CN108255055A - A kind of the intellect controlling system imitating human and method - Google Patents
A kind of the intellect controlling system imitating human and method Download PDFInfo
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- CN108255055A CN108255055A CN201810078663.3A CN201810078663A CN108255055A CN 108255055 A CN108255055 A CN 108255055A CN 201810078663 A CN201810078663 A CN 201810078663A CN 108255055 A CN108255055 A CN 108255055A
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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
- G05B11/38—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a proportional characteristic
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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
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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Abstract
The invention discloses a kind of the intellect controlling system imitating human, including human simulated intelligent controller, frequency converter, motor, actuator, sensor and comparator；The controlled volume signal detected in real time can be sent to comparator by sensor, comparator can by the controlled volume signal detected in real time and setting value relatively after, output error and error rate are to human simulated intelligent controller；Human simulated intelligent controller calculates controlled quentity controlled variable according to error and error rate, and exports to frequency converter, and frequency converter can control the rotation of motor according to controlled quentity controlled variable, and actuator can be adjusted controlled volume under the driving of motor.The invention also discloses the control methods of the intellect controlling system imitating human.The present invention solves the technical issues of control system of the prior art needs mathematical modeling, has good versatility, can be suitable for various control fields.
Description
Technical field
The present invention relates to a kind of intelligence control system and methods, are more particularly to difficult to mathematical modeling due to various reasons
Control problem, for example there is system uncertainty etc. to be difficult to implement mathematical modeling, and what it is because of the invention is that one kind is built without mathematics
The general the intellect controlling system imitating human of mould.
Background technology
With the development of computer technology, various intelligent controllers apply in each production and living field, instead of people
Many decision sex works are carried out, the production and living for people bring great convenience.But various control objects are multifarious, it is past
Past to need to establish different mathematical models for different control objects, not only complexity, difficulty are big for the foundation of mathematical model, but also
Often established under conditions of perfect condition is considered, inevitably can and actual conditions occur deviation.At present, it is built without mathematics
The control technology of mould mainly has PID control and Human Simulating Intelligent Control.The basic thought of Human Simulating Intelligent Control is：During control
Using the controlling behavior ability of computer mould personification, the spy for identifying and being provided using control system dynamic process to greatest extent
Reference breath is inspired and Intuitive inference, is effectively controlled so as to fulfill to the object for lacking mathematical models.At present
Numerous areas all can not realize control, such as freshwater aquaculture industry (breeding fish), steel industry by establishing accurate mathematical model,
More particularly with probabilistic control process or object etc..
Invention content
In view of the above shortcomings of the prior art, the present invention provides a kind of the intellect controlling system imitating human, solves in the prior art
Control system the technical issues of needing mathematical modeling, there is good versatility, various control fields can be suitable for.
In order to solve the above technical problems, technical scheme is as follows：A kind of the intellect controlling system imitating human, including apery
Intelligent controller, frequency converter, motor, actuator, sensor and comparator；The controlled volume that sensor will can in real time detect
Signal is sent to comparator, comparator can by the controlled volume signal detected in real time and setting value relatively after, output error and
Error rate is to human simulated intelligent controller；Human simulated intelligent controller calculates controlled quentity controlled variable according to error and error rate, and
It exports to frequency converter, frequency converter can control the rotation of motor according to controlled quentity controlled variable, and actuator can be right under the driving of motor
Controlled volume is adjusted.
The present invention also provides a kind of control methods using above-mentioned the intellect controlling system imitating human, include the following steps：
Step 1：Sensor detects controlled volume signal in real time, and is sent to comparator；
Step 2：Comparator real-time reception controlled volume signal and by controlled volume signal and setting value relatively after, output error e
And error rateTo human simulated intelligent controller；
Step 3：Human simulated intelligent controller often receives first-order error e and error rateJust one is carried out as follows
Secondary control amount calculates, wherein, n-th regulation and control are performed as follows：
Wherein, U is human simulated intelligent controller when the controlled quentity controlled variable of previous regulation and control output；KpFor proportionality coefficient；K is inhibits system
Number；em,iError extreme value after regulating and controlling for n-th；
Step 4：Human simulated intelligent controller is defeated often to carry out a controlled quentity controlled variable calculating, and controlled quentity controlled variable just is sent to frequency converter, is become
Frequency device controls motor rotation according to controlled quentity controlled variable, and controlled volume is adjusted under the driving of motor；
Step 5：Repeat step 1 to step 4 until e=0 andThat is e withUntil becoming 0 simultaneously.
If the dissolved oxygen for freshwater fish culturing water body controls, step 6 is carried out after step 5：Human simulated intelligent controller
Control motor low speed is operated in the range of the 10%-20% of motor rated speed, to overcome the inertia of control system, is improved
Response tracking ability, and greatly improve energy-saving effect.Wherein, controlled volume is the dissolved oxygen of breeding water body, and the actuator is
Aeration pump, the sensor are dissolved oxygen sensor.Breeding water body overlay area is made of several sub-regions；Per sub-regions
It is equipped with corresponding dissolved oxygen sensor；Further include the aeration pipe network that can be connected with the gas outlet of the aeration pump；Aeration pump
It can be aerated by being aerated pipe network to each sub-regions.
Compared with prior art, the invention has the advantages that：
1st, the intellect controlling system imitating human of the invention, only need to be according to error and error rate due to without mathematical modeling
Controlled quentity controlled variable can be calculated controlled volume is adjusted, therefore each control field can be common to.
2nd, imitation-man control device is operated by frequency converter indirect control motor, can be improved control accuracy, be realized to motor
Variable frequency starting, the power that variable frequency starting needs is low and safe, good energy-conserving effect.
What the 3rd, the control method provided by the present invention using the intellect controlling system imitating human can continue detects controlled volume
Variation, once deviation occurs for controlled volume and setting value, what just can be continued control, until controlled volume reaches setting value and maintains
In stable state.
4th, control method of the invention still controls motor low-speed running after controlled volume reaches setting value, in this way can gram
The inertia of control system is taken, improves response tracking ability, and greatly improve energy-saving effect.
5th, it when the intellect controlling system imitating human of the invention is used for freshwater fish culturing, is realized using pipe network is aerated with an exposure
Air pump is aerated multiple subregions, and cost is greatly saved；After breeding water body is divided into multiple subregions, each sub-district
Whether domain needs to be aerated is determined by the practical dissolved oxygen value of the subregion, is more in line with reality, with strong points.
Description of the drawings
The intellect controlling system imitating human that Fig. 1 is is used for the structure principle chart of freshwater fish culturing Dissolved Oxygen in Water control；
Fig. 2 is the control model analysis chart of human simulated intelligent controller error phase-plane diagram；
Fig. 3 is the static characteristic figure of human simulated intelligent controller；
Fig. 4 is the dynamic characteristic figure of human simulated intelligent controller.
Specific embodiment
Specific embodiment 1
A kind of the intellect controlling system imitating human, including human simulated intelligent controller, frequency converter, motor, actuator, sensor with
And comparator；The controlled volume signal detected in real time can be sent to comparator by sensor, and comparator will can in real time detect
Controlled volume signal and setting value relatively after, output error and error rate are to human simulated intelligent controller；Human Simulating Intelligent Control
Device calculates controlled quentity controlled variable according to error and error rate, and exports to frequency converter, and frequency converter can control electricity according to controlled quentity controlled variable
The rotation of motivation, actuator can be adjusted controlled volume under the driving of motor.It, will be above-mentioned imitative in present embodiment
Intelligent control system controls for the dissolved oxygen of freshwater fish culturing water body, forms a kind of dissolved oxygen control of freshwater fish culturing water body
System processed, wherein, controlled volume is the dissolved oxygen of breeding water body, as shown in Figure 1, the actuator is aeration pump, the sensor
For dissolved oxygen sensor, HSIC controllers are the abbreviation of human simulated intelligent controller in figure.
In present embodiment, breeding water body overlay area is made of several sub-regions；It is equipped with per sub-regions
Corresponding dissolved oxygen sensor；Further include the aeration pipe network that can be connected with the gas outlet of the aeration pump；Aeration pump passes through exposure
Gas pipe network can be aerated to each sub-regions.Multiple subregions are exposed with an aeration pump using being aerated pipe network and realizing
Cost is greatly saved in gas；After breeding water body is divided into multiple subregions, whether each sub-regions need aeration by the sub-district
The practical dissolved oxygen value in domain determines, is more in line with reality, with strong points.
In present embodiment, valve switch is equipped on the aeration tube net pipeline section corresponding with each sub-regions.
A kind of control method using above-mentioned the intellect controlling system imitating human includes the following steps：
Step 1：Sensor detects controlled volume signal in real time, and is sent to comparator；
Step 2：Comparator real-time reception controlled volume signal and by controlled volume signal and setting value relatively after, output error e
And error rateTo human simulated intelligent controller；
Step 3：Human simulated intelligent controller often receives first-order error e and error rateJust one is carried out as follows
Secondary control amount calculates, wherein, n-th regulation and control are performed as follows：
Wherein, U human simulated intelligent controllers are when the controlled quentity controlled variable of previous regulation and control output；KpFor proportionality coefficient；K is rejection coefficient, 0
＜ k ＜ 1；emiError extreme value for n-th regulation and control；KpIt is adjusted when being debugged at the scene with k according to actual conditions；
As shown in Fig. 2, error phase plane reflects the rule of error change：Work asOr e=0 andWhen,
Then increase tendency is presented in Abs (e)；WhenOrWhen, then reduction trend is presented in Abs (e), and eventually results in error
Automatically tend to zero.It is above-mentioned show as e=0 andOrWhen, control should choose ratio mode；WhenOrWhen, control should choose " holding " pattern, and error can automatically tend to zero.
The static characteristic figure of human simulated intelligent controller in the case of Fig. 3 shows continuous 3 regulation and control：
1) OA sections are ratio control model
When error and Error Trend increase occurs in system, that is, work asWhen, HSIC controllers device generates a ratio
Export u=KpE, wherein, KpFor proportionality coefficient, it can substantially exceed the permitted numerical value of conventional proportional controller.The mode operation
In e=0 to e=em1Interval range, when e reaches first time error extreme value em1Afterwards, which is immediately finished, and enters AB and inhibit
Stage.
2) inhibit control model for gain for AB sections
AB sections by OA sections of excessively high KPIt is multiplied by one and is less than 1 rejection coefficient k, and make the process of its gain reduction.Therefore,
Output has dropped down to u at B points01=kKpem1Corresponding value inhibits control to help to improve system quality with increasing stability margin.
3) pattern is kept for open loop for BC sections
Into after the stage, error e is from extreme value em1Start to reduce, can only finally become to origin into therefore, keeping process BC
Section is the parallel lines for being parallel to e axis.
4) CD → DE → EF sections
The section is similar with the analysis of the one before controlling cycle, but control action direction is being got well instead with previous cycle.CD sections are anti-
The ratio control in direction.When e becomes negative value, system makes error generate one again under reversed proportional close-loop control action
Extreme value, i.e.-em2.It is general for a stabilizing control system | em2| ﹤ | em1|.K and Kp can be taken with before in the controlling cycle
The different value of one controlling cycle, so as to increase the flexibility of Human Simulating Intelligent Control.
5) FH → HG → GI sections
The section is third controlling cycle, and the period is identical with period 1 direction, by several controlling cycles
Afterwards, system is finally controlled in a desired stable state.
The dynamic characteristic figure of human simulated intelligent controller in oa sections of errors as shown in figure 4, meet conditionIt is controlled using ratio, controlled quentity controlled variable U changes with error rate；Meet condition in ab sections of errorsUsing keep control, controlled quentity controlled variable U keep error e extreme value add up and；Meet condition in bc sections of errorsIt is controlled using ratio, controlled quentity controlled variable U changes with error rate；Meet condition in cd sections of errorsUsing keep control, controlled quentity controlled variable U keep error e extreme value add up and, and less than last time retention value；In df
Section error meets conditionIt is controlled using ratio, controlled quentity controlled variable u changes with error rate；In fg sections of errors
Meet conditionUsing keep control, controlled quentity controlled variable U keep error e extreme value add up and, and more than last time holding
Value.Finally, control the result is that error e converges on zero, control U converges on a constant.
Dynamic calibration, be it is a kind of in transient process according to dynamic performance index and the dynamic characteristic of system, to system
Movement tendency carries out dynamic prediction, if necessary, not only to correct some current control modal parameter, but also to change temporarily
Become the strategy of current control mode, force correcting controller parameter, therefore, dynamic calibration is the correction side for making system normal operation
Method；Static shift correction, be it is a kind of after transient process according to the previous dynamic process of the evaluation of integrated performance index with it is static
The controller parameter that the validity of deviation and dynamic calibration, unified tradeoff correction whole mode and amendment feature space divide
Bearing calibration.
Step 4：Human simulated intelligent controller often carries out a controlled quentity controlled variable and calculates, and controlled quentity controlled variable just is sent to frequency converter, frequency conversion
Device controls motor rotation according to controlled quentity controlled variable, and controlled volume is adjusted under the driving of motor；
Step 5：Repeat step 1 to step 4 until e=0 andThat is e withUntil becoming 0 simultaneously.
In present embodiment, step 6 is carried out after step 5：Human simulated intelligent controller control motor low speed operation
In the range of the 10%-20% of motor rated speed.
Compared with prior art, the dissolved oxygen control system of the freshwater fish culturing water body of present embodiment, have with
Lower advantage：
1. controller uses the HSIC controllers based on artificial intelligent, it is advantageous that being implemented using the controller to water body
Oxygen control is exposed, without carrying out mathematical modeling to water body object, designer is with operator without having more elder generations to water body object
Knowledge is tested, the dissolved oxygen value of water body is capable of detecting when using dissolved oxygen meter, so that it may easily construct control system, and implement unmanned value
The autonomous control kept.
2. aeration is realized using frequency control drive motor aeration pump installation mode, electric energy can be significantly saved, and
And energy-saving effect is notable.
3. each block DO values it is up to standard without aeration aerating when, keep motor be in allow lower-speed state fortune
Row, to ensure once some water body block, which needs to be aerated, quickly to carry out aeration aerating to water body.
Specific embodiment 2
1 institute of present embodiment and specific embodiment the difference lies in：The artificial intelligent of present embodiment
Control system controls for water body self-purging, wherein, controlled volume is the turbidity for purifying raw water, and the actuator is purification
Drug metering jettison device, the sensor are turbidity sensor.
Specific embodiment 3
1 institute of present embodiment and specific embodiment the difference lies in：The artificial intelligent of present embodiment
Control system, for the Control for Kiln Temperature of shaped steel heating furnace, wherein, controlled volume is the furnace temperature of shaped steel heating furnace, and the actuator is
Become aerating pump, the sensor is temperature sensor.
Specific embodiment 4
1 institute of present embodiment and specific embodiment the difference lies in：The artificial intelligent of present embodiment
Control system controls for the smoke abatement and dust control of iron-smelting furnace, wherein, controlled volume is the water temperature of clinker washing slag water, and the actuator is
Water pump, the sensor are temperature sensor.
It is last it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although ginseng
The present invention is described in detail according to preferred embodiment, it will be understood by those of ordinary skill in the art that, it can be to invention
Technical solution is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the right of invention.
Claims (10)
1. a kind of the intellect controlling system imitating human, it is characterised in that：Including human simulated intelligent controller, frequency converter, motor, execution
Device, sensor and comparator；The controlled volume signal detected in real time can be sent to comparator by sensor, and comparator can incite somebody to action
The controlled volume signal that detects in real time and setting value relatively after, output error and error rate are to human simulated intelligent controller；It is imitative
People's intelligent controller calculates controlled quentity controlled variable according to error and error rate, and exports to frequency converter, and frequency converter can be according to control
The rotation of quality management motor, actuator can be adjusted controlled volume under the driving of motor.
2. a kind of control method using the intellect controlling system imitating human described in claim 1, it is characterised in that：Including following step
Suddenly：
Step 1：Sensor detects controlled volume signal in real time, and is sent to comparator；
Step 2：Comparator real-time reception controlled volume signal and by controlled volume signal and setting value relatively after, output error e and
Error rateTo human simulated intelligent controller；
Step 3：Human simulated intelligent controller often receives first-order error e and error rateJust a secondary control is carried out as follows
Amount processed calculates, wherein, n-th regulation and control are performed as follows：
Wherein, U is human simulated intelligent controller when the controlled quentity controlled variable of previous regulation and control output；KpFor proportionality coefficient；K is rejection coefficient, 0 ＜ k
＜ 1；emiError extreme value for n-th regulation and control；
Step 4：Human simulated intelligent controller often carries out a controlled quentity controlled variable and calculates, and controlled quentity controlled variable just is sent to frequency converter, frequency converter root
Motor rotation is controlled according to controlled quentity controlled variable, actuator is adjusted controlled volume under the driving of motor；
Step 5：Repeat step 1 to step 4 until e=0 andThat is e withUntil becoming 0 simultaneously.
3. the control method according to claim 2 using the intellect controlling system imitating human, it is characterised in that：After step 5
Carry out step 6：Human simulated intelligent controller control motor low speed is operated in the range of the 10%-20% of motor rated speed.
4. the intellect controlling system imitating human according to claim 1, it is characterised in that：For the dissolving of freshwater fish culturing water body
Oxygen controls, wherein, controlled volume is the dissolved oxygen of breeding water body, and the actuator is aeration pump, and the sensor is passed for dissolved oxygen
Sensor.
5. the intellect controlling system imitating human according to claim 4, it is characterised in that：Breeding water body overlay area is by several
Subregion forms；Corresponding dissolved oxygen sensor is equipped with per sub-regions；Further including can be with the gas outlet of the aeration pump
The aeration pipe network of connection；Aeration pump can be aerated by being aerated pipe network to each sub-regions.
6. the intellect controlling system imitating human according to claim 5, it is characterised in that：The aeration tube net and each sub-regions
Valve switch is equipped on corresponding pipeline section.
7. the control method according to claim 3 using the intellect controlling system imitating human, it is characterised in that：For fresh-water fishes
Breeding water body dissolved oxygen control, wherein, controlled volume be breeding water body dissolved oxygen, the actuator be aeration pump, the biography
Sensor is dissolved oxygen sensor.
8. the intellect controlling system imitating human according to claim 1, it is characterised in that：It is controlled for water body self-purging,
In, controlled volume is the turbidity for purifying raw water, and the actuator is purification drug metering jettison device, and the sensor is muddiness
Spend sensor.
9. the intellect controlling system imitating human according to claim 1, it is characterised in that：It is controlled for shaped steel heater for rolling steel,
Wherein, controlled volume is the furnace temperature of heating furnace, and the actuator is pumped for aerating, and the sensor is temperature sensor.
10. the intellect controlling system imitating human according to claim 1, it is characterised in that：For the smoke abatement and dust control of blast furnace
Control, wherein, controlled volume is the water temperature of clinker washing slag water, and the actuator is water pump, and the sensor is temperature sensor.
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| CN201810078663.3A CN108255055A (en) | 2018-01-26 | 2018-01-26 | A kind of the intellect controlling system imitating human and method |
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| CN201810078663.3A CN108255055A (en) | 2018-01-26 | 2018-01-26 | A kind of the intellect controlling system imitating human and method |
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Application publication date: 20180706 |