CN106644013B - Automatic weighing and batching system and control method - Google Patents
Automatic weighing and batching system and control method Download PDFInfo
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- CN106644013B CN106644013B CN201610950130.0A CN201610950130A CN106644013B CN 106644013 B CN106644013 B CN 106644013B CN 201610950130 A CN201610950130 A CN 201610950130A CN 106644013 B CN106644013 B CN 106644013B
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- 238000005303 weighing Methods 0.000 title claims abstract description 109
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 125
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 58
- 238000007599 discharging Methods 0.000 claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000008569 process Effects 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims description 13
- 238000004064 recycling Methods 0.000 claims description 11
- 238000013139 quantization Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000005284 excitation Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 229940126680 traditional chinese medicines Drugs 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000003814 drug Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/22—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them
- G01G19/24—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them using a single weighing apparatus
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to an automatic weighing and batching system and a control method. The automatic weighing and proportioning system comprises an automatic weighing and quantitative discharging device and a material collecting device, wherein the material collecting device comprises a receiving container and a transmission device for transmitting the receiving container, the automatic weighing and quantitative discharging device is provided with a plurality of material components which are respectively used for weighing different materials, and the receiving container moves on the transmission device and is used for collecting the weighed material components in the automatic weighing and quantitative discharging device one by one; the automatic weighing and quantitative discharging device comprises a feeding part and a weighing part, wherein the feeding part is arranged as an electromagnetic vibration feeder, the weighing part comprises a weighing sensor fixedly connected to a supporting rod and a bidirectional hopper fixedly connected with the weighing sensor, the bidirectional hopper is positioned below an outlet of the feeding part, and the bidirectional hopper forms a bidirectional channel for guiding materials into a receiving container through a guide groove. The invention is suitable for the production and configuration process of the mixed materials, greatly improves the configuration efficiency of the mixed materials, and reduces the investment of a large amount of manpower.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment and control thereof, and particularly relates to an automatic weighing and batching system and a control method.
Background
In daily life production, a series of uniform material distribution processes such as feeding, weighing, receiving, discharging and the like are needed, and weighing, transferring, distributing and discharging are often carried out manually, so that a large amount of manpower and material resources are generally consumed, and errors are very easy to occur in the process of uniformly distributing the materials. In addition, when the materials are formed by mixing multiple components, such as traditional Chinese medicines, it is known that traditional Chinese medicines are usually formed by mixing and matching multiple different medicinal materials, and how to accurately weigh and mix each component to obtain the required traditional Chinese medicine, so as to meet the requirements of modern industrial production quality and production efficiency, is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic weighing and batching system and a control method.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme:
an automatic weighing and batching system, which is characterized in that: the automatic weighing and quantitative discharging device comprises an automatic weighing and quantitative discharging device and a material collecting device, wherein the material collecting device comprises a receiving container and a transmission device for transmitting the receiving container, the automatic weighing and quantitative discharging device is provided with a plurality of weighing and quantitative discharging devices respectively used for weighing different material components, and the receiving container moves on the transmission device and collects the weighed material components in the automatic weighing and quantitative discharging device one by one; the automatic weighing quantitative discharging device comprises a feeding part and a weighing part, wherein the feeding part is arranged as an electromagnetic vibration feeder, the weighing part comprises a weighing sensor fixedly connected to a supporting rod and a bidirectional hopper fixedly connected with the weighing sensor, the bidirectional hopper is positioned below an outlet of the feeding part, and the bidirectional hopper forms a bidirectional channel for guiding materials into a receiving container through a guide groove; the system also comprises a control display part for controlling the automatic weighing and quantitative discharging device and the material collecting device.
Furthermore, the top of the bidirectional hopper is open, and the bottom of the bidirectional hopper forms a bottom opening or closing state through two hopper doors symmetrically distributed on two sides; baffles are arranged on the same side of the two hopper doors, and photoelectric switches for detecting the positions of the baffles are arranged on the side surfaces of the two hopper in the movement tracks of the two baffles so as to detect whether the two hopper doors are completely closed; and two corresponding speed reducing motors for respectively driving the two hopper doors to open and close are also arranged on the two-way hopper.
Further, the guide groove comprises a receiving guide groove and a recycling guide groove, wherein an inlet of the receiving guide groove corresponds to one hopper door outlet of the bidirectional hopper, and an inlet of the recycling guide groove corresponds to the other hopper door outlet of the bidirectional hopper.
Further, the material collecting device further comprises a recovery material box, the material receiving container is located right below the material receiving diversion trench outlet, and the recovery material box is located right below the recovery diversion trench outlet.
Further, the control display part comprises a touch display screen, a circuit board and a control module, wherein the circuit board and the control module are arranged below the touch display screen, the touch display screen is used for setting and displaying weighing parameters, the control module is connected to the circuit board, and the control module is respectively and electrically connected with the feeding part, the weighing part and the transmission device.
The control method of the automatic weighing and batching system comprises a control process of the automatic weighing and quantitative batching device, wherein the control process comprises a parameter setting module, a working condition identification module and a feeding speed fuzzy PID control module;
the parameter setting module is used for setting material properties, setting feeding weight, setting feeding speed and selecting remote control or on-site control; the working condition identification module is used for acquiring a baffle position signal, a real-time weight signal of materials in the bidirectional hopper and an in-place signal of a receiving container on the transmission device;
if the position signal of the baffle, the real-time weight signal of the materials in the bidirectional hopper and the in-place signal of the receiving container on the transmission device are all in the normal range, the system operates normally according to the set parameters, and the feeding speed fuzzy PID control module is started;
if one of the baffle position signal, the real-time weight signal of the materials in the bidirectional hopper and the in-place signal of the receiving container on the transmission device is in an abnormal range, judging that the system is abnormal and starting a manual mode to eliminate abnormal conditions;
the baffle position signal normally indicates that a discharge hole of the bidirectional hopper is in a closed state, and the real-time weight signal of the material in the bidirectional hopper normally indicates that the real-time weight of the material in the bidirectional hopper is smaller than a set feeding weight parameter; the proper signal of the receiving container on the transmission device is that the receiving container is positioned at a position capable of collecting the material components in the automatic weighing and quantitative discharging device (10);
the control process of the feeding speed fuzzy PID control module is as follows:
(1) Starting a feeding speed fuzzy PID control module to finish A/D conversion of various parameters;
(2) Collecting the feeding speed, and calculating the deviation e between the real-time feeding speed value and the set feeding speed value and the variation rate ec of the deviation;
(3) The deviation e and the change rate ec of the deviation are input quantities of a feeding speed fuzzy PID control module, u is output quantity of the feeding speed fuzzy PID control module, and the output quantity of the feeding speed fuzzy PID control module comprises three control parameters Kp, ki and Kd; the basic domain of the deviation e is [ -10,10], and the basic domain of the change rate ec of the deviation is [ -20,20]; the basic argument of the output quantity U is [ -umax, umax ], the deviation E, the change rate EC of the deviation and the fuzzification subset of the output quantity U are respectively E, EC and U, the input language variable values of the E and the EC are { NB, NM, NS, Z, PS, PM, PB }, and the output language variable value of the U is { NB, NM, NS, Z, PS, PM, PB };
then discretizing the precise quantity of the domains of E, EC and U, and selecting the quantization factor of the input quantity as k e =0.3,k ec =0.15, the quantization factor of the output is k u =umax/3, yielding E, EC, u= { -3, -2, -1, 0,1, 2, 3};
fuzzifying quantized values of the deviation e and the change rate ec of the deviation into a fuzzy reasoning E, EC through a membership function, wherein NB and PB take zmf functions, and NM, NS, Z, PS, PM take trimf functions;
(4) Fuzzy control rules of three control parameters Kp, ki and Kd of output quantity are obtained according to the input and output language variable values;
(5) Fuzzification subset u=kp, ki, kd= (E) on the output field i ×E j ） T R, wherein X represents a reduction operation in the fuzzy inference, R represents a total fuzzy control rule, (E) i ×E j ） T Representation E i ×E j Matrix inversionRank, E i Array representing E value, E j An array representing ec values;
calculating the values of three parameters Kp, ki and Kd according to the formula;
(6) Multiplying U obtained through fuzzy reasoning with the quantization factor of the output quantity to obtain three actual output quantities of the fuzzy PID control module;
through the calculation, the adjustment quantity of the feeding speed is obtained, the adjustment quantity and the adjustment quantity are overlapped with the current actual feeding speed to be output, D/A conversion is carried out, and corresponding excitation voltage is given to the electromagnetic vibration feeder to realize adjustment and tracking of the feeding speed.
Further, the acquisition period of the parameter is 0.15s.
The invention has the beneficial effects that:
(1) The invention is especially suitable for the production configuration process of mixed materials, and a plurality of automatic weighing and quantitative discharging devices can be correspondingly selected if the components of the mixed materials are multiple, each automatic weighing and quantitative discharging device is used for weighing one component, the receiving container can sequentially collect the weighed components of the automatic weighing and quantitative discharging devices arranged along the transmission direction of the transmission device through the transmission of the transmission device, so that the materials of different components can be rapidly mixed and configured. The electromagnetic vibration feeding machine is set as the feeding part, materials are uniformly and quantitatively fed to the receiving equipment, meanwhile, in order to accurately prepare materials, the weighing part is introduced into the receiving equipment, the pressure signal is converted into an analog signal through the weighing sensor to obtain an accurate weight value of the materials fed from the feeding part, when the weight of the materials is in a set weight range, the control module controls the gear motor to open a corresponding hopper door, and the materials with qualified weight enter the receiving container through the receiving diversion trench; if the weight of the material exceeds the set weight range, the control module controls the gear motor above the bidirectional hopper to open the corresponding hopper door, and the overweight material enters the recovery material box through the recovery diversion trench and is fed from the feeding part again until the weight is qualified and falls into the material receiving container. The first automatic weighing and quantitative discharging device in the invention finishes working, the control module controls the transmission device and transmits the receiving container to the next automatic weighing and quantitative discharging device for collecting the material components weighed by the automatic weighing and quantitative discharging device until the set material components are completely weighed and collected, and then the control module controls the feeding part, the weighing part and the transmission device to stop working and displays weighing information on the touch control display screen.
The automatic weighing and proportioning device which controls the mutual matching of the feeding part, the weighing part and the material collecting device through the control display part has very high automation degree, and can achieve accurate proportioning and higher discharging and receiving efficiency.
(2) According to the invention, a bidirectional hopper is adopted, the top opening of the bidirectional hopper is used for receiving materials at the outlet of the feeding part, hopper doors which are distributed on two sides symmetrically are arranged at the bottom of the bidirectional hopper, the same sides of the two hopper doors are provided with baffle plates, and whether the two hopper doors are completely closed or not can be detected through a photoelectric switch; when the weight of the material is qualified, a hopper door close to the material receiving diversion trench is driven to be opened by a speed reducing motor above the corresponding material receiving container; when the weight of the material is unqualified and needs to be recovered, a hopper door close to the recovery diversion trench is driven to be opened by a speed reducing motor above the recovery material box. The bidirectional hopper is arranged to form a bidirectional channel for receiving and recycling, so that the materials with unsuitable weight are recycled, the product quality is not influenced due to the fact that the materials fall into a receiving container, the stable operation of the device is guaranteed, and meanwhile, the accuracy of batching is effectively guaranteed.
(3) The device is also provided with a control display part for controlling the feeding part, the weighing part and the transmission device, wherein a control touch display screen is used for setting and displaying weighing parameters, so that manual operation is facilitated; the control module is connected to the circuit board and used for controlling the working states of the feeding part, the weighing part and the transmission device, and setting the foundation for the reliable and automatic operation of the device, so that manpower and material resources are greatly saved.
(4) According to the invention, the feeding speed of the electromagnetic vibration feeder is regulated and tracked by a corresponding control method, and accurate feeding is realized. The invention carries out mathematical modeling aiming at the quantitative feeding system of the electromagnetic vibration feeder, has simple process, good feeding speed tracking effect and strong adjustability, and has good practicability and market prospect.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of an automatic weighing and quantitative discharging device in the invention.
Fig. 3 is an isometric view of a weighing section according to the invention.
Fig. 4 is a front view of the bi-directional hopper of the present invention.
FIG. 5 is a plan view of a weighing section according to the present invention.
Fig. 6 is a top view of fig. 2.
Fig. 7 is a right side view of fig. 2.
Fig. 8 is a front view of fig. 2.
Fig. 9 is a schematic diagram of a control process of the automatic weighing and quantitative discharging device.
FIG. 10 is a block diagram of a feed rate fuzzy PID control module.
FIG. 11 is a control flow diagram of the feed rate fuzzy PID control module.
Fig. 12 is a graph of the actual feed rate adjustment variation.
10-automatic weighing quantitative discharging device A-feeding part B-weighing part B1-supporting rod
B2-weighing sensor B3-bidirectional hopper B31-gear motor B32-hopper door
B33-baffle B34-photoelectric switch C-guide groove C1-receiving guide groove
C2-recovery diversion trench D-material collecting device D1-receiving container
D2-recycling material box E-control display part E1-touch control display screen F-support frame
Detailed Description
The technical scheme of the invention is more specifically described below by combining examples:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1 and 2, the automatic weighing and batching system comprises an automatic weighing and quantitative discharging device 10 and a material collecting device D, wherein the material collecting device D comprises a receiving container D1 and a conveying device D3 for conveying the receiving container D1, the automatic weighing and quantitative discharging device 10 is provided with a plurality of receiving containers D1 and is respectively used for weighing different material components, and the receiving container D1 moves on the conveying device D3 and collects the weighed material components in the automatic weighing and quantitative discharging device 10 one by one; the automatic weighing and quantitative discharging device 10 comprises a feeding part A and a weighing part B, wherein the feeding part A is an electromagnetic vibration feeder, the weighing part B comprises a weighing sensor B2 fixedly connected to a supporting rod B1 and a bidirectional hopper B3 fixedly connected with the weighing sensor B2, the bidirectional hopper B3 is positioned below an outlet of the feeding part A, and the bidirectional hopper B3 forms a bidirectional channel for guiding materials into a receiving container D1 through a guide groove C; the system also comprises a control display part E for controlling the automatic weighing and quantitative discharging device 10 and the material collecting device D.
As shown in fig. 3, 4 and 5, the top of the bidirectional hopper B3 is open, and the bottom of the bidirectional hopper B3 forms a bottom open or closed state through two hopper doors B32 symmetrically distributed on two sides; the same side of the two hopper doors B32 is provided with a baffle B33, and the side surface of the bidirectional hopper B3 in the movement track of the two baffles B33 is provided with a photoelectric switch B34 for detecting the position of the baffle B33 so as to detect whether the two hopper doors B32 are completely closed; and two corresponding gear motors B31 for respectively driving the two hopper doors B32 to open and close are also arranged on the bidirectional hopper B3.
The guide groove C comprises a material receiving guide groove C1 and a recycling guide groove C2, wherein an inlet of the material receiving guide groove C1 corresponds to an outlet of one hopper door B32 of the bidirectional hopper B3, and an inlet of the recycling guide groove C2 corresponds to an outlet of the other hopper door B32 of the bidirectional hopper B3.
The material collecting device D further comprises a recovery material box D2, the material receiving container D1 is located right below the outlet of the material receiving diversion trench C1, and the recovery material box D2 is located right below the outlet of the recovery diversion trench C2.
The control display part E comprises a touch display screen E1, a circuit board and a control module, wherein the circuit board and the control module are arranged below the touch display screen E1, the touch display screen E1 is used for setting and displaying weighing parameters, the control module is connected to the circuit board, and the control module is respectively and electrically connected with the feeding part A, the weighing part B and the transmission device D3.
The operation of the system is described in further detail below with reference to the accompanying drawings.
Before the system starts to work, each automatic weighing and quantitative discharging device 10 is checked, and the photoelectric switch B34 is used for confirming that the two hopper doors B32 are in a completely closed state, so that leakage of materials is prevented; the touch display screen E1 of the control display part E is used for setting the weight range and the weighing parts of the corresponding material components weighed by each automatic weighing and quantitative discharging device 10.
S1, controlling a material conveying device D3 to convey a material receiving container D1 to a first automatic weighing and quantitative discharging device 10 through a control display part E, and enabling a material receiving opening of the material receiving container D1 to be aligned to an outlet of the material receiving diversion trench C1;
s2, the control module controls the first automatic weighing and quantitative discharging device 10, so that the feeding part A conveys the material components to the bidirectional hopper B3 of the weighing part B, at the moment, the weighing sensor B2 returns weight value signals in the weighed bidirectional hopper B3 to the control module and displays the weight value signals on the touch display screen E1, when the weight of the material components reaches a set weight range, the control module controls the feeding part A to stop conveying the material components, particularly for the block or strip-shaped material components, the weight of the material components cannot be ensured to be always in the set weight range when the material components are conveyed, if the weight of the material components exceeds the set weight range, the control module controls the corresponding speed reducing motor B31 above the recovery material box D2 to open the hopper door B32 close to the recovery guide groove C2, the overweight material components enter the recovery material box D2 through the recovery guide groove C2, and the control module re-controls the feeding part A to convey the material components to the bidirectional hopper B3 of the weighing part B until the weight of the material components is in the set weight range; if the weight of the material components is in the set weight range, the control module controls a corresponding gear motor B31 above the rotary material receiving and discharging device D1 to open a hopper door B32 close to the material receiving diversion trench C1, and the material components with qualified weight enter the material receiving container D1 through the material receiving diversion trench C1;
s3, after the material components in the weighing part B of the first automatic weighing and quantitative discharging device 10 are put into the receiving container D1, the steps are repeated to convey the receiving container D1 to the next automatic weighing and quantitative discharging device 10 until all the set multiple material components are weighed and collected, and then the control module controls the feeding part A, the weighing part B and the material collecting device D to stop working and displays weighing information on the touch display screen E1.
If a plurality of mixed materials are required to be weighed, repeating the steps.
Example 2
The control method of the automatic weighing and batching system comprises a control process of the automatic weighing and quantitative batching device, wherein the control process is shown in a diagram 9, and comprises a parameter setting module, a working condition identification module, a feeding speed fuzzy PID control module and a parameter acquisition module;
the parameter setting module is used for setting material properties, setting feeding weight, setting feeding speed and selecting remote control or on-site control; the working condition identification module is used for acquiring a baffle position signal, a real-time weight signal of materials in the bidirectional hopper and an in-place signal of a receiving container on the transmission device;
if the position signal of the baffle, the real-time weight signal of the materials in the bidirectional hopper and the in-place signal of the receiving container on the transmission device are all in the normal range, the system operates normally according to the set parameters, and the feeding speed fuzzy PID control module is started;
if one of the baffle position signal, the real-time weight signal of the materials in the bidirectional hopper and the in-place signal of the receiving container on the transmission device is in an abnormal range, judging that the system is abnormal and starting a manual mode;
the baffle position signal normally indicates that a discharge hole of the bidirectional hopper is in a closed state, and the real-time weight signal of the material in the bidirectional hopper normally indicates that the real-time weight of the material in the bidirectional hopper is smaller than a set feeding weight parameter; the in-place signal of the receiving container on the transmission device normally means that the receiving container is positioned at a position where the material components in the automatic weighing and quantitative discharging device can be collected;
the block diagram of the feeding speed fuzzy PID control module is shown in FIG. 10, the control process of the feeding speed fuzzy PID control module is as follows, and the corresponding control flow chart is shown in FIG. 11:
(1) Starting a feeding speed fuzzy PID control module to finish A/D conversion of various parameters;
(2) Collecting the feeding speed, and calculating the deviation e between the real-time feeding speed value and the set feeding speed value and the variation rate ec of the deviation;
(3) The deviation e and the change rate ec of the deviation are input quantities of a feeding speed fuzzy PID control module, u is output quantity of the feeding speed fuzzy PID control module, and the output quantity of the feeding speed fuzzy PID control module comprises three control parameters Kp, ki and Kd; the basic domain of the deviation e is [ -10,10], and the basic domain of the change rate ec of the deviation is [ -20,20]; the basic argument of the output quantity U is [ -umax, umax ] and is obtained empirically, the deviation E, the change rate EC of the deviation and the output quantity U are fuzzified, and fuzzified subsets of the deviation E, the change rate EC of the deviation and the output quantity U are respectively E, EC and U, the input language variable values of the E and the EC are { NB, NM, NS, Z, PS, PM, PB }, and the output language variable value of the U is { NB, NM, NS, Z, PS, PM, PB }; the specific meaning of NB, NM, NS, Z, PS, PM, PB is as follows: negative big, negative medium, negative small, zero, positive small, medium, positive big;
then discretizing the precise quantity of the domains of E, EC and U, and selecting the quantization factor of the input quantity as k e =0.3,k ec =0.15, the quantization factor of the output is k u =umax/3, yielding E, EC, u= { -3, -2, -1, 0,1. 2, 3}; the purpose of discretization is to discuss the unification of the ranges and thus facilitate the reasoning calculation, and the discretization results in that all parameters are uniformly transformed into one range of { -3, -2, -1, 0,1, 2, 3} and the quantization factors are used to transform the actual ranges of the respective parameters into the set { -3, -2, -1, 0,1, 2, 3 }.
Fuzzifying quantized values of the deviation e and the change rate ec of the deviation into a fuzzy reasoning E, EC through a membership function, wherein NB and PB take zmf functions, and NM, NS, Z, PS, PM take trimf functions;
(4) Fuzzy control rules of three control parameters Kp, ki and Kd of output quantity are obtained according to the input and output language variable values;
table 1 Kp fuzzy control rules table
Table 2 Ki fuzzy control rules table
Table 3 Kd fuzzy control rules table
(5) Fuzzification subset u=kp, ki, kd= (E) on the output field i ×E j ） T R, wherein X represents a reduction operation in the fuzzy inference, R represents a total fuzzy control rule, (E) i ×E j ） T Representation E i ×E j Rank of matrix, E i Array representing E value, E j An array representing ec values;
calculating the values of three parameters Kp, ki and Kd according to the formula;
(6) Multiplying U obtained through fuzzy reasoning with the quantization factor of the output quantity to obtain three actual output quantities of the fuzzy PID control module;
through the calculation, the adjustment quantity of the feeding speed is obtained, the adjustment quantity and the adjustment quantity are overlapped with the current actual feeding speed to be output, D/A conversion is carried out, and corresponding excitation voltage is given to the electromagnetic vibration feeder to realize adjustment and tracking of the feeding speed.
Further, the acquisition period of the parameter is 0.15s.
When the feeding speed rin is set to be 2g/s and the real-time feeding speed yout is set to be 1g/s, e=1 is calculated according to e= +rin-yout, values of e=1 and ec are brought into a fuzzy PID control module, a fuzzy operation rule obtains real-time adjustment values of three parameters Kp, ki and Kd of PID control according to input conditions, and then operation is carried out according to the three parameters Kp, ki and Kd of the PID after adjustment to obtain an actual output value, so that circulation is carried out, and when errors between the feeding speed and the real-time feeding speed tend to be 0g/s, parameter adjustment of the PID control module is stable, and output of the PID control module tends to be stable. As shown in fig. 12, a graph of the actual feed rate adjustment variation: the solid line is a set feeding speed value, the set feeding speed of [0,5] s is 2g/s, the set feeding speed of [5,10] s is 1g/s, and the dotted line is a real-time feeding speed value, so that the control method has the advantages of high tracking speed and almost no overshoot and oscillation in the whole tracking process.
Claims (6)
1. An automatic weighing and batching system, which is characterized in that: the automatic weighing and quantitative discharging device comprises an automatic weighing and quantitative discharging device (10) and a material collecting device (D), wherein the material collecting device (D) comprises a receiving container (D1) and a conveying device (D3) for conveying the receiving container (D1), the automatic weighing and quantitative discharging device (10) is provided with a plurality of material components which are respectively used for weighing different materials, and the receiving container (D1) moves on the conveying device (D3) and collects the weighed material components in the automatic weighing and quantitative discharging device (10) one by one; the automatic weighing and quantitative discharging device (10) comprises a feeding part (A) and a weighing part (B), wherein the feeding part (A) is arranged as an electromagnetic vibration feeder, the weighing part (B) comprises a weighing sensor (B2) fixedly connected to a supporting rod (B1) and a bidirectional hopper (B3) fixedly connected with the weighing sensor (B2), the bidirectional hopper (B3) is positioned below an outlet of the feeding part (A), and the bidirectional hopper (B3) forms a bidirectional channel for guiding materials into a receiving container (D1) through a guide groove (C); the system also comprises a control display part (E) for controlling the automatic weighing and quantitative discharging device (10) and the material collecting device (D);
the control method of the automatic weighing and batching system comprises a control process of the automatic weighing and quantitative batching device (10), wherein the control process comprises a parameter setting module, a working condition identification module and a feeding speed fuzzy PID control module;
the parameter setting module is used for setting material properties, setting feeding weight, setting feeding speed and selecting remote control or on-site control; the working condition identification module is used for acquiring a baffle position signal, a real-time weight signal of materials in the bidirectional hopper and an in-place signal of a receiving container on the transmission device;
if the position signal of the baffle, the real-time weight signal of the materials in the bidirectional hopper and the in-place signal of the receiving container on the transmission device are all in the normal range, the system operates normally according to the set parameters, and the feeding speed fuzzy PID control module is started;
if one of the baffle position signal, the real-time weight signal of the materials in the bidirectional hopper and the in-place signal of the receiving container on the transmission device is in an abnormal range, judging that the system is abnormal and starting a manual mode to eliminate abnormal conditions;
the baffle position signal normally indicates that a discharge hole of the bidirectional hopper is in a closed state, and the real-time weight signal of the material in the bidirectional hopper normally indicates that the real-time weight of the material in the bidirectional hopper is smaller than a set feeding weight parameter; the proper signal of the receiving container on the transmission device is that the receiving container is positioned at a position capable of collecting the material components in the automatic weighing and quantitative discharging device (10);
the control process of the feeding speed fuzzy PID control module is as follows:
(1) Starting a feeding speed fuzzy PID control module to finish A/D conversion of various parameters;
(2) Collecting the feeding speed, and calculating the deviation e between the real-time feeding speed value and the set feeding speed value and the variation rate ec of the deviation;
(3) The deviation e and the change rate ec of the deviation are input quantities of a feeding speed fuzzy PID control module, u is output quantity of the feeding speed fuzzy PID control module, and the output quantity of the feeding speed fuzzy PID control module comprises three control parameters Kp, ki and Kd; the basic domain of the deviation e is [ -10,10], and the basic domain of the change rate ec of the deviation is [ -20,20]; the basic argument of the output quantity U is [ -umax, umax ], the deviation E, the change rate EC of the deviation and the fuzzification subset of the output quantity U are respectively E, EC and U, the input language variable values of the E and the EC are { NB, NM, NS, Z, PS, PM, PB }, and the output language variable value of the U is { NB, NM, NS, Z, PS, PM, PB };
then discretizing the precise quantity of the domains of E, EC and U, and selecting the quantization factor of the input quantity as k e ＝0.3,k ec =0.15, the quantization factor of the output is k u =umax/3, yielding E, EC, u= { -3, -2, -1, 0,1, 2, 3};
fuzzifying quantized values of the deviation e and the change rate ec of the deviation into a fuzzy reasoning E, EC through a membership function, wherein NB and PB take zmf functions, and NM, NS, Z, PS, PM take trimf functions;
(4) Fuzzy control rules of three control parameters Kp, ki and Kd of output quantity are obtained according to the input and output language variable values;
(5) Fuzzification subset u=kp, ki, kd= (E) on the output field i ×E j ) T R, wherein X represents a reduction operation in the fuzzy inference, R represents a total fuzzy control rule, (E) i ×E j ) T Representation E i ×E j Rank of matrix, E i Array representing E value, E j An array representing ec values;
calculating the values of three parameters Kp, ki and Kd according to the formula;
(6) Multiplying U obtained through fuzzy reasoning with the quantization factor of the output quantity to obtain three actual output quantities of the fuzzy PID control module;
through the calculation, the adjustment quantity of the feeding speed is obtained, the adjustment quantity and the adjustment quantity are overlapped with the current actual feeding speed to be output, D/A conversion is carried out, and corresponding excitation voltage is given to the electromagnetic vibration feeder to realize adjustment and tracking of the feeding speed.
2. An automatic weighing and dosing system according to claim 1, characterized in that: the top of the bidirectional hopper (B3) is open, and the bottom of the bidirectional hopper (B3) forms a bottom opening or closing state through two hopper doors (B32) symmetrically distributed on two sides; the two hopper doors (B32) are provided with baffles (B33) on the same side, and the two-way hopper (B3) is provided with a photoelectric switch (B34) for detecting the positions of the baffles (B33) on the side surface in the movement track of the two baffles (B33) so as to detect whether the two hopper doors (B32) are completely closed; and two corresponding gear motors (B31) for respectively driving the two hopper doors (B32) to open and close are also arranged on the bidirectional hopper (B3).
3. An automatic weighing and dosing system according to claim 1, characterized in that: the guide groove (C) comprises a material receiving guide groove (C1) and a recycling guide groove (C2), wherein an inlet of the material receiving guide groove (C1) corresponds to an outlet of one hopper door (B32) of the bidirectional hopper (B3), and an inlet of the recycling guide groove (C2) corresponds to an outlet of the other hopper door (B32) of the bidirectional hopper (B3).
4. An automatic weighing and dosing system according to claim 3, characterized in that: the material collecting device (D) further comprises a recycling bin (D2), the material receiving container (D1) is located right below the outlet of the material receiving diversion trench (C1), and the recycling bin (D2) is located right below the outlet of the recycling diversion trench (C2).
5. An automatic weighing and dosing system according to claim 1, characterized in that: the control display part (E) comprises a touch display screen (E1), a circuit board and a control module, wherein the circuit board and the control module are arranged below the touch display screen (E1), the touch display screen (E1) is used for setting and displaying weighing parameters, the control module is connected to the circuit board, and the control module is electrically connected with the feeding part (A), the weighing part (B) and the transmission device (D3) respectively.
6. An automatic weighing and dosing system according to claim 1, characterized in that: the acquisition period of the parameter is 0.15s.
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