CN103391037A - 基于arm单片机混沌映射控制的混沌搅拌控制系统 - Google Patents
基于arm单片机混沌映射控制的混沌搅拌控制系统 Download PDFInfo
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Abstract
本发明公开了一种基于ARM单片机混沌映射控制的混沌搅拌控制系统,包括ARM单片机,ARM单片机分别与输入装置、驱动芯片和AD转换芯片相连并通信,所述驱动芯片与H桥驱动电路相连,H桥驱动电路与直流电机相连,直流电机与混沌搅拌系统相连,直流电机上设置有实时监测其转速与电流信号的传感器,传感器与AD转换芯片相连。该系统利用的是全数字电路,稳定性好,可靠性高,能够精确地控制和方便地调节电机转速;适用范围广,可以适应各种工况下不同搅拌参数的需要。
Description
技术领域
本发明涉及一种基于ARM单片机混沌映射控制的混沌搅拌控制系统。
背景技术
搅拌设备使用历史悠久,大量应用于化工、医药、食品、涂料、废水处理等行业中。在这些行业中,常常会进行中高粘度物料的搅拌操作。由于物料常处于层流状态,常规匀速搅拌时,搅拌器桨叶的上、下方附近形成大范围的混合隔离区,导致搅拌釜内长时间混合不均,能量消耗多,混合效率低。为了改善工业搅拌效果,研究人员对非传统搅拌方式的混合特性进行了研究,如变转速搅拌、偏心搅拌等。研究发现,这些非常规的搅拌方式可较大幅度提高混合效率。
随着混沌理论的发展,混沌混合的概念被提出,混沌混合的良好效果也逐渐得到人们的认可。最早的设计采用机械方式设计不同形状的搅拌叶来产生混沌运动,存在着复杂和不灵活的缺点。
中国专利申请200810154905.9公开了一种基于延时反馈转矩控制的混沌搅拌器及其工作方法,其包括电机、搅拌叶、电机转速检测系统、电机电流检测系统、延时反馈系统、电机参考转矩计算系统、电机参考电流计算系统、电流控制器、PWM驱动器和电力变换器。电机转速检测系统的信号输出端通过延时反馈系统与电机参考转矩计算系统的信号输入端连接,电机参考转矩计算系统的信号输出端与电机参考电流计算系统的信号输入端连接,电机参考电流计算系统的信号输出端和电流检测系统的信号输出端分别和电流控制器的正、负信号输入端连接。该专利利用电路本身产生混沌信号,虽然能够控制电机混沌转速工作,但是利用的是电路本身的不稳定性,该专利所述方法实现比较困难,需要复杂的控制电路,对操作者电路技术要求高。电路设计完成之后,混沌信号的种类无法人工调节。
发明内容
本发明的目的是为克服上述现有技术的不足,提供一种基于ARM单片机混沌映射控制的混沌搅拌控制系统,该系统利用的是全数字电路,稳定性好,可靠性高,能够精确地控制和方便地调节电机转速;适用范围广,可以适应各种工况下不同搅拌参数的需要。
为实现上述目的,本发明采用下述技术方案:
一种基于ARM单片机混沌映射控制的混沌搅拌控制系统,包括ARM单片机,ARM单片机分别与输入装置、驱动芯片和AD转换芯片相连并通信,所述驱动芯片与H桥驱动电路相连,H桥驱动电路与直流电机相连,直流电机与混沌搅拌系统相连,直流电机上设置有实时监测其转速与电流信号的传感器,传感器与AD转换芯片相连。
所述输入装置为键盘。
所述驱动芯片为IR2101MOSFET/IGBT驱动芯片。
所述AD转换芯片为TLC549串行AD转换芯片。
所述H桥驱动电路是由4个MOSFET组成的。
所述ARM单片机内编入逻辑斯蒂映射式,令边界条件在混沌区间内,n等于输入模块所输入的峰值转速,用ARM单片机的CPU计算xi的轨迹曲线,则能生成一组混沌的信号,该信号即为电机混沌旋转的转速信号;调整CPU的工作时序,使其混沌序列信号的产生速度与电机工作的机械延迟时间相对应,这种情况下CPU所计算出的混沌信号数值将是电机下一时刻的转速,故能够通过PID调节。
所述CPU产生的混沌信号是离散的,需要PID控制算法将一系列离散的信号连续化,才能控制电机转速的改变;通过调节CPU的工作时序以及PID控制算法,使得CPU产生的混沌信号为下一时刻电机应有的转速,该转速数值传输给PID控制模块,同时,传感器采集到得实际电机转速信号经过AD转换也传输到PID控制模块;PID控制模块比较实际转速信号和CPU产生的理论混沌转速信号相比较,偏差根据PID控制算法进行PID运算之后,得到修正的混沌转速信号,驱动电机平滑的改变转速。
所述ARM单片机中内置5路PWM模块,使用其中四路PWM模块;PWM模块接收到PID控制模块产生的修正后的混沌转速信号,进行PWM调制,生成混沌的PWM信号。
所述IR2101MOSFET/IGBT驱动芯片接受ARM单片机中PID控制模块输出的PWM信号,控制四个MOSFET的开闭状态,以调整电路占空比,达到改变电压及控制之流电机转速的功能。
本发明利用ARM单片机中的中央处理器(CPU)通过混沌映射(如逻辑斯蒂映射)产生混沌信号,通过把这个混沌信号进行PWM调制产生混沌的PWM信号,然后通过驱动电路根据该混沌PWM信号驱动电机以混沌的转速旋转以带动搅拌器混沌的转速工作,达到混沌搅拌提高搅拌效率的目的。
本系统利用的是全数字电路,稳定性好,可靠性高,能够精确地控制和方便地调节电机转速;适用范围广,可以适应各种工况下不同搅拌参数的需要。
本发明的有益效果是:
本发明的混沌转速实现方式简单,易于修改和调节,采用常规搅拌器即可充分消除工业搅拌中的混合隔离区,提高混合效率,并能够根据不同搅拌介质选择不同的混沌映射函数以及参数。因此,本发明具有很强的工业实用性。
附图说明
图1是本发明控制系统原理图;
图2是本发明控制系统电路图;
图3是本发明混沌转速示意图;
图4是本发明搅拌效果与其他搅拌比较图。
具体实施方式
下面结合附图和实施例对本发明进一步说明。
如图1-图4所示,基于ARM单片机混沌映射控制的混沌搅拌控制系统,包括ARM单片机,ARM单片机分别与输入装置、驱动芯片和AD转换芯片相连并通信,所述驱动芯片与H桥驱动电路相连,H桥驱动电路与直流电机相连,直流电机与混沌搅拌系统相连,直流电机上设置有实时监测其转速与电流信号的传感器,传感器与AD转换芯片相连。传感器,实时监测和采集搅拌电机工作时的转速与电流信号。
输入装置为键盘。通过键盘等输入装置确定和调节电机峰值转速数值,以适应不同搅拌参数需要。
AD转换芯片为TLC549串行AD转换芯片。AD转换芯片将传感器采集到的模拟信号转化为数字信号,并将转速信号和电流信号反馈给ARM单片机中的PID控制模块。
ARM单片机内部CPU通过混沌映射函数,迭代产生混沌信号。
ARM单片机内部,通过混沌优化过的PID控制算法对转速进行精确控制,根据转速反馈修正CPU产生的混沌信号。
ARM单片机内编入逻辑斯蒂映射式,令边界条件在混沌区间内,n等于输入模块所输入的峰值转速,用ARM单片机的CPU计算xi的轨迹曲线,则能生成一组混沌的信号,该信号即为电机混沌旋转的转速信号;调整CPU的工作时序,使其混沌序列信号的产生速度与电机工作的机械延迟时间相对应,这种情况下CPU所计算出的混沌信号数值将是电机下一时刻的转速,故能够通过PID调节。
CPU产生的混沌信号是离散的,需要PID控制算法将一系列离散的信号连续化,才能控制电机转速的改变;通过调节CPU的工作时序以及PID控制算法,使得CPU产生的混沌信号为下一时刻电机应有的转速,该转速数值传输给PID控制模块,同时,传感器采集到得实际电机转速信号经过AD转换也传输到PID控制模块;PID控制模块比较实际转速信号和CPU产生的理论混沌转速信号相比较,偏差根据PID控制算法进行PID运算之后,得到修正的混沌转速信号,驱动电机平滑的改变转速。
ARM单片机内部的PWM模块,根据CPU产生的混沌信号和PID控制模块的修正生成控制电机混沌旋转的混沌的PWM信号。所述ARM单片机中内置5路PWM模块,使用其中四路PWM模块;PWM模块接收到PID控制模块产生的修正后的混沌转速信号,进行PWM调制,生成混沌的PWM信号。
驱动芯片为IR2101MOSFET/IGBT驱动芯片。IR2101MOSFET/IGBT驱动芯片接受ARM单片机中PID控制模块输出的PWM信号,控制四个MOSFET的开闭状态,以调整电路占空比,达到改变电压及控制之流电机转速的功能。
IR2101芯片将PWM信号驱动MOSFET工作。四个MOSFET组成的H桥电路驱动电机工作,通过输入的220V直流电,将PWM模块产生的混沌PWM信号转化为混沌的电压信号。
工作过程及原理
1.混沌信号的生成
利用混沌映射,例如logistic映射、Henon映射、帐篷映射、kent映射等等产生混沌信号。
例如使用一维逻辑斯蒂映射作为混沌映射,其形式为:
xi+1=k·xi·(1-xi)
其中k为参数,取值范围是(0,4);i=1,2,3…(即i为大于等于1的整数)。初值xi在(0,1)内取值,则有0<xi<n(i≥2)。映射xi的轨迹与k的取值有关,随着k的增加,xi的轨迹先是出现周期加倍分岔,然后依次经过阵发混沌、周期3分叉、Explosive分叉,最后进入混沌。参数k在(3.9,4)区间取值时,xi的轨迹是混沌的,由此便可以得到混沌数值序列。
在ARM单片机内编入上述逻辑斯蒂映射式,令边界条件在混沌区间内,n等于输入模块所输入的峰值转速,用CPU计算xi的轨迹曲线,则能生成一组混沌的信号,该信号即为电机混沌旋转的转速信号。
由于电机本身的转速改变具有机械延迟,而且混沌序列是不可预期的,如果直接将CPU产生的高频混沌信号赋予电机工作,电机将无法以如此高的频率改变其工作状态。所以应当调整CPU的工作时序,使其混沌序列信号的产生速度与电机工作的机械延迟时间相对应,这种情况下CPU所计算出的混沌信号数值将是电机下一时刻的转速,故能够通过PID调节。2.混沌信号的反馈调节
一般情况下,对调速系统性能的主要要求是:稳定性、工作精度和快速响应性三方面。稳定性是指系统在规定输入或外界干扰的作用下,在短时间调节之后能够恢复到原有的或者新的平衡状态的能力。精度是指系统的输出对于输入信号要求所符合的程度。快速响应是反映系统对于输入信号跟随的速度。这三方面的要求及相互联系,又相互制约,在设计、调试系统时要综合考虑。
闭环控制系统的特点是系统被控对象的输出(被控量)会返送回来影响控制器的输出,形成一个或多个闭环。闭环控制系统有正反馈和负反馈,若反馈信号与系统给定值信号相反,则称为负反馈;若极性相同,则称为正反馈。一般闭环控制系统均采用负反馈,又称负反馈控制系统。
根据自动控制原理,反馈控制的闭环系统是按被调量的偏差进行控制的系统,只要被调量出现偏差,它就会自动产生纠正偏差的作用。转速降落正是由负载引起的转速偏差,显然,闭环调速系统应该能够大大减少转速降落。
在单回路控制系统中,由于扰动作用使被控参数偏离给定值,从而产生偏差。自动控制系统的调节单元将来自变送器的测量值与给定值相比较后,产生的偏差进行比例、积分、微分(PID)运算,并输出统一标准信号,去控制执行机构的动作,以实现对温度、压力、流量、液位及其他工艺参数的自动控制。
该系统中,CPU产生的混沌信号是离散的,需要PID控制算法将一系列离散的信号连续化,才能控制电机转速的改变。另外该系统中,通过调节CPU的工作时序以及PID算法,使得CPU产生的混沌信号为下一时刻电机应有的转速,该转速数值传输给PID控制模块,同时,工况采集模块采集到得实际电机转速信号经过AD转换也传输到PID控制模块。PID控制模块比较实际转速信号和CPU产生的理论混沌转速信号相比较,偏差根据PID控制算法进行PID运算之后,得到修正的混沌转速信号,驱动电机平滑的改变转速。
3.混沌信号的PWM调制
直流电动机转速和其他参量之间的稳态关系可表示为:
自从全控型电力电子器件问世以后,就出现了采用脉冲宽度调制的高频开关控制方式,形成了脉冲调制变换器-直流电动机调速系统,简称直流脉宽调速系统或直流PWM调速系统。无论哪一种PWM变换电路,其驱动电压都由PWM控制器发出,PWM控制器可以是模拟式的,也可以是数字式的。该设备采用单片机控制的脉宽调制对直流电机调速。
PWM是通过固定电压的直流电源开关频率,从而改变负载两端的电压,进而达到控制要求的一种电压调整方法。在PWM驱动控制的调整系统中,按一个固定的频率来接通和断开电源,并根据需要改变一个周期内“接通”和“断开”时间的长短。通过改变直流电机电枢上电压的“占空比”来改变平均电压的大小,从而控制电动机的转速。
该系统中,ARM单片机作为主控芯片,ARM单片机中内置5路PWM模块。本系统使用其中四路PWM生成器。PWM模块接收到PID控制模块产生的修正后的混沌转速信号,进行PWM调制,生成混沌的PWM信号。
4.桥式电路驱动电机工作
该系统中,由于之流电机电压高功率大,尚未有集成的桥式芯片能够驱动该电机。故采用电力电子元件MOSFET组成H全桥式驱动电路驱动直流电机工作。MOSFET管的工作利用IR2101芯片驱动。IR2101芯片接受ARM单片机中PID控制模块输出的PWM信号,控制四个MOSFET的开闭状态,以调整电路占空比,达到改变电压及控制之流电机转速的功能。
该系统能完成以下功能:
1.控制直流电机以一种混沌的转速旋转,带动搅拌桨以混沌的转速工作,提高搅拌效率。
2.通过数字键盘输入数值,可以更换混沌映射种类以及改变直流电机混沌旋转的峰值转速,以适应不同搅拌工况。
3.实时监测电机转速,通过转速信号反馈精确控制每一时刻直流电机转速数值,保证系统工作稳定。
上述虽然结合附图对本发明的具体实施方式进行了描述,但并非对本发明保护范围的限制,所属领域技术人员应该明白,在本发明的技术方案的基础上,本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。
Claims (9)
1.一种基于ARM单片机混沌映射控制的混沌搅拌控制系统,其特征是,包括ARM单片机,ARM单片机分别与输入装置、驱动芯片和AD转换芯片相连并通信,所述驱动芯片与H桥驱动电路相连,H桥驱动电路与直流电机相连,直流电机与混沌搅拌系统相连,直流电机上设置有实时监测其转速与电流信号的传感器,传感器与AD转换芯片相连。
2.如权利要求1所述的系统,其特征是,所述输入装置为键盘。
3.如权利要求1所述的系统,其特征是,所述驱动芯片为IR2101MOSFET/IGBT驱动芯片。
4.如权利要求1所述的系统,其特征是,所述AD转换芯片为TLC549串行AD转换芯片。
5.如权利要求1所述的系统,其特征是,所述H桥驱动电路是由4个MOSFET组成的。
6.如权利要求1所述的系统,其特征是,所述ARM单片机内编入逻辑斯蒂映射式,令边界条件在混沌区间内,n等于输入模块所输入的峰值转速,用ARM单片机的CPU计算xi的轨迹曲线,则能生成一组混沌的信号,该信号即为电机混沌旋转的转速信号;调整CPU的工作时序,使其混沌序列信号的产生速度与电机工作的机械延迟时间相对应,这种情况下CPU所计算出的混沌信号数值将是电机下一时刻的转速,故能够通过PID调节。
7.如权利要求6所述的系统,其特征是,CPU产生的混沌信号是离散的,需要PID控制算法将一系列离散的信号连续化,才能控制电机转速的改变;通过调节CPU的工作时序以及PID控制算法,使得CPU产生的混沌信号为下一时刻电机应有的转速,该转速数值传输给PID控制模块,同时,传感器采集到得实际电机转速信号经过AD转换也传输到PID控制模块;PID控制模块比较实际转速信号和CPU产生的理论混沌转速信号相比较,偏差根据PID控制算法进行PID运算之后,得到修正的混沌转速信号,驱动电机平滑的改变转速。
8.如权利要求7所述的系统,其特征是,ARM单片机中内置5路PWM模块,使用其中四路PWM模块;PWM模块接收到PID控制模块产生的修正后的混沌转速信号,进行PWM调制,生成混沌的PWM信号。
9.如权利要求8所述的系统,其特征是,驱动芯片接受ARM单片机中PID控制模块输出的PWM信号,控制四个MOSFET的开闭状态,以调整电路占空比,达到改变电压及控制之流电机转速的功能。
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