CN106959612A - A kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control - Google Patents
A kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control Download PDFInfo
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- CN106959612A CN106959612A CN201710234855.4A CN201710234855A CN106959612A CN 106959612 A CN106959612 A CN 106959612A CN 201710234855 A CN201710234855 A CN 201710234855A CN 106959612 A CN106959612 A CN 106959612A
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses a kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control, the characteristics of using fuzzy control and PID control, and on the basis of the actual distribution ratio of tractive force is theoretical, the fuzzy control method compensated using tape speed carries out power-balance control, comprises the following steps that：1. a comparator is designed, frequency converter is read by ProfiBus DPWithOutput torque、, its difference is calculated by comparator；2. according to output torque、Difference and difference rate of change velocity compensation is calculated by fuzzy controller、, the given input speed to frequency converter is modified, and the speed preset of two frequency converters is used as using revised value；3. with revised speed preset and two motorsWithActual speed as the input of PID controller, frequency converter is controlled by PID controller 1 and PID controller 2 respectivelyAnd frequency converter, finally realize that the speed of motor and torque are synchronous, reach ideal power-balance control effect.
Description
Technical field
The present invention relates to a kind of ribbon conveyer twin-engined drives method for controlling power balance based on fuzzy control, belong to certainly
Dynamic control technology field.
Background technology
In ribbon conveyer Driving system with dual-motors, in the ideal case, the power ratio of each motor is equal to driving force
Distribution ratio, but influenceed in practice by various factors, for example, each mechanical characteristics of motor has differences, sharing of load uneven,
Each idler resistance is unequal, drive roller diameter has differences, there is error etc. when installing, and causes each motor actual power
There is relatively large deviation.The type of drive of current large belt conveyor has following several：Dc motor is dragged, motor liquid feeding
Viscous driven by clutches, (typical liquid viscous clutch is differential type train liquid_viscosity regulator dress to the transmission of motor liquid feeding mechanical couple
Put CST), frequency conversion and speed regulation of AC motor.Efficiency highest is CST devices and AC frequency control apparatus.But CST devices are produced
Product are expensive, it is difficult to which the failure to appearance is preferably solved.Its initial stage of the type of drive of frequency conversion and speed regulation of AC motor
Investment is also very big, but reliability is high, safeguard simple, and frequency Varying and speed changing method has good speed adjusting performance.Traditional is more
Motor power (output) balance controls multiplex PID controller to realize, though its control accuracy is high, less stable, and PID control
Device is that controlled system is controlled by the control parameter designed in advance, and it does not possess adaptive ability, and conveyer
Load change is relatively more frequent, so being unable to reach preferable control effect.
The content of the invention
It is an object of the invention to provide a kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control,
To improve the stable state accuracy of dynamic responding speed and control performance.
In order to solve above technology technical problem, the concrete technical scheme that the present invention is used is as follows：
A kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control, it is characterised in that including following
Step：
Step one, a comparator is designed, frequency converter VF is read by ProfiBus-DP1And VF2Output torque T1, it is defeated
Go out torque T2, output torque T is calculated by comparator1, output torque T2Difference e, wherein e=T1-T2；
Step 2, according to output torque T1, output torque T2Difference e and difference rate of change ec, whereinPass through mould
Fuzzy controllers calculate velocity compensation Δ n1、Δn2, given input speed is modified, frequency converter is used as using revised value
VF1With frequency converter VF2Speed preset；
Step 3, with revised speed preset and the motor M1With motor M2Actual speed be used as PID control
The input of device, frequency converter VF is controlled by PID controller 1 and PID controller 2 respectively1With frequency converter VF2。
4 variable e, ec, Δ n1、Δn2Basic domain be respectively (- e, e), (- ec, ec), (- Δ n1,Δn1),
(-Δn2,Δn2)；The quantization domain of 4 variables is all { -4, -3, -2, -1,0,1,2,3,4 }, and fuzzy controller is subordinate to
The linguistic variable of function is 5 grades, be respectively " NB ", " NS ", " ZO ", " PS ", " PB ", i.e. " negative big ", " bearing small ", " zero ",
" just small ", " honest ".
The membership function of the fuzzy controller is chosen for triangular function, defines each point and is mapped in the input space
A membership values, membership values are between zero and one.
The control logic of the fuzzy controller is：
1. it is to remove to bear big difference and suppress difference increase tendency as early as possible, so velocity compensation Δ when difference e is bears big
n1、Δn2Take respectively honest with bearing greatly；
2. when difference e is that negative and ec is just, to choose the less Δ n of absolute value1、Δn2Avoid the occurrence of overshoot；
3. when ec is honest, Δ n1、Δn2It should not increase, overshoot otherwise can be caused to produce positive error, therefore at this moment Δ
n1、Δn2Change is taken as 0 grade, and ec is positive hour, Δ n1、Δn2Take absolute value less value；
4. when difference e is bears small, system is close to stable state, if ec is negative, chooses Δ n1、Δn2Absolute value it is less value with
Suppress error to negative direction to change；
The fuzzy control table of the control logic is as follows：
The anti fuzzy method of the fuzzy controller uses center of gravity method.
The present invention has beneficial effect.The technical method that the present invention is combined using fuzzy control with PID control, that is, utilize
Fuzzy controller need not determine the characteristics of mathematical models of system, control performance are stable, overcome single mould again
Paste control is often difficult to meet shortcoming of the system to control accuracy requirement.By traditional PID control technology and fuzzy control technology knot
Close, compared with traditional control system, with faster dynamic response, higher stable state accuracy.
Brief description of the drawings
Fig. 1 is method of the present invention schematic diagram.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in further details.
As shown in figure 1, when system starts, reading frequency converter VF in real time by ProfiBus-DP1And VF2Output
Torque T1、T2, its difference e is calculated by comparator；According to output torque T1, output torque T2Difference e and difference rate of change ec
Velocity compensation Δ n is calculated by fuzzy controller1、Δn2, it is respectively transmitted to 2 pairs of given input speeds of compensator 1 and compensator
N is modified, with revised speed and two motors M1And M2Actual speed as two PID controllers input, lead to
PID controller 1 and PID controller 2 is crossed to control frequency converter VF respectively1With frequency converter VF2。
e、ec、Δn1、Δn2Basic domain be respectively (- e, e), (- ec, ec), (- Δ n1,Δn1), (- Δ n2,Δ
n2)；e、ec、Δn1、Δn2Quantization domain be all { -4, -3, -2, -1,0,1,2,3,4 }, the membership function of fuzzy controller
Linguistic variable is 5 grades, be respectively " NB ", " NS ", " ZO ", " PS ", " PB ", i.e. " negative big ", " bearing small ", " zero ", " just small ",
" honest ".The membership function of fuzzy controller is chosen for triangular function, defines each point is mapped in the input space one
Individual membership values, membership values are between zero and one.
The control logic of fuzzy control is：
1. it is to remove to bear big difference and suppress difference increase tendency as early as possible, so Δ n when difference e is bears big1、Δn2Point
Do not take honest with bearing greatly；
2. when difference e is negative and ec is that just, should choose the less Δ n of absolute value1、Δn2Avoid the occurrence of overshoot；
3. when ec is honest, Δ n1、Δn2It should not increase, overshoot otherwise can be caused to produce positive error, therefore at this moment Δ
n1、Δn2Change is taken as 0 grade, and ec is positive hour, Δ n1、Δn2Take absolute value less value；
4. when difference e is bears small, system is close to stable state, if ec is negative, chooses Δ n1、Δn2Absolute value it is less value with
Suppress error to negative direction to change；
The fuzzy control table of the control logic is as follows：
The anti fuzzy method of fuzzy controller uses center of gravity method.
Above-described embodiment is exemplary, can be made a change without departing from the spirit of the invention.
Claims (6)
1. a kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control, it is characterised in that including following step
Suddenly：
Step one, a comparator is designed, frequency converter VF is read by ProfiBus-DP1And VF2Output torque T1, output turn
Square T2, output torque T is calculated by comparator1, output torque T2Difference e, wherein e=T1-T2；
Step 2, according to output torque T1, output torque T2Difference e and difference rate of change ec, whereinPass through Fuzzy Control
Device processed calculates velocity compensation Δ n1、Δn2, given input speed is modified, frequency converter VF is used as using revised value1With
Frequency converter VF2Speed preset；
Step 3, with revised speed preset and the motor M1With motor M2Actual speed be used as PID controller
Input, frequency converter VF is controlled by PID controller 1 and PID controller 2 respectively1With frequency converter VF2。
2. a kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control according to claim 1, its
It is characterised by：
4 variable e, ec, Δ n1、Δn2Basic domain be respectively (- e, e), (- ec, ec), (- Δ n1,Δn1), (- Δ
n2,Δn2)；The quantization domain of 4 variables is all { -4, -3, -2, -1,0,1,2,3,4 }, the membership function of fuzzy controller
Linguistic variable be 5 grades, be respectively " NB ", " NS ", " ZO ", " PS ", " PB ", i.e. " negative big ", " bearing small ", " zero ", " just
It is small ", " honest ".
3. a kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control according to claim 2, its
It is characterised by：The membership function of the fuzzy controller is chosen for triangular function, defines each point and is mapped in the input space
The membership values arrived, membership values are between zero and one.
4. the ribbon conveyer twin-engined drives power balancing method according to claim 2 based on fuzzy control, its feature
It is：The control logic of the fuzzy controller is：
1. it is to remove to bear big difference and suppress difference increase tendency as early as possible, so velocity compensation Δ n when difference e is bears big1、Δ
n2Take respectively honest with bearing greatly；
2. when difference e is that negative and ec is just, to choose the less Δ n of absolute value1、Δn2Avoid the occurrence of overshoot；
3. when ec is honest, Δ n1、Δn2It should not increase, overshoot otherwise can be caused to produce positive error, therefore at this moment Δ n1、Δn2
Change is taken as 0 grade, and ec is positive hour, Δ n1、Δn2Take absolute value less value；
4. when difference e is bears small, system is close to stable state, if ec is negative, chooses Δ n1、Δn2The less value of absolute value is to suppress
Error changes to negative direction.
5. a kind of ribbon conveyer twin-engined drives power balancing method based on fuzzy control according to claim 4, its
It is characterised by：The fuzzy control table of the control logic is as follows：
6. the ribbon conveyer twin-engined drives power balancing method according to claim 5 based on fuzzy control, its feature
It is：The anti fuzzy method of the fuzzy controller uses center of gravity method.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110865663A (en) * | 2019-12-05 | 2020-03-06 | 成都圭目机器人有限公司 | Novel speed compensation torque balance control method applied to four-wheel-drive four-wheel robot |
| CN110971169A (en) * | 2019-12-20 | 2020-04-07 | 长安大学 | Permanent magnet synchronous motor direct torque control method based on fuzzy output duty ratio |
| CN111313789A (en) * | 2020-02-12 | 2020-06-19 | 长安大学 | Dual-fuzzy control-based direct torque control method for permanent magnet synchronous motor |
| CN117031968A (en) * | 2023-10-10 | 2023-11-10 | 山东科技大学 | Belt conveyor control method based on non-cooperative game |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110865663A (en) * | 2019-12-05 | 2020-03-06 | 成都圭目机器人有限公司 | Novel speed compensation torque balance control method applied to four-wheel-drive four-wheel robot |
| CN110865663B (en) * | 2019-12-05 | 2022-11-15 | 成都圭目机器人有限公司 | Novel speed compensation torque balance control method applied to four-wheel-drive four-wheel robot |
| CN110971169A (en) * | 2019-12-20 | 2020-04-07 | 长安大学 | Permanent magnet synchronous motor direct torque control method based on fuzzy output duty ratio |
| CN110971169B (en) * | 2019-12-20 | 2021-06-25 | 长安大学 | Permanent magnet synchronous motor direct torque control method based on fuzzy output duty ratio |
| CN111313789A (en) * | 2020-02-12 | 2020-06-19 | 长安大学 | Dual-fuzzy control-based direct torque control method for permanent magnet synchronous motor |
| CN111313789B (en) * | 2020-02-12 | 2021-07-23 | 长安大学 | Dual-fuzzy control-based direct torque control method for permanent magnet synchronous motor |
| CN117031968A (en) * | 2023-10-10 | 2023-11-10 | 山东科技大学 | Belt conveyor control method based on non-cooperative game |
| CN117031968B (en) * | 2023-10-10 | 2024-02-09 | 山东科技大学 | Belt conveyor control method based on non-cooperative game |
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Application publication date: 20170718 |