CN105070162B - The experimental provision of Virtual object feedforward _ feedback control system - Google Patents
The experimental provision of Virtual object feedforward _ feedback control system Download PDFInfo
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- CN105070162B CN105070162B CN201510558785.9A CN201510558785A CN105070162B CN 105070162 B CN105070162 B CN 105070162B CN 201510558785 A CN201510558785 A CN 201510558785A CN 105070162 B CN105070162 B CN 105070162B
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Abstract
A kind of experimental provision of Virtual object feedforward _ feedback control system, it includes industrial computer, it is characterized in that described industrial computer and master selector control are 1., feedforward controller control is 2., outer interference control is 3. and 1. PLC_ DO modules are connected, 1. PLC_ DO modules are connected with auxiliary reclay, 3. 3. outer interference control be connected with PLC_ AO modules, 2. 3. PLC_ AO modules be connected with first order inertial loop, 1. the output end of first order inertial loop 2. is connected with first order inertial loop, 2. another output end is connected with PLC_AO modules, 2. 2. PLC_AO modules be connected with feedforward controller control, first order inertial loop 1. respectively with Analog input mModule 1. and 1. PLC_ AO modules are connected, PLC_ AO modules 1. with master selector control 1.）Be connected, Analog input mModule 1. output transition process curve to master selector control 1. it is middle complete input value setting.The present invention is simple in construction, and small investment, teaching efficiency is good.
Description
Technical field
The present invention relates to a kind of experiment device for teaching, especially a kind of control theory and control engineering experimental provision, specifically
It is a kind of experimental provision of Virtual object feedforward _ feedback control system that ground, which is said,.
Background technology
《Process control engineering》It is that, as the Main Course of engineering and polytechnic universities' Automation Specialty, it is taught after national discipline reform
Material《Process control engineering》It is national unified editing, its curriculum experiment is the important step of teaching, it can be joined with the theory of training student
It is practical capacity and manipulative ability.Corresponding experiment reform has all been carried out with building for this each universities and colleges, and its direction includes two classes：One
Class is emulated towards pure software, and which is unsatisfactory at present, mainly student to do the experiment sense of reality poor；Another kind of is actual structure
Production process is made, which investment is larger, and need larger floor space, while being unfavorable for the experiment of exploitation formula.In order to strengthen class
The engineering ropeway of journey experiment, the control of dynamic analog chemical process, the ability of engineering practice of training student, we take the above
The scheme that two class modes are combined, both ensure that less investment and had reduced floor space, student is had towards actual life
Produce process computer control system the sense of reality, for improve student the connection between theory and practice ability and practical operative ability and
A fabulous platform can be provided by solving the ability of engineering problem, while being advantageously implemented the open of the curriculum experiment
Teaching.
The content of the invention
The problem of purpose of the present invention is the effect difference existed for existing experiment device for teaching or invests big, design one
Plant the experimental provision of Virtual object feedforward _ feedback control system of soft or hard combination.
The technical scheme is that：
A kind of experimental provision of Virtual object feedforward _ feedback control system, it includes industrial computer 1, it is characterized in that institute
The industrial computer 1 stated and master selector control 1. 3, feedforward controller control 2. 5,3. 7 and PLC_ DO modules are 1. for outer interference control
9 are connected, and 1. PLC_ DO modules 9 are connected with auxiliary reclay 10, outer to disturb control 3. 7 by the relay of auxiliary reclay 10
3. 1. output node 13 8 be connected with PLC_ AO modules, and 2. 3. PLC_ AO modules 8 11 be connected with first order inertial loop, and single order is used to
2. 1. 11 output end and first order inertial loop 12 be connected property link, another output end by auxiliary reclay 10 after
2. 1. electrical equipment output node 14 6 be connected with PLC_AO modules, and 2. 2. PLC_AO modules 65 be connected with feedforward controller control, single order
1. 12 1. 1. 15 and PLC_ AO modules 4 are connected inertial element with Analog input mModule respectively, PLC_ AO modules 1. 4 and homophony
Save device control and 1. 3 be connected, 1. 15 output transition process curves 16 complete defeated to Analog input mModule into master selector control 1. 3
Enter the setting of value.
Industrial computer 1 by RS-232 communication parts 2 and PLC_ AO modules 1. 4, PLC_AO modules 2. 6, PLC_ AO modules
3. 8, PLC_ DO modules 1. 9 communication, master selector control 1. 3, feedforward controller control 2. 5, outer interference control 3. 7 pass through work
Control machine output valve gives, then through PLC_ AO modules 1. 4, PLC_AO modules 2. 6,3. 8 output of PLC_ AO modules.
First order inertial loop 2. 11, first order inertial loop 1. 12 be connected as double volume characteristic as controlled device.
1. industrial computer manipulation master selector control is allowed to be put into operation to " automatic " by self-balance undisturbed by " manual " working condition
Working condition, adjusts master selector control 1. pid parameter, 1. adds 20% set-point Spline smoothing to master selector control, its is defeated
Go out through PLC_ AO modules 1. to first order inertial loop 1., 1. output obtain recovery curve to Analog input mModule to steady
It is fixed, judge whether master selector pid parameter is adjusted qualified and how to optimize by observing recovery curve.
Outer interference control 3. amplitude is adjusted under stable state, by PLC_ DO modules 1. control auxiliary reclay 1. make after
1. electrical equipment output node closes addition interference, is 2. carried out while making relay output node 1. close addition feedforward controller control
Feedforward compensation, judges overcompensation or undercompensation or appropriate compensation by observing recovery curve, adjusts feedforward controller
Static gain.
Beneficial effects of the present invention：
What the present invention was built both ensure that less investment with the Virtual Simulative Experiment instructional device that actually main, actual situation is combined
With reduce floor space, also make student have towards actual production process computer control system the sense of reality, for improve
The ability and practical operative ability of student's connection between theory and practice and the ability of solution engineering problem can provide a pole
Good platform, while being advantageously implemented the Opening Teaching of the curriculum experiment.
Brief description of the drawings
Fig. 1 is feedforward _ feedback control system computer monitoring Experimental Hardware structured flowchart of the present invention
In figure：1- industrial computers experiment interface, 2-RS-232 communication parts, 3- master selectors control 1., 4-PLC_ AO modules
1., 5- feedforward controllers control 2., 6-PLC_AO modules 2., outside 7- interference control 3., 8-PLC_ AO modules 3., 9-PLC_ DO
Module 1., 10- auxiliary reclays, 11- first order inertial loops 2., 12- first order inertial loops 1., 13- relays output node 1.,
14- relays output node 1., 15- Analog input mModules 1., 16- recovery curves 1..
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As shown in Figure 1.
A kind of experimental provision of Virtual object feedforward _ feedback control system, it includes industrial computer 1, RS-232 and communicated
Component 2, master selector control 1. 3, PLC_ AO modules 1. 4, feedforward controller control 2. 5, PLC_AO modules 2. 6, outer interference control
Part 3. 7, PLC_ AO modules 3. 8, PLC_ DO modules 1. 9, auxiliary reclay 10, first order inertial loop 2. 11, one order inertia ring
Section 1. 12, relay output node 1. 13, relay output node 1. 14, Analog input mModule 1. 15 and recovery curve
①16.As shown in figure 1, industrial computer 1 and master selector control 1. 3, feedforward controller control 2. 5, outer interference control 3. 7 and
1. PLC_ DO modules 9 are connected, and 1. PLC_ DO modules 9 are connected with auxiliary reclay 10, outer to disturb control 3. 7 to pass through middle relay
3. 1. the relay output node of device 10 13 8 be connected with PLC_ AO modules, PLC_ AO modules 3. 8 with first order inertial loop 2. 11
It is connected, 2. 1. 11 output end and first order inertial loop 12 be connected first order inertial loop, and another output end passes through centre
2. 1. the relay output node of relay 10 14 6 be connected with PLC_AO modules, PLC_AO modules 2. 6 with feedforward controller control
2. 5 are connected, and 1. 12 1. 1. 15 and PLC_ AO modules 4 are connected first order inertial loop with Analog input mModule respectively, PLC_ AO
1. 1. module 43 be connected with master selector control, Analog input mModule 1. 15 output transition process curves 16 to master selector control
1. part completes the setting of input value in 3.Industrial computer 1 by RS-232 communication parts 2 and PLC_ AO modules 1. 4, PLC_AO modules
2. 6, PLC_ AO modules 3. 8,1. 9 communication of PLC_ DO modules, the PID components embedded using PLC, Configuration Design PLC main regulations
Device control 1. 3, feedforward controller control 2. 5, outer interference control 3. 7, interface is tested by industrial computer and realizes master selector control
2. 5 1. 3, feedforward controller control, 3. 7 output valves give outer interference control, its set-point respectively through PLC_ AO modules 1. 4,
PLC_AO modules 2. 6,3. 8 output of PLC_ AO modules.First order inertial loop 2. 11, first order inertial loop 1. 12 be connected as double volume
Characteristic is used as controlled device.
1. the manipulation master selector of industrial computer 1 control 3 is allowed to have self-balance undisturbed to put into operation to " certainly by " manual " working condition
It is dynamic " working condition, using empirical method, master selector control 1. 3PID parameters are adjusted, 1. 3 additions 20% are given to master selector control
Definite value Spline smoothing, it is exported through PLC_ AO modules 1. 4 to first order inertial loop 1. 12, output to Analog input mModule 1.
15 obtain recovery curve 16 to stable, by observe recovery curve 16 judge master selector pid parameter adjust whether
It is qualified and how to optimize.Outer interference control 3. 7 amplitude is adjusted under stable state, passes through relay in the middle of PLC_ DO modules 1. 9 controls
Device 1. 10 make relay output node 1. 13 closure add interference, while make relay output node 1. 14 closure add feedforward control
2. device control processed 5 carries out feedforward compensation, and overcompensation or undercompensation or suitable benefit are judged by observing recovery curve 16
Repay, adjust feedforward controller static gain.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.
Claims (5)
1. a kind of experimental provision of Virtual object feedforward _ feedback control system, it includes industrial computer（1）, it is characterized in that institute
The industrial computer stated（1）With master selector control（3）, feedforward controller control（5）, outer interference control（7）And PLC_ DO modules
（9）It is connected, PLC_ DO modules（9）With auxiliary reclay（10）It is connected, outer interference control（7）Pass through auxiliary reclay（10）'s
First relay output node（13）With the 3rd PLC_ AO modules（8）It is connected, the 3rd PLC_ AO modules（8）It is used with the second single order
Property link（11）It is connected, the second first order inertial loop（11）An output end and the first first order inertial loop（12）It is connected, separately
One output end passes through auxiliary reclay（10）The second relay output node（14）With the 2nd PLC_AO modules（6）It is connected,
2nd PLC_AO modules（6）With feedforward controller control（5）It is connected, the first first order inertial loop（12）Respectively with analog input
Module（15）And the first PLC_ AO module（4）It is connected, the first PLC_ AO modules（4）With master selector control（3）It is connected, simulation
Measure input module（15）Output transition process curve（16）To master selector control（3）The middle setting for completing input value.
2. the experimental provision of Virtual object feedforward _ feedback control system according to claim 1, it is characterised in that：
Industrial computer（1）Pass through RS-232 communication parts（2）With the first PLC_ AO modules（4）, the 2nd PLC_AO modules（6）, the 3rd PLC_
AO modules（8）And PLC_ DO modules（9）Communication, master selector control（3）, feedforward controller control（5）, outer interference control（7）
It is given by industrial computer output valve, then through the first PLC_ AO modules（4）, the 2nd PLC_AO modules（6）, the 3rd PLC_ AO modules
（8）Output.
3. the experimental provision of Virtual object feedforward _ feedback control system according to claim 1, it is characterised in that：
Second first order inertial loop（11）, the first first order inertial loop（12）Double volume characteristic is connected as controlled device.
4. the experimental provision of Virtual object feedforward _ feedback control system according to claim 1, it is characterised in that：
Industrial computer manipulation master selector control is allowed to be put into operation to " automatic " working condition by self-balance undisturbed by " manual " working condition, whole
Determine master selector control pid parameter, 20% set-point Spline smoothing is added to master selector control, it is exported through the first PLC_ AO
Module（4）To the first first order inertial loop（12）, output to Analog input mModule（15）Recovery curve is obtained to stabilization,
Judge whether master selector pid parameter is adjusted qualified and how to optimize by observing recovery curve.
5. the experimental provision of Virtual object feedforward _ feedback control system according to claim 1, it is characterised in that：
Outer interference control amplitude is adjusted under stable state, passes through PLC_ DO modules（9）Control auxiliary reclay（10）Make the first relay
Output node（13）Closure adds interference, while making the second relay output node（14）Closure adds feedforward controller control
(5) feedforward compensation is carried out, overcompensation or undercompensation or appropriate compensation, adjustment feedforward are judged by observing recovery curve
Controller static gain.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS643705A (en) * | 1987-06-26 | 1989-01-09 | Toshiba Corp | Process controller |
| US6466893B1 (en) * | 1997-09-29 | 2002-10-15 | Fisher Controls International, Inc. | Statistical determination of estimates of process control loop parameters |
| US7113834B2 (en) * | 2000-06-20 | 2006-09-26 | Fisher-Rosemount Systems, Inc. | State based adaptive feedback feedforward PID controller |
| CN100576117C (en) * | 2007-03-27 | 2009-12-30 | 宝山钢铁股份有限公司 | Steel plate cooling control analog system |
| CN102608946A (en) * | 2012-03-19 | 2012-07-25 | 南京理工大学常熟研究院有限公司 | Programmable logic controller (PLC) experimental system |
| CN103646601B (en) * | 2013-12-05 | 2015-07-01 | 渤海大学 | Teaching and scientific research platform equipment based on industrial process simulation |
| CN204440782U (en) * | 2015-03-16 | 2015-07-01 | 南京铁道职业技术学院 | Based on half process control device in kind of OPC and S7-200 PLC module |
| CN205028545U (en) * | 2015-09-06 | 2016-02-10 | 黄山学院 | Experimental device for towards virtual object feedforward _ feedback control system |
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