame, slave, peripheral interface; Wherein,

The CPU of main frame adopts 32, the ARM7 family chip;

Adopt SDRAM and FLASH flash memory respectively as calculator memory reservoir and storage operating system, application software and control memory body library file; Adopt the external world that power mode is provided;

The CPU of slave adopts 16, dsp processor;

Adopt matrix CCD as the key data source; Adopt the outside that power mode is provided;

Peripheral interface comprises:

Data communication interface: USB, VGA, RJ45, RS 232, RS485 and power interface that standard is provided;

Analog signal interface: the I/O of 4～20mA electric current, the I/O of 1～5V dc voltage are provided;

Described hardware components also comprises: image processing module, input signal pretreatment module, control algorithm module, output interface and communication interface; Wherein,

Described image processing module comprises at least one ccd sensor and at least one image recognition transmission processor;

Described control algorithm module comprises auxiliary pid algorithm and immune FUZZY ALGORITHMS FOR CONTROL;

Described software section comprises operating system, bitcom, WEB remote access software and input/output interface software; Wherein,

Operating system adopts the embedded OS-WinCE that has with the window application compatibility;

Bitcom adopts the support software that ICP/IP protocol, RS232 or 485 agreements are provided;

The WEB remote access software is used to finish remote access, communication, operating function;

Input/output interface software is used to finish the I/O of analog signal or data signal.

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