CN108008653A - A kind of direction Control System and process equipment towards repeating motion - Google Patents
A kind of direction Control System and process equipment towards repeating motion Download PDFInfo
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- CN108008653A CN108008653A CN201711124347.7A CN201711124347A CN108008653A CN 108008653 A CN108008653 A CN 108008653A CN 201711124347 A CN201711124347 A CN 201711124347A CN 108008653 A CN108008653 A CN 108008653A
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a kind of direction Control System and process equipment towards repeating motion, should include towards the direction Control System of repeating motion：Controlled device, for come converted products and producing the executing agency of output valve according to the first controlling value；First controller, for come calculation process and exporting the first controlling value to controlled device according to the output valve of the first setting value and controlled device feedback；Second controller, for come calculation process and exporting the second controlling value to the first controller according to the output valve of the second setting value and controlled device feedback, to correct the first setting value of the first controller.The process equipment applies this towards the direction Control System of repeating motion.
Description
Technical field
The present invention relates to control technology field, more particularly to a kind of set towards the direction Control System of repeating motion and processing
It is standby.
Background technology
There are many systems with repeating motion process in actual industrial, such as the digital control system in manufacturing industry, machine
People's welding system and injection molding machine formation system etc..But the control system of these existing process equipments only consider it is current single
The processing quality of product, processing uniformity and repeatable accuracy without considering typical products in mass production.That is, traditional processing
The control system of equipment simply uni-directionally sets controller according to the technological parameter needed for single product, to control processing to set
Standby executing agency so that the single product processed reaches the technological requirement of setting.However, adding with typical products in mass production
After work, some factors (such as abrasion and temperature rise) for influencing homogeneity of product and precision occur in process equipment.So add at present
Construction equipment is, it is necessary to which operating personnel are detected product after a certain number of Product processings, and such as discovery product is unqualified, then
Need to expend the technological parameter of the time controller of modification and processing apparatus control system again so that the product of output reaches again
Technological requirement.
The content of the invention
It is a primary object of the present invention to solve the control system due to current process equipment in control typical products in mass production
Processing after exist need manually it is time-consuming and laborious modification controller technological parameter technical problem.
To achieve the above object, the present invention provides a kind of direction Control System towards repeating motion, including:
Controlled device, for come converted products and producing the executing agency of output valve according to the first controlling value；
First controller, come calculation process and the is exported for the output valve fed back according to the first setting value and controlled device
One controlling value is to controlled device；
Second controller, come calculation process and the is exported for the output valve fed back according to the second setting value and controlled device
Two controlling values to the first controller, to correct the first setting value of the first controller.
In addition, the present invention also provides a kind of process equipment, which includes the above-mentioned two-way control towards repeating motion
System processed.
The present invention is by the second controller of the direction Control System towards repeating motion with the processing of typical products in mass production
During adaptively correct the first controlling value of the first control, controlling to overcome the control system of current process equipment
Existing after the processing of typical products in mass production processed needs the technical problem of manually time-consuming and laborious modification controller technological parameter.And should
With the process equipment of the direction Control System towards repeating motion, the above-mentioned double-direction control system towards repeating motion is being applied
After system, processed by typical products in mass production, not only so that the performance indicator meet demand of single product, it is ensured that typical products in mass production
Uniformity or repeatable accuracy can reach quality requirement.
Brief description of the drawings
Fig. 1 is the high-level schematic functional block diagram of preferred embodiment of the present invention towards the direction Control System of repeating motion；
Fig. 2 is control effect schematic diagram of the present invention towards the direction Control System of repeating motion；
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Fig. 1 is referred to, Fig. 1 is the function module of preferred embodiment of the present invention towards the direction Control System of repeating motion
Schematic diagram.
The present invention provides a kind of direction Control System towards repeating motion, including:Controlled device 10, the first controller
20th, second controller 30.
Wherein, the first controller 20 is communicated to connect with controlled device 10, and second controller 30 communicates with the first controller 20
Connection, controlled device 10 are communicated to connect with the first controller 20, second controller 30 respectively.
Controlled device 10 is the first controlling value exported according to the first controller 20 come converted products and produces output valve
Executing agency.That is, controlled device 10 after the first controlling value is received, just performs a product by executing agency
Processing action, and produce an output valve and feed back to the first controller 20 and second controller 30 respectively.
First controller 20 is used for according to the first setting value and output valve that controlled device 10 is fed back come calculation process and defeated
Go out the first controlling value to controlled device 10.Specifically, the first controller 20 is the processing performance for optimizing single product.Add
During construction equipment converted products, it is necessary to the technological parameter needed for the first controller 20 input converted products of control system, i.e., the
One setting value, and the output valve that controlled device 10 is fed back carry out calculation process.As for calculation process, the first controller is to adopt
Calculation process is carried out with proportional-integral-differential (PID) control algolithm, and proportional-integral-differential (PID) control algolithm can be with
It is：U (k)=Kp(err(k)+Ki∑err(j)+Kd(err (k)-err (k-1))), wherein, Kp、Ki、KdIt is arithmetic number, err (k)
Represent the difference of the second controlling value of kth moment second controller and the output valve of controlled device feedback.So, at by computing
Reason, the first controller 20 produce and export the first controlling value to controlled device 10.
But with the processing of typical products in mass production after, process equipment can cause control system because of abrasion or the factor such as temperature rise
20 the first current setting value of the first controller is no longer appropriate for the product for meeting technological requirement for producing in system.
For this reason, the direction Control System of the present invention towards repeating motion also further sets second controller 30, such as Fig. 1 institutes
Show, second controller 30 is come calculation process and to export for the output valve fed back according to the second setting value and controlled device 10
Two controlling values to the first controller 20, to correct the first setting value of the first controller 20.
Second controller 30 is the uniformity and repeatable accuracy for optimal control bulk article, specifically using fractional order
Sliding formwork Iterative Learning Control Algorithm carries out calculation process.
Fractional order sliding formwork Iterative Learning Control Algorithm includes the iteration fractional order sliding mode face set and according to iteration
The control output value function uq (t) that fractional order sliding mode face calculates.
So, the iteration fractional order sliding mode face of setting can be：
Wherein, si(t) it is sliding formwork diverter surface, represents i-th of product in the departure function of t moment, ei(t) i-th of production is represented
Product in the output valve of t moment and the deviation of the second setting value,It is arithmetic number, i represents product number, and j=1,2 be permanent number,
Sgn () is sign function；ρ is the decimal between 0 to 1, DαIt is Fractional Derivative.
After setting iteration fractional order sliding mode face, control can be calculated according to iteration fractional order sliding mode face
Export value function uq(t)：
Wherein, γ, τ1,2It is arithmetic number.
So far, second controller 30 can be in the process of typical products in mass production, according to the second setting value with being controlled
The output valve that object 10 is fed back is via control output value function uq(t) carry out calculation process, and then produce and export the second controlling value
To the first controller 20, to correct the first setting value of the first controller 20.
Direction Control System of the invention towards repeating motion is by further setting second controller 30 with high-volume
The first controlling value of the first control 20 is adaptively corrected in the process of product, this just overcomes current process equipment
Control system exist after the processing of control typical products in mass production and need manually time-consuming and laborious modification controller technological parameter
Technical problem.
In addition, the present invention also provides a kind of process equipment, such as numerically-controlled machine tool and robot, which are carried, has higher repetition
The production equipment of movement, the process equipment apply the above-mentioned direction Control System towards repeating motion.The process equipment is being answered
After the above-mentioned direction Control System towards repeating motion, processed by typical products in mass production, not only so that the property of single product
Energy index meet demand, it is ensured that the uniformity or repeatable accuracy of typical products in mass production can reach quality requirement, as shown in Fig. 2, Fig. 2
Control effect schematic diagram for the present invention towards the direction Control System of repeating motion.The present invention is applied towards repeating motion
The process equipment of direction Control System, in the process of typical products in mass production, by 11 productions for inspecting process by random samples at random
Product (such as cyclexxx) are compared, from figure 2 it can be seen that the key process parameter performance of each product essentially coincides, into
And it ensure that the uniformity of batch products.
It these are only the preferred embodiment of invention, be not intended to limit the scope of the invention, it is every to utilize the present invention
The equivalent structure transformation that specification and accompanying drawing content are made, is directly or indirectly used in other related technical areas, together
Reason is included within the scope of the present invention.
Claims (8)
- A kind of 1. direction Control System towards repeating motion, it is characterised in that including:Controlled device, for come converted products and producing the executing agency of output valve according to the first controlling value；First controller, the output valve for being fed back according to the first setting value and controlled device are controlled come calculation process and output first System is worth to controlled device；Second controller, the output valve for being fed back according to the second setting value and controlled device are controlled come calculation process and output second System is worth to the first controller, to correct the first setting value of the first controller.
- 2. as claimed in claim 1 towards the direction Control System of repeating motion, it is characterised in that the first controller use than Example-Integrated Derivative (PID) control algolithm carries out calculation process.
- 3. as claimed in claim 2 towards the direction Control System of repeating motion, it is characterised in that what the first controller used Proportional-integral-differential (PID) control algolithm is：U (k)=Kp(err(k)+Ki∑ree(j)+Kd(err(k)-err(k-1)))Wherein, Kp、Ki、KdIt is arithmetic number, err (k) represents that the second controlling value of kth moment second controller and controlled device are anti- The difference of the output valve of feedback.
- 4. as claimed in claim 1 towards the direction Control System of repeating motion, it is characterised in that second controller, which uses, to be divided Number rank sliding formwork Iterative Learning Control Algorithm carries out calculation process.
- 5. as claimed in claim 4 towards the direction Control System of repeating motion, it is characterised in that fractional order sliding formwork iteration Practising control algolithm includes the iteration fractional order sliding mode face that sets and is calculated according to iteration fractional order sliding mode face Control output value function uq(t)。
- 6. as claimed in claim 5 towards the direction Control System of repeating motion, it is characterised in that the iteration fractional order of setting Sliding mode face is：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>s</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>e</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>s</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msup> <mi>D</mi> <mi>&alpha;</mi> </msup> <msub> <mi>s</mi> <mn>0</mn> </msub> <mo>+</mo> <msup> <mi>D</mi> <mrow> <mi>&alpha;</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <msubsup> <mi>&beta;</mi> <mn>1</mn> <mn>1</mn> </msubsup> <msub> <mi>s</mi> <mn>0</mn> </msub> <mo>+</mo> <msubsup> <mi>&beta;</mi> <mn>1</mn> <mn>2</mn> </msubsup> <msup> <mrow> <mo>|</mo> <msub> <mi>s</mi> <mn>0</mn> </msub> <mo>|</mo> </mrow> <mi>&rho;</mi> </msup> <mi>sgn</mi> <mo>(</mo> <msub> <mi>s</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>s</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msup> <mi>D</mi> <mi>&alpha;</mi> </msup> <msub> <mi>s</mi> <mn>1</mn> </msub> <mo>+</mo> <msup> <mi>D</mi> <mrow> <mi>&alpha;</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <msubsup> <mi>&beta;</mi> <mn>2</mn> <mn>1</mn> </msubsup> <msub> <mi>s</mi> <mn>1</mn> </msub> <mo>+</mo> <msubsup> <mi>&beta;</mi> <mn>2</mn> <mn>2</mn> </msubsup> <msup> <mrow> <mo>|</mo> <msub> <mi>s</mi> <mn>1</mn> </msub> <mo>|</mo> </mrow> <mi>&rho;</mi> </msup> <mi>sgn</mi> <mo>(</mo> <msub> <mi>s</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msup> <mi>D</mi> <mi>&alpha;</mi> </msup> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>3</mn> </mrow> </msub> <mo>+</mo> <msup> <mi>D</mi> <mrow> <mi>&alpha;</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <msubsup> <mi>&beta;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> <mn>1</mn> </msubsup> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>3</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mi>&beta;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> <mn>2</mn> </msubsup> <msup> <mrow> <mo>|</mo> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>3</mn> </mrow> </msub> <mo>|</mo> </mrow> <mi>&rho;</mi> </msup> <mi>sgn</mi> <mo>(</mo> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>3</mn> </mrow> </msub> <mo>)</mo> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msup> <mi>D</mi> <mi>&alpha;</mi> </msup> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> </msub> <mo>+</mo> <msup> <mi>D</mi> <mrow> <mi>&alpha;</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <msubsup> <mi>&beta;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> <mn>1</mn> </msubsup> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mi>&beta;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> <mn>2</mn> </msubsup> <msup> <mrow> <mo>|</mo> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> </msub> <mo>|</mo> </mrow> <mi>&rho;</mi> </msup> <mi>sgn</mi> <mo>(</mo> <msub> <mi>s</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> </msub> <mo>)</mo> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein, si(t) it is sliding formwork diverter surface, represents i-th of product in the departure function of t moment, ei(t) represent that i-th of product exists The deviation of the output valve of t moment and the second setting value,It is arithmetic number, i represents product number, j=1, and 2 be permanent number, sgn () is sign function；ρ is the decimal between 0 to 1, DαIt is Fractional Derivative.
- 7. as claimed in claim 5 towards the direction Control System of repeating motion, it is characterised in that slided according to iteration fractional order The control output value function u that mould manifold face calculatesq(t) it is：uq(t)=[Dr(β1s(t)+β2|s(t)|ρsgn(s(t)))+γsgn(s(t))+(τ1s(t)+τ2|s(t)|ρsgn(s (t)))]Wherein, γ, τ1,2It is arithmetic number.
- 8. a kind of process equipment, it is characterised in that including such as claim 1-7 any one of them towards the two-way of repeating motion Control system.
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Cited By (1)
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| CN108880369A (en) * | 2018-06-12 | 2018-11-23 | 广州市香港科大霍英东研究院 | Motor anti-interference control method, system and device based on fractional order sliding formwork control |
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Application publication date: 20180508 |