CN105388939B - The temprature control method and system of pharmacy fluid bed - Google Patents
The temprature control method and system of pharmacy fluid bed Download PDFInfo
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- CN105388939B CN105388939B CN201510958108.6A CN201510958108A CN105388939B CN 105388939 B CN105388939 B CN 105388939B CN 201510958108 A CN201510958108 A CN 201510958108A CN 105388939 B CN105388939 B CN 105388939B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/30—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature
- G05D23/32—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature with provision for adjustment of the effect of the auxiliary heating device, e.g. a function of time
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Abstract
The invention provides a kind of temprature control method and system of pharmacy fluid bed, method therein includes：Obtain the output control amount of single loop PID control and more disturbance feedforward controlled quentity controlled variables；By the output control amount of single loop PID control and more disturbance feedforward controlled quentity controlled variables synthesis master control amount, pwm pulse is exported according to the size of master control amount, realizes the temperature adjustment of pharmacy fluid bed；The measured value of Current Temperatures is gathered, temperature deviation rate of change is calculated based on measured value and desired temperature；According to the logical relation of measured value and temperature threshold lower limit, the temperature threshold upper limit, desired temperature and temperature deviation rate of change, the operating mode of Current Temperatures is identified；Pid control parameter table is inquired about, obtains pid control parameter corresponding with the operating mode of Current Temperatures；The output control amount of single loop PID control is calculated according to pid algorithm.Two class defects of existing temprature control method can be overcome using the present invention, temperature controlled dynamic error is less than 1 DEG C, and steady-state error is less than 0.5 DEG C.
Description
Technical field
The present invention relates to field of pharmaceutical equipment technical field, more specifically, is related to a kind of temperature control of pharmacy fluid bed
Method and system processed.
Background technology
Fluidised equipment can be completed and be referred to as fluid bed, so-called fluidization, refer to that solid material fully connects with fluid
Touch and mass transfer occur, the effect such as heat transfer, make its be in suspension a kind of working condition.Most pharmaceutical technologies are directed to material
Fluidization process, pharmacy fluid bed is promoted to be obtained a wide range of applications in pharmaceuticals industry.The function phase of early stage pharmacy fluid bed
To single, it is mainly used in the drying of medicine.With the change of pharmaceutical technology demand and the development of equipment and technology, pharmacy fluid bed is in
Existing multi-functional development trend, is typically all integrated with the multiple functions such as granulation, coating, pill and drying.Temperature is fluidized system
An important parameter, not only have influence on the production efficiency of medicine, and have influence on the quality of production of some drugses.Existing stream
Change bed tempertaure and typically use single loop PID control, i.e., vulcanize the wind-warm syndrome of chamber inlet by detecting, by its temperature with technological requirement
Setting value is compared and obtains temperature gap, and then carries out PID (PID) computing to temperature gap, further according to fortune
Obtained controlled quentity controlled variable, change the power of heater to adjust the wind-warm syndrome of vulcanization chamber inlet.Proportional gain (P), the time of integration (I)
It is three control parameters of pid control algorithm with steady part time (D), there is large effect to fluidized-bed temperature control, typically
Operating personnel are not allowed to change pid control parameter.This relatively-stationary pid parameter is difficult the whole change for tackling fluidized-bed temperature
Change feature, i.e. when temperature be in large deviation, little deviation, acceleration approach set-point or quickly deviates from set-point, pid control algorithm
Action intensity remain unchanged, its controlled quentity controlled variable output be adjusted according only to deviation and its rate of change.When manufacturing technique requirent is big
When amplitude lifting or decline temperature setting value, actual temperature-responsive appearance is more serious to lag, and with larger overshoot
Amount, this is a kind of defect of the existing temprature control method of pharmacy fluid bed.In order that pharmacy fluid bed have to production technology it is good
Good vulcanization characteristics and adaptability, typically require that fluid bed has wider air rate adjustment scope, with trembling bag, blowback and drum
The functions such as groove, the start by set date of these miscellaneous functions and artificial startup, can all cause larger disturb to the temperature control of fluid bed
It is dynamic.Wind speed fast lifting, temperature can be caused to decline；Bag operation is trembled on the left of closing or during the air door of right side, temperature can be caused in short-term
Rise；Drum groove is by quickly alternately lifting wind speed and declines wind speed, and the alternating of temperature can be caused to change.Single loop temperature control system
System, does not account for these influence factors, only until actual temperature departure setting value, can just be adjusted, will necessarily go out
Now more serious lags and larger dynamic error, and this is the another kind of defect of the existing temprature control method of pharmacy fluid bed.
The content of the invention
In view of the above problems, it is an object of the invention to provide a kind of temprature control method and system of pharmacy fluid bed, with
Solve the problems, such as to point out in above-mentioned background technology.
The present invention provides a kind of temprature control method of pharmacy fluid bed, including：
Obtain the output control amount of single loop PID control and more disturbance feedforward controlled quentity controlled variables；Wherein, more disturbance feedforward controlled quentity controlled variables
Static feedforward control amount is disturbed including blowback, trembles the static feedforward control amount of bag disturbance and wind speed disturbance dynamic Feedforward controlled quentity controlled variable；
The output control amount of single loop PID control and more disturbance feedforward controlled quentity controlled variables are synthesized into master control amount, according to master control
The size output pwm pulse of amount, realize the temperature adjustment of pharmacy fluid bed；
Wherein, during the output control amount of single loop PID control is obtained,
The measured value of Current Temperatures is gathered, temperature deviation rate of change is calculated based on measured value and desired temperature；
According to measured value and temperature threshold lower limit, the temperature threshold upper limit, desired temperature and temperature deviation rate of change
Logical relation, identify the operating mode of Current Temperatures；
Pid control parameter table is inquired about according to the operating mode of Current Temperatures, obtains PID control corresponding with the operating mode of Current Temperatures
Parameter；
The output control amount of single loop PID control is calculated according to pid algorithm.
The present invention also provides a kind of temperature control system of pharmacy fluid bed, including：
Output control amount acquiring unit, for obtaining the output control amount of single loop PID control；
Disturbance feedforward controlled quentity controlled variable acquiring unit, for obtaining more disturbance feedforward controlled quentity controlled variables；Wherein, more disturbance feedforward controlled quentity controlled variables
Static feedforward control amount is disturbed including blowback, trembles the static feedforward control amount of bag disturbance and wind speed disturbance dynamic Feedforward controlled quentity controlled variable；
Master control amount synthesis unit, for the output control amount of single loop PID control and more disturbance feedforward controlled quentity controlled variables to be closed
Into master control amount；
Pulse output unit, for exporting pwm pulse according to the size of master control amount, realize that the temperature of pharmacy fluid bed is adjusted
Section；
Wherein, output control amount acquiring unit includes：
Temperature collect module, for gathering the measured value of Current Temperatures；
Temperature deviation rate of change computing module, for calculating temperature deviation rate of change based on measured value and desired temperature；
Temperature case identification module, for according to measured value and temperature threshold lower limit, the temperature threshold upper limit, desired temperature
And the logical relation of temperature deviation rate of change, identify the operating modes of Current Temperatures；
Pid control parameter acquisition module, for inquiring about pid control parameter table according to the operating mode of Current Temperatures, obtain and work as
Pid control parameter corresponding to the operating mode of preceding temperature；
Output control amount computing module, for calculating the output control amount of single loop PID control according to pid algorithm.
Using the temprature control method and system of the pharmacy fluid bed of the invention described above, existing temperature control side can be overcome
Two class defects of method, temperature controlled dynamic error are less than 1 DEG C, and steady-state error is less than 0.5 DEG C, in middle and high end pharmacy fluid bed
In, there is preferable application prospect.
In order to realize above-mentioned and related purpose, one or more aspects of the invention include will be explained in below and
The feature particularly pointed out in claim.Some illustrative aspects of the present invention are described in detail in following explanation and accompanying drawing.
However, some modes in the various modes of the principle that the present invention only can be used of these aspect instructions.It is in addition, of the invention
It is intended to include all these aspects and their equivalent.
Brief description of the drawings
By reference to the explanation and the content of claims below in conjunction with accompanying drawing, and with to the present invention more comprehensively
Understand, other purposes and result of the invention will be more apparent and should be readily appreciated that.In the accompanying drawings：
Fig. 1 is the schematic flow sheet according to the temprature control method of the pharmacy fluid bed of the embodiment of the present invention；
Fig. 2 is the operating mode division figure of pharmacy fluidized-bed temperature response curve；
Fig. 3 is the more disturbance feedforwards of pharmacy fluid bed-feedback control block diagram；
Fig. 4 is the logical construction schematic diagram according to the temperature control system of the pharmacy fluid bed of the embodiment of the present invention.
Wherein, in Fig. 2：1. represent temperature-responsive operating mode 1；2. represent temperature-responsive operating mode 2；3. represent temperature-responsive operating mode
3；4. represent temperature-responsive operating mode 4；5. represent temperature-responsive operating mode 5；6. represent temperature-responsive operating mode 6；7. represent temperature-responsive
Operating mode 7；8. represent temperature-responsive operating mode 8.YsFor desired temperature；Y (k) is measured temperature；YHFor upper threshold；YLFor threshold
It is worth lower limit；
In Fig. 3：YS(s) it is desired temperature；Y (s) is measured temperature (controlled volume)；N1(s) temperature is disturbed for blowback
It is dynamic；N2(s) it is to tremble disturbance of the bag to temperature；N3(s) it is disturbance of the wind speed to temperature；Gn1(s) lead to for disturbance of the blowback to temperature
Road transmission function；Gn2(s) it is to tremble disturbance channel transfer function of the bag to temperature；Gn3(s) it is that disturbance passage of the wind speed to temperature passes
Delivery function；Df1(s) it is blowback disturbance feedforward controller；Df2(s) it is to tremble a bag disturbance feedforward controller；Df3(s) before for wind speed disturbance
Present controller；PID restrains for PID control parameter.
Embodiment
In the following description, for purposes of illustration, in order to provide the comprehensive understanding to one or more embodiments, explain
Many details are stated.It may be evident, however, that these embodiments can also be realized in the case of these no details.
In other examples, for the ease of describing one or more embodiments, known structure and equipment are shown in block form an.
In order to overcome two class defects of the existing temprature control method of pharmacy fluid bed, the present invention is according to measured temperature curve
Currency and its variation tendency, the feature of operating mode section, according to its feature number, adds residing for the current temperature-responsive of automatic identification
Different pid control parameters and different PID action intensities are carried, measured temperature is approached its process set value as early as possible, overcomes
The first kind defect of existing temprature control method.Wind speed is changed, trembles the disturbance of bag and drum groove technological operation to fluidized-bed temperature,
It is fed forward in temperature control loop, eliminates or reduce influence of the disturbance to temperature in time, overcomes the of existing temprature control method
Two class defects.
Fig. 1 shows the flow of the temprature control method of pharmacy fluid bed according to embodiments of the present invention.
As shown in figure 1, the temprature control method of pharmacy fluid bed provided in an embodiment of the present invention, including：
Step S110：Obtain the output control amount of single loop PID control and more disturbance feedforward controlled quentity controlled variables.
During the output control amount of single loop PID control is obtained, including：
S111：The measured value of Current Temperatures is gathered, temperature deviation rate of change is calculated based on measured value and desired temperature.
The measured value of Current Temperatures is gathered firstly the need of identification temperature response curve, temperature response curve is controlled measures
The curve of value, it have recorded historical information, current information and the variation tendency of controlled volume.The different characteristic of curve reflects measurement
Value deviates scope, degree and its trend of process set value.
After temperature response curve is identified, the measured value of Current Temperatures is gathered.
S112：Changed according to measured value and temperature threshold lower limit, the temperature threshold upper limit, desired temperature and temperature deviation
The logical relation of rate, identify the operating mode of Current Temperatures.
Firstly, it is necessary to temperature case is divided, specifically：
According to the scope, degree and trend of temperature departure process set value, while consider that control method is typically automating
Temperature response curve is divided into 8 kinds of different operating mode sections shown in accompanying drawing 2 by the realizability in system, the present invention, each
Operating mode section has unique feature, effectively characterizes in this section of operating mode, and measured temperature deviates scope, the journey of process set value
Degree and its trend.The feature description of 8 sections of operating modes and its as follows to the demand of controlled quentity controlled variable：
1) temperature case 1：Measured value is much smaller than setting value and is less than bottom threshold, degree of the measured value negative bias from setting value
Weaken, measured value approaches bottom threshold, it is desirable to which controlled quentity controlled variable exports maximum；
2) temperature case 2：Measured value is less than setting value and is more than bottom threshold, and measured value negative bias is held from the degree of setting value
Continuous to weaken, measured value approaches setting value, it is desirable to which controlled quentity controlled variable output reduces at a slow speed；
3) temperature case 3：Measured value is more than setting value and is less than upper threshold, and the degree of measured value positive deviation setting value increases
By force, measured value deviates setting value, it is desirable to which controlled quentity controlled variable output is quick to be reduced；
4) temperature case 4：Measured value is much larger than setting value and is more than upper threshold, the degree of measured value positive deviation setting value
Lasting enhancing, measured value deviate upper threshold, it is desirable to which controlled quentity controlled variable exports minimum value；
5) temperature case 5：Measured value is much larger than setting value and is more than upper threshold, the degree of measured value positive deviation setting value
Weaken, measured value reversely approaches upper threshold, it is desirable to which controlled quentity controlled variable exports minimum value；
6) temperature case 6：Measured value is more than setting value and is less than upper threshold, and the degree of measured value positive deviation setting value is held
Continuous to weaken, measured value approaches setting value, it is desirable to which controlled quentity controlled variable output increases at a slow speed；
7) temperature case 7：Measured value is less than setting value and is more than bottom threshold, and measured value negative bias increases from the degree of setting value
By force, measured value deviates setting value, it is desirable to the quick increase of controlled quentity controlled variable output；
8) temperature case 8：Measured value is less than setting value and is less than bottom threshold, and measured value negative bias is held from the degree of setting value
Continuous enhancing, measured value deviate setting value, it is desirable to which controlled quentity controlled variable exports maximum.
Then, the feature of temperature case is identified, specifically：
The measured temperature that y (k) is the k moment is defined, defines ySFor desired temperature, yLFor temperature threshold lower limit, yHFor temperature
Upper threshold is spent, e (k) is the difference of deviation, i.e. desired temperature and measured temperature, and ec (k) is deviation variation rate.It is then above-mentioned
The Symbolic Representation of the feature description of 8 kinds of temperature cases see the table below.Temperature-responsive operating mode corresponds with feature, i.e., known temperature
Operating mode is spent, its operating mode feature can be obtained；Known operating mode feature, current temperature case can be learnt.
S113：Pid control parameter table is inquired about according to the operating mode of Current Temperatures, obtained corresponding with the operating mode of Current Temperatures
Pid control parameter.
The purpose of identification operating mode feature is to obtain pid control parameter corresponding with operating mode feature, by changing PID controller
Action intensity meet the needs of different operating modes are to controlled quentity controlled variable change intensity, and then measured value faster, is more smoothly approached
Setting value.Remember KPFor proportional gain, TiFor the time of integration, TdFor derivative time, the initial control parameters of PID are pressed corresponding to 8 groups of temperature
Tables listing design.Designing 8 groups of pid control parameters can both make each temperature case have different PID adjusting strengths, can also make
Two or more operating modes have identical PID adjusting strengths., only need to be by two groups or two when needing to simplify design in engineering
The pid control parameter of the group above is arranged to identical, for example, the pid parameter of operating mode 2 and operating mode 7 is arranged into identical value, work
The pid control parameter of condition 3 and operating mode 7 is arranged to identical value.The pid control parameter of table 2 is only initial value, in debugging or running
In, every group of parameter can be modified by conventional pid parameter setting method.
S114：The output control amount of single loop PID control is calculated according to pid algorithm.
Specifically calculating process is：
q0=Kpn(1+Ts/Tin+Tdn/Ts)；
Q1=-Kpn(1+2Tdn/Ts)；
Q2=KpnTdn/T；Then have,
PID incrementals export：Δ u'(k)=q0e(k)+q1e(k-1)+q2e(k-2)
PID position types export：U'(k)=u'(k-1)+Δ u'(k)
The process for the output control amount for obtaining single loop PID control is described in detail in the above.It is described more detail below
Obtain the process of more disturbance feedforward controlled quentity controlled variables.
More disturbance feedforward controlled quentity controlled variables include blowback and disturb static feedforward control amount, tremble the static feedforward control amount of bag disturbance and wind
Speed disturbance dynamic Feedforward controlled quentity controlled variable, it is a variety of in order to eliminate wind speed change, trembling bag and rouse groove etc. to obtain more disturbance feedforward controlled quentity controlled variables
Disturbance of the daily technological operation to temperature.
The major disturbances for influenceing pharmacy fluidized-bed temperature control effect are wind speed, and it is more secondly also to tremble bag, blowback, drum groove etc.
Kind disturbance.More disturbances can effectively be reduced to temperature controlled influence by introducing the control of more disturbance feedforwards shown in accompanying drawing 3.
For the ease of being realized in automated system, structure type identical feedforward controller is used to various disturbances, i.e.,：
KfFor feedforward controller gain, TfFor feedforward controller inertia time constant, TfFor 0 when, Df(s) before being static
Present controller.
1st, the design of blowback disturbance feedforward controller
Blowback is periodic technique, the material dust using compressed air purging possibly into pipeline.Due to blowback work
Skill is programme controlled, and disturbance is relatively fixed, and the duration is shorter, in order to overcome shadow of the back blowing process to fluidized-bed temperature
Ring, it is as follows that design blowback disturbs static feedforward controller：
Df1(s)=Kf1
Kf1For blowback disturbance feedforward controller gain, blowback can reduce temperature, therefore Kf1>0, using the blowback time as disturbing
Dynamic signal N1(s), blowback disturbance feedforward controlled quentity controlled variable is calculated as follows：
Uf1(s)=Df1(s).N1(s)=Kf1N1(s)
2nd, a bag design for disturbance feedforward controller is trembled
It is also periodic technique to tremble bag, and the shake of cloth bag is realized by the quick-expansion of cylinder, to shake off to paste in mistake
Material dust on filter cloth bag.Trembling bag is needed to close half air door, and temperature can be caused to disturb.It is also programme-control to tremble bag technique
, disturbance is relatively fixed.In order to overcome the influence for trembling bag technique to fluidized-bed temperature, design trembles bag and disturbs static feedforward controller
It is as follows：
Df2(s)=Kf2
Kf2To tremble a bag disturbance feedforward controller gain, half air door need to be closed by trembling bag, cause temperature to raise, therefore Kf2<0, with
Bag time is trembled as disturbing signal N2(s) a bag disturbance feedforward controlled quentity controlled variable, is trembled to be calculated as follows：
Uf2(s)=Df2(s).N2(s)=Kf2N2(s)
3rd, wind speed disturbance feedforward controller design
Wind speed change is the major disturbances of fluidized-bed temperature, mainly has two class techniques to be related to wind speed change.It is first, different
Pharmaceutical technology need to set different wind speed, second, operation drum groove technique shake up adhesion material when, it is necessary to alternately change
Wind speed.In order to overcome wind speed to change the influence to fluidized-bed temperature, disturbing signal N is used as using the output signal of air velocity transducer3
(s), design wind speed disturbance dynamic Feedforward controller is as follows：
Kf3For wind speed disturbance feedforward controller gain, Tf3For wind speed disturbance feedforward controller inertia time constant.Wind speed carries
Rise, temperature declines, and takes Kf3>0,Tf3Initial value is 50 (can be adjusted again in debugging or running).Before wind speed disturbance
Feedback controlled quentity controlled variable is calculated as follows：
Uf3(s)=Df3(s).N3(s)
Step S120：By the output control amount of single loop PID control and more disturbance feedforward controlled quentity controlled variables synthesis master control amount, press
Pwm pulse is exported according to the size of master control amount, realizes the temperature adjustment of pharmacy fluid bed.
Master control amount：U'(k)=u'(k)+uf1(k)+uf2(k)+uf3(k)
Pwm pulse is exported, heater is controlled by SSR.
Fig. 4 shows the logical construction of the temperature control system of pharmacy fluid bed according to embodiments of the present invention.
As shown in figure 4, the temperature control system 400 of pharmacy fluid bed provided in an embodiment of the present invention, including output control
Measure acquiring unit 410, disturbance feedforward controlled quentity controlled variable acquiring unit 420, master control amount synthesis unit 430 and pulse output unit 440.
Wherein, output control amount acquiring unit 410 is used for the output control amount for obtaining single loop PID control；
Disturbance feedforward controlled quentity controlled variable acquiring unit 420 is used to obtain more disturbance feedforward controlled quentity controlled variables；Wherein, more disturbance feedforward controls
Amount includes blowback and disturbs static feedforward control amount, trembles the static feedforward control amount of bag disturbance and wind speed disturbance dynamic Feedforward controlled quentity controlled variable；
Master control amount synthesis unit 430 is used for the output control amount of single loop PID control and more disturbance feedforward controlled quentity controlled variables
Synthesize master control amount；
Pulse output unit 440 is used to export pwm pulse according to the size of master control amount, realizes the temperature of pharmacy fluid bed
Regulation.
Wherein, output control amount acquiring unit 410 includes：
Temperature collect module 411, for gathering the measured value of Current Temperatures；
Temperature deviation rate of change computing module 412, for calculating temperature deviation change based on measured value and desired temperature
Rate；
Temperature case identification module 413, for being set according to measured value and temperature threshold lower limit, the temperature threshold upper limit, temperature
The logical relation of definite value and temperature deviation rate of change, identify the operating mode of Current Temperatures；
Pid control parameter acquisition module 414, for according to the operating mode of Current Temperatures inquire about pid control parameter table, obtain with
Pid control parameter corresponding to the operating mode of Current Temperatures；
Output control amount computing module 415, for calculating the output control amount of single loop PID control according to pid algorithm.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (7)
1. a kind of temprature control method of pharmacy fluid bed, including：
Obtain the output control amount u'(k of single loop PID control) and more disturbance feedforward controlled quentity controlled variables；Wherein, more disturbance feedforwards
Controlled quentity controlled variable includes blowback and disturbs static feedforward control amount uf1(k), tremble bag and disturb static feedforward control amount uf2(k) disturbed with wind speed
Dynamic Feedforward controlled quentity controlled variable uf3(k)；
By the output control amount u'(k of the single loop PID control) and more disturbance feedforward controlled quentity controlled variable synthesis master control amount u
(k) pwm pulse, is exported according to the size of master control amount, realizes the temperature adjustment of pharmacy fluid bed；
Wherein, the output control amount u'(k of the single loop PID control is being obtained) during,
The measured value of Current Temperatures is gathered, temperature deviation rate of change is calculated based on the measured value and desired temperature；
According to the measured value and temperature threshold lower limit, the temperature threshold upper limit, the desired temperature and the temperature deviation
The logical relation of rate of change, identify the operating mode of Current Temperatures；
Pid control parameter table is inquired about according to the operating mode of Current Temperatures, obtains PID control ginseng corresponding with the operating mode of Current Temperatures
Number；
The output control amount of the single loop PID control is calculated according to pid algorithm；Wherein,
q0=Kpn(1+Ts/Tin+Tdn/Ts)；
q1=-Kpn(1+2Tdn/Ts)；
q2=KpnTdn/Ts；Then have,
PID incrementals export：Δ u'(k)=q0e(k)+q1e(k-1)+q2e(k-2)；
PID position types export：U'(k)=u'(k-1)+Δ u'(k)；
The master control amount u (k)：U (k)=u'(k)+uf1(k)+uf2(k)+uf3(k)；Wherein,
q0Represent PID increments output formula replacement coefficient 0；
q1Represent PID increments output formula replacement coefficient 1；
q2Represent PID increments output formula replacement coefficient 2；
Δ u'(k) represented that the PID incrementals in a upper sampling period exported；
E (k) represents the deviation of the deviation, i.e. k moment of current sample period, and deviation definition is setting value and the difference of measured value；
KpnThe proportionality coefficient of pid algorithm corresponding to specified operating mode is represented, there are 8 kinds of operating modes, operating mode n is 1~8, corresponding 8 groups of PID
Control parameter, the proportionality coefficient of that group pid algorithm is K corresponding to its operating mode numberpn；
TinThe time of integration of pid algorithm corresponding to specified operating mode is represented, there are 8 kinds of operating modes, operating mode n is 1~8, corresponding 8 groups of PID
Control parameter, the time of integration of that group pid algorithm is T corresponding to its operating mode numberin；
TdnThe derivative time of pid algorithm corresponding to specified operating mode is represented, there are 8 kinds of operating modes, operating mode n is 1~8, corresponding 8 groups of PID
Control parameter, the derivative time of that group pid algorithm is T corresponding to its operating mode numberdn。
2. the temprature control method of pharmacy fluid bed as claimed in claim 1, wherein, the operating mode of Current Temperatures is including following several
Kind situation：
Situation 1：[y(k)≤yL(k)]&[ec(k)≤0]；
Situation 2：[yL(k)<y(k)≤yS(k)]&[ec(k)≤0]；
Situation 3：[yS(k)<y(k)≤yH]&[ec(k)>0]；
Situation 4：[y(k)>yH]&[ec(k)>0]；
Situation 5：[y(k)>yH]&[ec(k)≤0]；
Situation 6：[yS(k)<y(k)≤yH]&[ec(k)≤0]；
Situation 7：[yL(k)<y(k)≤yS(k)]&[ec(k)>0]；
Situation 8：[y(k)≤yL(k)]&[ec(k)>0]；
Wherein, y (k) is the measured temperature at k moment；ySFor desired temperature, yLFor temperature threshold lower limit；yHFor temperature threshold
The upper limit；E (k) is the difference of deviation, i.e. desired temperature and measured temperature；Ec (k) is deviation variation rate.
3. the temprature control method of pharmacy fluid bed as claimed in claim 2, wherein, it is corresponding with the operating mode of Current Temperatures
Pid control parameter, including：
It is K with 1 corresponding pid control parameter of situationP=9999, Ti=9999, Td=0；
It is K with 2 corresponding pid control parameter of situationP=20, Ti=30, Td=0；
It is K with 3 corresponding pid control parameter of situationP=50, Ti=20, Td=2
It is K with 4 corresponding pid control parameter of situationP=-9999, Ti=9999, Td=0；
It is K with 5 corresponding pid control parameter of situationP=-9999, Ti=9999, Td=0；
It is K with 6 corresponding pid control parameter of situationP=60, Ti=20, Td=2；
It is K with 7 corresponding pid control parameter of situationP=30, Ti=30, Td=0；
It is K with 8 corresponding pid control parameter of situationP=9999, Ti=9999, Td=0；
Wherein, KPFor proportional gain, TiFor the time of integration, TdFor derivative time.
4. the temprature control method of pharmacy fluid bed as claimed in claim 1, wherein, obtain blowback and disturb static feedforward control
Amount, including：
Uf1(s)=Df1(s).N1(s)=Kf1N1(s)；
Wherein, Df1(s)=Kf1, Kf1For blowback disturbance feedforward controller gain；N1(s) be disturbing signal, using the blowback time as
Disturbing signal；Uf1(s) static feedforward control amount is disturbed for blowback.
5. the temprature control method of pharmacy fluid bed as claimed in claim 1, wherein, acquisition trembles bag and disturbs static feedforward control
Amount, including：
Uf2(s)=Df2(s).N2(s)=Kf2N2(s)
Wherein, Df2(s)=Kf2, Kf2To tremble a bag disturbance feedforward controller gain；N2(s) be disturbing signal, using tremble bag time as
Disturbing signal；Uf2(s) static feedforward control amount is disturbed to tremble bag.
6. the temprature control method of pharmacy fluid bed as claimed in claim 1, wherein, obtain wind speed and disturb static feedforward control
Amount, including：
Wherein, Uf3(s)=Df3(s).N3(s),Kf3For wind speed disturbance feedforward controller gain, Tf3For wind
Fast disturbance feedforward controller inertia time constant；N3(s) it is disturbing signal, believes using the output signal of air velocity transducer as disturbance
Number；Uf3(s) static feedforward control amount is disturbed for wind speed.
7. a kind of temperature control system of pharmacy fluid bed, including：
Output control amount acquiring unit, for obtaining the output control amount of single loop PID control；
Disturbance feedforward controlled quentity controlled variable acquiring unit, for obtaining more disturbance feedforward controlled quentity controlled variables；Wherein, more disturbance feedforward controlled quentity controlled variables
Static feedforward control amount u is disturbed including blowbackf1(k), tremble bag and disturb static feedforward control amount uf2(k) and before wind speed disturbance dynamic
Present controlled quentity controlled variable uf3(k)；
Master control amount synthesis unit, for the output control amount of the single loop PID control and more disturbance feedforwards to be controlled
Amount synthesis master control amount u (k)；
Pulse output unit, for exporting pwm pulse according to the size of master control amount, realize the temperature adjustment of pharmacy fluid bed；
Wherein, the output control amount acquiring unit includes：
Temperature collect module, for gathering the measured value of Current Temperatures；
Temperature deviation rate of change computing module, for calculating temperature deviation rate of change based on the measured value and desired temperature；
Temperature case identification module, for being set according to the measured value and temperature threshold lower limit, the temperature threshold upper limit, the temperature
The logical relation of definite value and the temperature deviation rate of change, identify the operating mode of Current Temperatures；
Pid control parameter acquisition module, for inquiring about pid control parameter table according to the operating mode of Current Temperatures, obtain and current temperature
Pid control parameter corresponding to the operating mode of degree；
Output control amount computing module, for calculating the output control amount of the single loop PID control according to pid algorithm；Wherein,
q0=Kpn(1+Ts/Tin+Tdn/Ts)；
q1=-Kpn(1+2Tdn/Ts)；
q2=KpnTdn/Ts；Then have,
PID incrementals export：Δ u'(k)=q0e(k)+q1e(k-1)+q2e(k-2)
PID position types export：U'(k)=u'(k-1)+Δ u'(k)；
The master control amount u (k)：U (k)=u'(k)+uf1(k)+uf2(k)+uf3(k)；Wherein,
q0Represent PID increments output formula replacement coefficient 0；
q1Represent PID increments output formula replacement coefficient 1；
q2Represent PID increments output formula replacement coefficient 2；
Δ u'(k) represented that the PID incrementals in a upper sampling period exported；
E (k) represents the deviation of the deviation, i.e. k moment of current sample period, and deviation definition is setting value and the difference of measured value；
KpnThe proportionality coefficient of pid algorithm corresponding to specified operating mode is represented, there are 8 kinds of operating modes, operating mode n is 1~8, corresponding 8 groups of PID
Control parameter, the proportionality coefficient of that group pid algorithm is K corresponding to its operating mode numberpn；
TinThe time of integration of pid algorithm corresponding to specified operating mode is represented, there are 8 kinds of operating modes, operating mode n is 1~8, corresponding 8 groups of PID
Control parameter, the time of integration of that group pid algorithm is T corresponding to its operating mode numberin；
TdnThe derivative time of pid algorithm corresponding to specified operating mode is represented, there are 8 kinds of operating modes, operating mode n is 1~8, corresponding 8 groups of PID
Control parameter, the derivative time of that group pid algorithm is T corresponding to its operating mode numberdn。
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| CN111006447B (en) * | 2019-12-11 | 2021-10-26 | 重庆科技学院 | Constant temperature and humidity air supply device control system for pharmaceutical equipment |
| CN111621739A (en) * | 2020-06-05 | 2020-09-04 | 北京北方华创微电子装备有限公司 | Semiconductor process equipment and temperature control method thereof |
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