CN102100549B - Automatic diaphragm sectional type motor positioning method of digital gastrointestinal machine - Google Patents
Automatic diaphragm sectional type motor positioning method of digital gastrointestinal machine Download PDFInfo
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- CN102100549B CN102100549B CN2011100592689A CN201110059268A CN102100549B CN 102100549 B CN102100549 B CN 102100549B CN 2011100592689 A CN2011100592689 A CN 2011100592689A CN 201110059268 A CN201110059268 A CN 201110059268A CN 102100549 B CN102100549 B CN 102100549B
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Abstract
The invention discloses an automatic diaphragm sectional motor positioning method of a digital gastrointestinal machine. In the method, a control section is divided into three sections including a close object section, a middle object section and a far object section, and sectional type control is adopted to solve the problems of mismatched parameters which are easily generated because the system state is changed but parameters of a control system are not changed, so that the system is instable and generates oscillation, overshoot and the like, and the performance of the control system is greatly influenced. A control algorithm is used for observing the state of the system in real time through a feedback value, and appropriate control parameters are selected according to different stages to achieve optimized control and the optimal performance of the system.
Description
Technical field
The invention provides a kind of auto iris sectional type motor positioning method of digital gastrointestinal machine.
Background technology
The auto iris system of digital gastrointestinal machine is a kind of light harvesting, electronics, the accurate electromechanical mechanism of mechanical one.
General common position loop system generally adopts P to regulate algorithm or P regulates the algorithm that adds the feedforward.Single P of employing regulates and controls, the hysteresis characteristic that system presents, and also due to system inertia, larger static difference appears in the easy overshoot of motor.If adopt P to regulate the algorithm that adds the feedforward, can make up the hysteresis characteristic that system occurs, and static difference can reduce greatly also, but feedover the Link Model more complicated, be not easy to set up mathematical model, and control system gets parameter and is difficult to adjust.
Summary of the invention
The invention discloses a kind of auto iris sectional type motor positioning method of digital gastrointestinal machine.The auto iris control system requires very high to the positioning control of motor, the present invention proposes a kind of new Electric Machine Control solution, realize the accurate location of motor, this algorithm is according to the different conditions of aperture, select different mathematical modeies, choose simultaneously the control system parameter, thereby realize fast, accurate positioning control.
The present invention solves the problems of the technologies described above the technical scheme that adopts to be:
A kind of auto iris sectional type motor positioning method of digital gastrointestinal machine, it comprises the steps:
A. control interval is divided into three sections, the close-target district, middle target area, target area far away is then according to parameter P that it is suitable to adjust in different intervals
i, K
i, ξ
i,
P
i: different interval proportional control factors,
K
i: different interval penalty coefficients,
ξ
i: interval threshold values,
The i value: the close-target district is 1, and middle target area is 2, and target area far away is 3;
B. begin P and regulate algorithm;
C. obtain value of feedback y (t), t is moment point corresponding to a certain sampling period;
D. calculate the difference e (t) between desired value SP and value of feedback y (t), whether judge the absolute value of difference e (t) less than ξ 0, ξ 0 is the marginal value of error, when deviation is worth less than this, represents error in allowed band and so on,
If less than, withdraw from P and regulate algorithm,
If be not less than, enter the E step;
E. whether judgment formula ξ 0＜e (t)＜ξ 1 sets up,
If set up, get back to the C step after calling close-target district control algolithm,
If be false, enter the F step;
F. judgment formula ξ 1＜| e (t) | whether＜ξ 2 sets up,
If set up, get back to the C step after calling middle target area control algolithm,
If be false, get back to the C step after calling target area far away control algolithm.
What we adopted is that a kind of follow-on P regulates control algolithm, and mathematic(al) representation is:
e(t)=SP-y(t)
u(t)=e(t)×P+K
E (t): the difference between desired value and value of feedback
SP: desired value
Y (t): value of feedback
U (t): set-point
P: proportional control factor
We, obtain this mathematic(al) representation discretization according to the scope of the absolute value of e (t)
u(t)=e(t)×P
1+K
1(|e(t)|<ξ
1)
u(t)=e(t)×P
2+K
2(ξ
1<|e(t)|<ξ
2)
u(t)=e(t)×P
3+K
3(|e(t)|>ξ
2)
P
i: different interval proportional control factors, i value 1,2,3 etc.
K
i: different interval penalty coefficients,, i value 1,2,3 etc.
ξ
i: interval threshold values, i value 1,2,3 etc.
Value P
i, K
i, ξ
iCoefficient need to be adjusted according to real system.
In actual applications, we are divided into three sections with control interval, the close-target district, and middle target area, target area far away is then according to parameter P that it is suitable to adjust in different intervals
i, K
i, ξ
i
Adopt stagewise to control and solved due to system state change, but control system parameter section changes, and parameter easily occurs and does not mate, and makes system unstable, vibration occurs, overshoot etc. will affect the performance of control system greatly.This control algolithm is by value of feedback, and the state of real-time observation system according to the different suitable control parameters of stage selection, reaches the optimum performance of optimized control and system.
Description of drawings
Fig. 1 is embodiment of the present invention flow chart.
The specific embodiment
The below is described in further detail the present invention according to drawings and embodiments:
As shown in the figure, a kind of auto iris sectional type motor positioning method of digital gastrointestinal machine, it comprises the steps:
A. control interval is divided into three sections, the close-target district, middle target area, target area far away is then according to parameter P that it is suitable to adjust in different intervals
i, K
i, ξ
i,
P
i: different interval proportional control factors,
K
i: different interval penalty coefficients,
ξ
i: interval threshold values,
The i value: the close-target district is 1, and middle target area is 2, and target area far away is 3;
B. begin P and regulate algorithm;
C. obtain value of feedback y (t), t is moment point corresponding to a certain sampling period;
D. calculate the difference e (t) between desired value SP and value of feedback y (t), whether judge the absolute value of difference e (t) less than ξ 0, ξ 0 is the marginal value of error, when deviation is worth less than this, represents error in allowed band and so on,
If less than, withdraw from P and regulate algorithm,
If be not less than, enter the E step;
E. whether judgment formula ξ 0＜e (t)＜ξ 1 sets up,
If set up, get back to the C step after calling close-target district control algolithm,
If be false, enter the F step;
F. judgment formula ξ 1＜| e (t) | whether＜ξ 2 sets up,
If set up, get back to the C step after calling middle target area control algolithm,
If be false, get back to the C step after calling target area far away control algolithm.
What we adopted is that a kind of follow-on P regulates control algolithm, and mathematic(al) representation is:
e(t)=SP-y(t)
u(t)=e(t)×P+K
E (t): the difference between desired value and value of feedback
SP: desired value
Y (t): value of feedback
U (t): set-point
P: proportional control factor
We, obtain this mathematic(al) representation discretization according to the scope of the absolute value of e (t)
u(t)=e(t)×P
1+K
1(|e(t)|<ξ
1)
u(t)=e(t)×P
2+K
2(ξ
1<|e(t)|<ξ
2)
u(t)=e(t)×P
3+K
3(|e(t)|>ξ
3)
P
i: different interval proportional control factors, i value 1,2,3 etc.
K
i: different interval penalty coefficients, i value 1,2,3 etc.
ξ
i: interval threshold values, i value 1,2,3 etc.
Value P
i, K
i, ξ
iCoefficient need to be adjusted according to real system.
In actual applications, we are divided into three sections with control interval, the close-target district, and middle target area, target area far away is then according to parameter P that it is suitable to adjust in different intervals
i, K
i, ξ
i
Adopt stagewise to control and solved due to system state change, but control system parameter section changes, and parameter easily occurs and does not mate, and makes system unstable, vibration occurs, overshoot etc. will affect the performance of control system greatly.This control algolithm is by value of feedback, and the state of real-time observation system according to the different suitable control parameters of stage selection, reaches the optimum performance of optimized control and system.
Those skilled in the art do not break away from essence of the present invention and spirit, can there be the various deformation scheme to realize the present invention, the above only is the better feasible embodiment of the present invention, not thereby limit to interest field of the present invention, the equivalent structure that all utilizations description of the present invention and accompanying drawing content are done changes, within all being contained in interest field of the present invention.
Claims (1)
1. the auto iris sectional type motor positioning method of a digital gastrointestinal machine, is characterized in that comprising the steps:
A. control interval is divided into three sections, the close-target district, middle target area, target area far away is then according to parameter P that it is suitable to adjust in different intervals
i, K
i, ξ
i,
P
i: different interval proportional control factors,
K
i: different interval penalty coefficients,
ξ
i: interval threshold value,
The i value: the close-target district is 1, and middle target area is 2, and target area far away is 3;
B. begin P and regulate algorithm;
C. obtain value of feedback y (t), t is moment point corresponding to a certain sampling period;
D. calculate the difference e (t) between desired value SP and value of feedback y (t), whether judge the absolute value of difference e (t) less than ξ 0, ξ 0 is the marginal value of error, when deviation is worth less than this, represents error in allowed band and so on,
If less than, withdraw from P and regulate algorithm,
If be not less than, enter the E step;
E. judgment formula ξ 0＜| e (t) | whether＜ξ 1 sets up,
If set up, get back to the C step after calling close-target district control algolithm,
If be false, enter the F step;
F. judgment formula ξ 1＜| e (t) | whether＜ξ 2 sets up,
If set up, get back to the C step after calling middle target area control algolithm,
If be false, get back to the C step after calling target area far away control algolithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100592689A CN102100549B (en) | 2011-03-14 | 2011-03-14 | Automatic diaphragm sectional type motor positioning method of digital gastrointestinal machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100592689A CN102100549B (en) | 2011-03-14 | 2011-03-14 | Automatic diaphragm sectional type motor positioning method of digital gastrointestinal machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102100549A CN102100549A (en) | 2011-06-22 |
| CN102100549B true CN102100549B (en) | 2013-05-08 |
Family
ID=44153777
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100592689A Active CN102100549B (en) | 2011-03-14 | 2011-03-14 | Automatic diaphragm sectional type motor positioning method of digital gastrointestinal machine |
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| CN (1) | CN102100549B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1704017A (en) * | 2004-05-29 | 2005-12-07 | 倪蔚民 | Real time automatic non-invasion iris optical imaging device |
| CN101893805A (en) * | 2009-05-22 | 2010-11-24 | 亚洲光学股份有限公司 | Multi-stage aperture shutter device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7970455B2 (en) * | 2004-05-20 | 2011-06-28 | Spectrum Dynamics Llc | Ingestible device platform for the colon |
-
2011
- 2011-03-14 CN CN2011100592689A patent/CN102100549B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1704017A (en) * | 2004-05-29 | 2005-12-07 | 倪蔚民 | Real time automatic non-invasion iris optical imaging device |
| CN101893805A (en) * | 2009-05-22 | 2010-11-24 | 亚洲光学股份有限公司 | Multi-stage aperture shutter device |
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|---|---|
| CN102100549A (en) | 2011-06-22 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Automatic diaphragm sectional type motor positioning method of digital gastrointestinal machine Effective date of registration: 20131209 Granted publication date: 20130508 Pledgee: China Development Bank Co Pledgor: Landwind Co., Ltd. Registration number: 2013440000011 |
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Date of cancellation: 20141217 Granted publication date: 20130508 Pledgee: China Development Bank Co Pledgor: Landwind Co., Ltd. Registration number: 2013440000011 |
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Effective date of registration: 20151211 Address after: 518000, Guangdong, Shiyan City, Shenzhen province Baoan District Stone Street neighborhood committee, brick village, Liyuan Industrial Zone, hung long hi tech Industrial Park (blue rhyme Industrial Park), 2, 1 floor Patentee after: Shenzhen blue ribbon medical imaging Co., Ltd. Address before: Futian District King Road Shenzhen city Guangdong province 518000 No. 81 country garden building E 601 Patentee before: Landwind Co., Ltd. |
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Address after: No.103, baguang District Service Center, No.2 BaiShaWan Road, baguang community, Kuiyong street, Dapeng New District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen Lanying Medical Technology Co.,Ltd. Address before: 518000 Shenzhen, Baoan District, Guangdong Shiyan street, Lang Xin neighborhood committee, brick factory village, Liyuan Industrial Zone, hung lung hi tech Industrial Park (blue Yun Industrial Park), 1 1 buildings. Patentee before: SHENZHEN LANYUN MEDICAL IMAGE CO.,LTD. |
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