CN109036089A - The experiment device for teaching of industrial automation process control - Google Patents
The experiment device for teaching of industrial automation process control Download PDFInfo
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- CN109036089A CN109036089A CN201811160991.4A CN201811160991A CN109036089A CN 109036089 A CN109036089 A CN 109036089A CN 201811160991 A CN201811160991 A CN 201811160991A CN 109036089 A CN109036089 A CN 109036089A
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- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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Abstract
The present invention provides a kind of experiment device for teaching of industrial stokehold, comprising: for simulating the complex industrial process simulator of true industrial processes feature；For simulating true executing agency and detecting the virtual detection actuator of instrument；For optimizing the controller of control and simulated effect monitoring；The controller optimizes control to complex industrial process simulator by the virtual detection actuator.The process control teaching for actual industrial production can be cooperated, process control experiment device for teaching is required on the basis of real simulation is controlled industrial object, simulating, verifying and effect assessment are carried out with various controls algorithms such as controls to modeling, optimizing, while composition is simply, cost is controllable.
Description
Technical field
The present invention relates to automated control technologies, and in particular to a kind of teaching experiment dress of industrial automation process control
It sets.
Background technique
In Automation Specialty teaching process, teaching experiment is the important link for guaranteeing quality of instruction, helps to improve student
Actual operational capacity deeply grasps professional knowledge.It is mainly used for meeting in the common experiment device for teaching of Automation Specialty at present
The requirement of experiment of the contents of courses such as classical control theory, modern control system, optimum control.Shandong is such as realized using reversible pendulum system
The emulation experiment of the control problems such as stick, trackability and tracing property；Using three hold water tank experimental systems realize fuzzy controls,
The emulation experiment of PID control；Vibration control and the emulation experiment of Trajectory Tracking Control etc. are realized using mechanical arm system.
However the existing content of courses, teaching experiment and used instructional device to a certain extent with actual industrial
Control process disconnects.From the point of view of manufacturing enterprise's actual demand, industrial process, especially process flow industry process control system
Effect is not only that can make the good tracking fixed valure of the output of controlled device, it is also necessary to entire production process can be controlled,
It is controlled in the related operating index such as reaction final products energy consumption, material consumption in target range, realizes entire industrial production mistake
The running optimizatin of journey controls.And existing experiment device for teaching can the control algolithm of simulating, verifying be mostly tracking control algorithm,
Experimental system itself can not simulate the dynamic characteristic of actual industrial process, can not carry out the operation for production process operating index
Optimal control method verifying, it is difficult to meet the teaching experiment demand of related content.
In order to cooperate the process control for being directed to actual industrial production to impart knowledge to students, process control experiment device for teaching is required to
On the basis of real simulation controlled process dynamic characteristic, simulating, verifying is carried out to modeling, optimization and the various controls algorithms such as control
And effect assessment, while realistic check system is constituted simply again, cost is controllable.
In view of the above-mentioned problems, exploitation one can satisfy the teaching demand of industrial process running optimizatin control algolithm, and tie
Structure is simple, and the process control experiment device for teaching of low cost has very strong necessity.
Summary of the invention
The teaching demand of running optimizatin control algolithm is unable to satisfy for existing experiment device for teaching, the present invention provides one kind
The experiment device for teaching of industrial stokehold, comprising:
For simulating the complex industrial process simulator of true industrial processes feature, for simulating true execution
The virtual detection actuator of mechanism and detection instrument, for optimizing the controller of control and simulated effect monitoring；
The controller includes master controller, expansion board, ac-dc switching power；The controller passes through the virtual inspection
Actuator is surveyed to control complex industrial process simulator；
The expansion board is connect by industrial-controlled general line with the master controller, for realizing the analog quantity of controlled variable
The output of input and control variable, the ac-dc switching power provide power supply branch for the master controller and the expansion board
It holds；
The complex industrial process simulator includes the virtual industrial processes model established according to Industry Control theory
With network interface communication unit, the virtual industrial processes model includes basic loop model unit, operating index model unit；
The basis loop model unit, including collected control variable is as input using in experimentation, with controlled
Variable is output, the circuit Controlling model of foundation；
The operating index model unit, including collected control setting value is as input using in experimentation, with fortune
Row index is output, the operating index model of foundation；
The network interface communication unit, including network interface communication functions and timer, when the timer is with certain period
Between execute the network interface communication functions, send the controlled variable data of basic loop model unit output and receive controller and generate
Control variable data, realize complex industrial process simulator and controller real-time, interactive.
Data collecting card and pinboard are equipped between the virtual detection actuator and controller, the virtual detection executes
After device is connect with data collecting card, it is connect by pinboard with controller.
The data collecting card includes data collecting card A and data collecting card B；
It is connected between the data collecting card A and the virtual detection actuator by pci card slot；
It is connected between the data collecting card B and the virtual detection actuator by pci card slot；
The pinboard includes pinboard A and pinboard B；
The pinboard A is connect with data collecting card A；
The pinboard B is connect with data collecting card B；
The control variable of controller output is transmitted to data collecting card A by pinboard A, defeated using data collecting card A
Enter to virtual detection actuator, control variable, defeated needed for being converted to complex industrial process simulator as virtual detection actuator
Enter to complex industrial process simulator；
Complex industrial process simulator exports controlled variable by network interface, is input to virtual detection actuator, then pass through void
Quasi- detection actuator reaches data collecting card B, exports controlled variable by it, is transmitted to controller by pinboard B.
The virtual detection actuator includes virtual measuring cell and virtual execution unit；
The virtual measuring cell simulates true detection device dynamic characteristic, realizes the virtual detection of controlled variable and adopts
Collection；
The virtual execution unit realizes the control to complex industrial process simulator for simulating true executing agency.
The master controller further includes optimal control unit, simulated effect monitoring unit.The master controller Kernel-based methods
Parameter realizes the control to complex industrial process simulator by optimal control unit and simulated effect monitoring unit.
The simulated effect monitoring unit is for monitoring the process of the optimal control unit in the process of running in real time
Variable, the variable include control variable, controlled variable, procedure parameter and operating index.
The experiment device for teaching further includes controlling experimental model according to the industrial processes that Industry Control theory is established；
The controller controls experimental model according to industrial processes and passes through described in virtual detection actuator control
Complex industrial process simulator carries out industrial stokehold teaching experiment.
The experimental model includes the experiment of pid control algolithm, the experiment of setting control algolithm, unusual service condition diagnosis and self-healing control
Algorithm experimental, optimization Diagnosis of Work Conditions and self-optimizing correction algorithm experiment processed.
The Industrial Process Control Methods of above-mentioned experiment device for teaching, comprising the following steps:
S1, the controller obtain control variable by pid control algolithm, by virtual according to the initializaing variable of input
Detection actuator is input in complex industrial process simulator；
S2, the complex industrial process simulator execute basic loop model unit and operating index model unit, according to
It controls variable and obtains controlled variable and operating index, and controlled variable and operating index are input to by virtual detection actuator
In controller；
S3, the controller obtain controlled variable and reach complex industrial process simulation according to controlled variable, operating index
Device；
S4, step S2-S3 is repeated, realizes the teaching experiment of industrial stokehold.
Above-mentioned apparatus can cooperate the process control teaching for actual industrial production, and process control experiment device for teaching needs
It wants to carry out modeling, optimization and the various controls algorithms such as control on the basis of real simulation controlled process dynamic characteristic
Simulating, verifying and effect assessment, while constituting simply, cost is controllable.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural block diagram of experiment device for teaching described in the embodiment of the present invention one；
Fig. 2 is the structural block diagram of experiment device for teaching described in the embodiment of the present invention one；
Fig. 3 is the circuit theory schematic diagram of experiment device for teaching of the present invention；
Fig. 4 is the output channel implementation method schematic diagram of controller of the present invention；
Fig. 5 is the input channel implementation method schematic diagram of controller of the present invention；
Fig. 6 is simulated effect monitoring software interface schematic diagram in control system module of the present invention；
Fig. 7 is simulated effect monitoring software interface schematic diagram in control system module of the present invention；
Fig. 8 is simulated effect monitoring software interface schematic diagram in control system module of the present invention；
Fig. 9 is simulated effect monitoring software interface schematic diagram in control system module of the present invention；
Figure 10 is simulated effect monitoring software interface schematic diagram in control system module of the present invention.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
All technical and scientific terms used herein with to belong to those skilled in the art of the invention usual
The meaning of understanding is identical.Term as used herein in the specification of the present invention is intended merely to description specific embodiment
Purpose, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more relevant listed items
Any and all combinations.
Embodiment one
Specifically, as shown in Figure 1, a kind of experiment device for teaching of industrial automation process control of the present embodiment includes, again
General labourer's industry process simulator 1, virtual detection actuator 2, controller 3.
Complex industrial process simulator 1 is for simulating true industrial processes feature.For example, it is raw to simulate true factory
Magnesium oxide fusion process dynamic characteristic in production.
Virtual detection actuator 2 is for simulating true executing agency and detection instrument.
As shown in Fig. 2, the controller 3 includes master controller 31, expansion board 32, direct-current switch power supply 33.By described
Virtual detection actuator 2 controls complex industrial process simulator 1.
The expansion board 32 is connect by PC104+ bus with the master controller 31, for realizing the simulation of three-phase current
The analog output of amount input and three-phase motor rotational frequency；The Switching Power Supply 33 is the master controller 31 and the extension
Plate 32 provides 5V power supply, operates normally equipment.
The complex industrial process simulator 1 includes virtual industrial processes model and network interface communication unit, wherein empty
Quasi- industrial processes model includes basic loop model unit, operating index model unit；
Basic loop model unit, including with control variable collected in experimentation, such as motor rotation frequency, valve
Door aperture etc. is output, the circuit Controlling model of foundation with controlled variable as input.
Preferably, the method for establishing circuit Controlling model uses but is not limited to mechanism+compensation data method.
The method for establishing circuit Controlling model can also be using mechanism method or BP neural network method, either
Mechanism+BP neural network method.
Operating index model unit, including mechanism+compensation data method is used but is not limited to, to be collected in experimentation
Controlled variable as input, with operating index (such as product energy consumption, material consumption) be output, the operating index model of foundation.
Network interface communication unit, including network interface communication functions and timer, the timer are held with certain cycle time
The row network interface communication functions send the controlled variable data of basic loop model unit simulation and receive the control that controller generates
Variable data processed realizes the real-time, interactive of complex industrial process simulator and controller.
The ac-dc switching power provides power supply and supports for the master controller and the expansion board, the master controller
By optimal control unit and simulated effect monitoring unit, the control to complex industrial process simulator is realized.
The virtual detection actuator 2 includes virtual measuring cell and virtual execution unit；
The virtual measuring cell simulates true detection device dynamic characteristic, realizes the virtual detection of controlled variable and adopts
Collection；
The virtual execution unit realizes the control to complex industrial process simulator for simulating true executing agency.
Virtual execution unit is according to actual industrial production process condition, it may include but be not limited to virtual current mutual inductor,
Virtual current transmitter, virtual motor etc..
Virtual execution unit can simulate the function of virtual execution mechanism and virtual instrument, the virtual current mutual inductor,
Virtual current transmitter simulates real current transmitter, realizes the linear scale conversion of electric current；The virtual motor is for simulating
True three-phase motor realizes the control to industrial process Dynamic Simulation module.
The complex industrial process simulator 1 is connected with virtual detection actuator 2 using network interface mode.
Data collecting card 4 and pinboard 5 are equipped between virtual detection actuator 2 and controller 3, the virtual detection executes
After device is connect with data collecting card 4, it is connect by pinboard 5 with controller 3.
The data collecting card 4 includes data collecting card A and data collecting card B；
It is connected between the data collecting card A and the virtual detection actuator 2 by pci card slot, using 0~5V voltage
As analog input, digital quantity is as output；
It is connected between the data collecting card B and the virtual detection actuator 2 by pci card slot, is made using digital quantity
For input, 0~5V voltage is as analog output；
The pinboard 5 includes pinboard A and pinboard B；
The analog quantity of the controller output is 0~5V voltage signal；
The analog quantity that the void actuator is converted is the current signal of 0~20mA.
The pinboard A is connect with data collecting card A by DB-37 interface, the expansion board 32 of pinboard A and controller 3
Connection；The pinboard B is connect with data collecting card B by DB-37 interface, and the expansion board 32 of pinboard B and controller 3 connects
It connects.
Controller output control variable data collecting card A is transmitted to by pinboard A, using data collecting card A into
It is input to virtual detection actuator after row A/D conversion, is converted to needed for complex industrial process simulator as virtual detection actuator
Control variable, be input to complex industrial process simulator；
Complex industrial process simulator exports controlled variable by network interface, is input to virtual detection actuator, then pass through void
After quasi- detection actuator reaches data collecting card B progress D/A conversion, controlled variable is exported, control is transmitted to by pinboard B
Device.
In the present embodiment, Usage data collection card PCI1710 and data are adopted respectively by data collecting card A and data collecting card B
Truck PCL727.Pinboard A and pinboard B are all made of pinboard PCLD-880.Expansion board uses ADT652.
Specifically, the experiment device for teaching circuit connecting relation, as shown in Figure 3
Data collecting card PCI1710 is connect by pci card slot with virtual detection actuator 2, using 0~5V voltage as mould
Analog quantity input, digital quantity is as output；
Data collecting card PCL727 is connect by pci card slot with virtual detection actuator 2, is used as and is inputted using digital quantity, and 0
~5V voltage is as analog output；
The 31st pin A17-31 of data collecting card PCI1710 connects with the 1st pin CN5-1 of CN5 connector on pinboard A
It connects, 2nd pin CN5-2 connection of the 64th pin A18-64 of data collecting card PCI1710 with CN5 connector on pinboard A, number
According to capture card PCI1710 the 30th pin A19-30 with CN5 connector on pinboard A the 3rd pin CN5-3 connection；
21st pin J1-21 of the 1st pin CN1-1 connection of CN1 connector with expanding J1 connector on plate on pinboard A
It connects, 2nd pin J1-2 connection of the 2nd pin CN1-2 of CN1 connector with expanding J1 connector on plate, switching on pinboard A
3rd pin J1-3 connection of the 3rd pin CN1-3 of CN1 connector with expanding J1 connector on plate on plate A；
The 7th pin CN3-7 of CN3 connector draws with the 11st of CN5 connector on pinboard B on data collecting card PCL727
Foot CN5-11 connection, the 10th pin CN3-10 of CN3 connector is with CN5 connector on pinboard B on data collecting card PCL727
The 12nd pin CN5-12 connection, the 13rd pin CN3-13 of CN3 connector is on pinboard B on data collecting card PCL727
13rd pin CN5-13 connection of CN5 connector；
3rd pin connection of the 1st pin CN2-1 connection of CN2 connector with expanding J1 connector on plate on pinboard B
5th pin J1-5 connection of the 2nd pin CN2-2 of CN2 connector with expanding J1 connector on plate, switching on J1-3, pinboard B
7th pin J1-7 connection of the 3rd pin CN2-3 of CN2 connector with expanding J1 connector on plate on plate B；
As shown in figure 4, the transmission route of the output quantity of controller 3 of the present invention are as follows:
Controller 3 is transmitted to data collecting card A by pinboard A by 0~5V voltage signal that expansion board exports, then passes through
It crosses after data collecting card A carries out A/D conversion and is input to virtual detection actuator 2.Virtual detection actuator 2 is converted into complexity
Control variable needed for commercial process simulation device 1 is input to complex industrial process simulator 1, realizes the defeated of control system module
Out.
As shown in figure 5, the transmission route of the input quantity of controller 3 of the present invention are as follows:
The controlled variable that complex industrial process simulator 1 inputs is converted to 0~20mA electric current letter by virtual detection actuator 2
Number, after 0~20mA current signal is converted by data collecting card B, export the voltage signal of 0~5V.0~5V voltage signal
The expansion board connecting with master controller is sent to by pinboard B, expansion board sends master controller to using PC104+ bus,
Realize the input of controller 3.
Optionally, the master controller in the controller further includes optimal control unit, simulated effect monitoring unit.Institute
Master controller Kernel-based methods parameter is stated by optimal control unit and simulated effect monitoring unit, is realized to complex industrial process mould
The control and monitoring of quasi- device.
The simulated effect monitoring unit is for monitoring the process of the optimal control unit in the process of running in real time
Variable, the variable include control variable, controlled variable, procedure parameter and operating index.
The experiment device for teaching further includes controlling experimental model according to the industrial processes that Industry Control theory is established；
The controller controls experimental model according to industrial processes and controls the complex industrial by the virtual detection actuator
Process simulator carries out industrial stokehold teaching experiment.
The experimental model includes the experiment of pid control algolithm, optimal control algorithm experiment, sets control algolithm experiment, is different
Normal Diagnosis of Work Conditions algorithm experimental etc..
The controller 3 controls the complex industrial process simulator 1 by the virtual detection actuator 2,
It carries out running optimizatin and controls emulation experiment.
Embodiment two
In the present embodiment, by using the production process of magnesium oxide in typical process industry as background, to of the invention a kind of
Industrial stokehold experiment device for teaching carries out detailed explanation.
A kind of experiment device for teaching of industrial stokehold includes as shown in Figure 1, complex industrial process simulator 1, virtual
Detect actuator 2, controller 3.
Complex industrial process simulator 1 is used for for simulating true industrial processes feature.For example, simulation is true
Magnesium oxide fusion process dynamic characteristic.
Virtual detection actuator 2 is for simulating true executing agency and detection instrument；
Controller 3 optimizes control for controlling complex industrial process simulator, while carrying out simulated effect monitoring.
For example, controller 3 can pass through the true magnesium oxide fusion process dynamic of 2 pairs of virtual detection actuator simulations
The complex industrial process simulator 1 of characteristic carries out running optimizatin control, while can carry out simulated effect monitoring.
The controller 3 includes master controller, expansion board, ac-dc switching power, optimal control unit, simulated effect prison
Control unit；
The expansion board is connect by industrial-controlled general line with the master controller, for realizing the analog quantity of controlled variable
The simulation output of input and control variable, the ac-dc switching power provide power supply for the master controller and the expansion board
It supports, the master controller is monitored by optimal control and simulated effect, realizes the control to complex industrial process simulator.
The complex industrial process simulator includes the virtual industrial processes model established according to Industry Control theory
It further include basic loop model unit, operating index model unit in virtual industrial processes model with network interface communication unit；
Basic loop model unit, including to control variable, such as motor rotation frequency, valve opening etc., as input,
It is output, the circuit Controlling model of foundation with controlled variable.
In the present embodiment, control variable is collected three-phase motor rotational frequency in experimentation, and controlled variable is real
Collected three-phase current during testing.The basic loop model unit of magnesium oxide melting, that is, use mechanism+BP nerve net
Network method, using in experimentation in collected three-phase current and experimentation collected three-phase motor rotational frequency as
Input establishes current model to simulate three-phase current as output.
Operating index model unit, including use but be not limited to mechanism+compensation data method, using controlled variable as defeated
Enter, is output, the operating index model of foundation with operating index (such as product energy consumption, material consumption).
In the present embodiment, using mechanism+BP neural network method, with three-phase average current collected in experimentation work
It is output, the operating index model of foundation, i.e. single ton of energy consumption model with energy consumed by product per ton for input.
Network interface communication unit, including network interface communication functions and timer, the timer are held with certain cycle time
The row network interface communication functions send the controlled variable data of basic loop model unit simulation and receive the control that controller generates
Variable data processed realizes the real-time, interactive of complex industrial process simulator and controller.
The data collecting card 4 includes data collecting card A and data collecting card B；
The pinboard 5 includes pinboard A and pinboard B；
The control variable of controller output is transmitted to data collecting card A by pinboard A, defeated using data collecting card A
Enter to virtual detection actuator, control variable needed for being converted to complex industrial process simulator as virtual detection actuator, i.e.,
Three-phase electrode motor rotation frequency is input to complex industrial process simulator；
Complex industrial process simulator exports controlled variable, i.e. three-phase motor electric current by network interface, is input to virtual detection
Actuator, then data collecting card B is reached by virtual detection actuator, controlled variable is exported by it, is transmitted to by pinboard B
Controller.
It uses but is not limited to the expansion board 32 that master controller 31 is connect by PC104+ bus
SysExpanModuleTM/ ADT652 realizes the analog input of three-phase current and the simulation output of three-phase motor rotational frequency.
As shown in figure 4, the transmission route of the output quantity of controller 3 of the present invention are as follows:
0~5V voltage signal that controller 3 exports is transmitted to data collecting card A by pinboard A, acquires using data
Card A is input to virtual detection actuator 2 after carrying out A/D conversion.Virtual detection actuator 2 is converted into complex industrial process mould
Control variable, i.e. three-phase electrode electrode rotational frequency needed for quasi- device 1, are input to complex industrial process simulator 1, realize control
The output of system module.
As shown in figure 5, the transmission route of the input quantity of controller 3 of the present invention are as follows:
The controlled variable that virtual detection actuator 2 inputs complex industrial process simulator 1, i.e. three-phase electrode electric current turn
It is changed to 0~20mA current signal, after 0~20mA current signal is converted by data collecting card B, exports the voltage of 0~5V
Signal.0~5V voltage signal sends the expansion board connecting with master controller to by pinboard B, after expansion board carries out A/D conversion
Master controller is sent to using PC104+ bus, realizes the input of controller 3.
Optionally, the controller further includes the parameter for being shown in optimal control unit and simulated effect monitoring unit
With the data in industrial stokehold experimentation.For example, control variable, controlled variable, operating index, control parameter, curve
Tendency chart etc..
Optionally, the controller controls the complex industrial process simulator by the virtual detection actuator, into
The teaching experiment of row industrial stokehold.Experiment type includes the experiment of pid control algolithm, optimal control algorithm experiment, setting control
Algorithm experimental processed, the experiment of unusual service condition diagnosis algorithm etc..
In a particular application, device of the present invention can be executed by hardware components and software section.
In the present embodiment, device hardware components of the present invention include:
Complex industrial process simulator 1, virtual detection actuator 2 hardware components use but be not limited to commonly calculate
Machine.
The hardware components of controller 3 use but are not limited to meet the embedded module of PC104+ bus standard, such as
SysCentreModuleTM-9602。
Master controller 31 uses Intel a new generation super low-power consumption based on Silvermont microbody system structure
AtomTME3800 system processor realizes the control to industrial process Dynamic Simulation module.Pass through with master controller 31
The expansion board 32 of PC104+ bus connection uses but is not limited to SysExpanModuleTM/ ADT652 realizes the mould of three-phase current
The simulation output of analog quantity input and three-phase motor rotational frequency.
Switching Power Supply uses but is not limited to PS-326, provides 5V power supply for master controller and expansion board, keeps equipment normal
Operation.
In the present embodiment, software section includes complex industrial process simulator software part, virtual detection actuator software
Part and controller software part.
Complex industrial process simulator software part:
The complex industrial process simulator writes plant model by Matlab software platform.Such as pass through
Matlab software platform writes circuit Controlling model, and operating index model, the specific implementation steps are as follows:
(1) Matlab/M file edit plant model is utilized.Using mechanism+BP neural network method, with practical work
The collected three-phase current of industry and the collected three-phase motor rotational frequency of actual industrial are as input, to simulate three-phase current
Current model is established as output.Mechanism method+BP neural network method is equally used, it is equal with actual industrial collected three
Equal electric current establishes single ton of energy consumption model as input, using single ton of energy consumption as output.And it is packaged into interface function, facilitate engineering tune
With.
(2) network interface communication functions are configured, the every 1s of setting timer executes a network interface communication functions, sends simulation three-phase electricity
Electrode current data and the three-phase electrode motor rotation frequency data for receiving control system generation, realize sending and receiving for data,
Complete complex industrial process simulator and controller data real-time, interactive.
Virtual machine executes software section:
The virtual detection actuator includes virtual current mutual inductor, virtual current transmitter, virtual motor；
Virtual current mutual inductor, virtual current transmitter use the line of Matlab/M file edit input and output electric current size
Sex ratio relationship, virtual motor use Matlab/M file edit with voltage for input, are one exported with motor rotation frequency
Rank inertial element.
Controller software part:
Controller software part includes that running optimizatin control software and simulated effect monitoring software, the controller pass through fortune
The control to industrial process Dynamic Simulation module is realized in the operation of row Advanced Control Software and simulated effect monitoring software.
Simulated effect monitoring software is used to monitor in real time during running optimizatin controls emulation experiment in controller
Cheng Bianliang, and control parameter is modified if necessary.For example, operator thinks that this group of control parameter finally obtains
Control result it is undesirable, control parameter can be arranged again.
Simulated effect monitoring software in control system module carries out graphical development using Qt/Embedded software platform,
The specific implementation steps are as follows:
Step 1: building simulated effect monitoring software upper layer human-computer interaction interface.Using provided by Qt/Embedded
The basis such as QLineEdit, QLable, QTableWidget control design monitoring interface infrastructure elements；Using based on Qt C++'s
Shape library QcustomPlot is drawn, three-phase electrode electric current, three-phase electrode motor rotation frequency, electric current required for obtaining
The curvilinear trend figure of optimal setting value, single ton of energy consumption.Monitoring circle for finally obtaining and capable of showing process variable, change control parameter
Face.
Step 2: building simulated effect monitoring software bottom the affair logic.The timing of process variable is more in principal function
New explicit function.And the signal and mechanism slot provided by Qt, it is slot function by the downloading function setup of control parameter after modification,
It is triggered by signal and updates model parameter
Specifically, simulated effect monitoring software is as shown in Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10.
Process variable is as shown in Figure 6.It is as shown in Figure 7 to modify control parameter.
Advanced Control Software mainly applies current loop tracking control algorithm, electric current setting control algolithm, self-optimizing school
Normal operation method.The specific implementation steps are as follows:
(1) proper operation point is chosen.Pass through the phases such as single ton of energy consumption desired value of input, three-phase electrode current value, operating voltage
Parameter is closed, electric current optimal setting value can be obtained by electric current setting control algolithm, self-optimizing correcting algorithm.
(2) Trace-on-Diagram controls.Using obtained electric current optimal setting value as the input of current loop tracking control algorithm,
Three-phase current stablizes three-phase current near preferable operating point by PID control method follow current optimal setting value, and
Obtain the rotational frequency and rotation direction of three-phase electrode motor.Passed sequentially through pinboard PLCD-880, data collecting card
PCI1710 and virtual detection actuator are transferred to the current model of complex industrial process simulator.And current model exports three-phase
Electrode current passes sequentially through virtual detection actuator, data collecting card PCL727, pinboard PLCD-880 and is transferred to control system
In module, closed-loop control is formed.
Running optimizatin emulation experiment, operation result demonstrate the process control teaching as shown in Fig. 8, Fig. 9, Figure 10
Experimental provision can optimize control to single ton of power consumption values of operating index.
The present embodiment additionally provides a kind of method of the industrial automation process control of above-mentioned experiment device for teaching,
Using following steps:
S1, the controller obtain control variable by pid control algolithm, by virtual according to the initializaing variable of input
Detection actuator is input in complex industrial process simulator；
That is, initializaing variable of the controller according to input, including three-phase electricity flow valuve I1, it includes initial for obtaining control variable
Three-phase motor rotational frequency F1, and be input in complex industrial process simulator by virtual detection actuator；
S2, the complex industrial process simulator execute basic loop model unit and operating index model unit, according to
It controls variable and obtains controlled variable and operating index, and controlled variable and operating index are input to by virtual detection actuator
In controller；
Specifically, in the present embodiment, what the complex industrial process simulator was read is current model and single ton of energy consumption mould
Type, the control variable three-phase motor rotational frequency F obtained according to step S11It obtains controlled variable and simulates three-phase electricity flow valuve I2, according to
Controlled variable simulates three-phase electricity flow valuve I2Obtain single ton of energy consumption predicted value T of operating index1。
The complex industrial process simulator will simulate three-phase electricity flow valuve I2With single ton of energy consumption predicted value T1Pass through virtual detection
Actuator is input in controller.
S3, the controller obtain controlled variable and reach complex industrial process simulation according to controlled variable, operating index
Device；
Controlled variable, i.e. simulation three-phase electricity flow valuve I2, operating index, i.e. single ton of energy consumption predicted value T1, preset industrial production
Desired value, i.e., preset single ton of energy consumption desired value T2, industrial production control parameter, i.e. three-phase electrode operating voltage.
The controller is according to single ton of energy consumption predicted value T1, simulation three-phase electricity flow valuve I2And preset single ton of energy consumption
Desired value T2, three-phase electrode operating voltage, obtain the controlled variable of optimization, i.e. electric current optimal setting value I4；
Preferably, in the present embodiment, this step includes:
S3a, controller are according to single ton of energy consumption predicted value T1, simulation three-phase electricity flow valuve I2And the single ton of energy consumption expectation of input
Value T2, three-phase electrode operating voltage pass through electric current set control algolithm, obtain electric current pre-set value I3；
S3b, according to simulation three-phase electricity flow valuve I2With single ton of energy consumption desired value T2, by self-optimizing correcting algorithm, obtain electric current
Offset Δ I；
S3c, current offset values Δ I add electric current pre-set value I3, obtain electric current optimal setting value I4。
S3d, the controller according to the controlled variable of optimization and preset Control PID parameter, pass through PID control side
Method obtains new control variable, and new control variable is input in complex industrial process simulator.
The controller is according to controlled variable, that is, electric current optimal setting value I of optimization4Join with preset Control PID
Number, including three-phase current circuit Control PID parameter, running optimizatin Control PID parameter obtain new control by PID control method
Variable processed, the rotational frequency and rotation direction of three-phase electrode motor.And new control variable is exported, new three-phase motor rotates frequency
Rate F2, and by new three-phase motor rotational frequency F2It is input in complex industrial process simulator；
S3e, control system operating index obtain operating index curvilinear trend figure, for example, according to single ton of energy consumption predicted value T1,
Obtain the curvilinear trend figure of single ton of energy consumption.
S4, step S2-S3 is repeated, realizes the teaching experiment of industrial stokehold.
The controller obtains the control parameter of modification, repeats step S2-S3, until obtaining the single ton of energy consumption phase of infinite approach
Prestige value T2Single ton of energy consumption predicted value T1；
The control parameter includes three-phase current circuit Control PID parameter, running optimizatin Control PID parameter, three-phase electrode
Operating voltage, single ton of energy consumption desired value.
In actual use, it needs to monitor process variable in real time, and if necessary control parameter repair
Just.For example, the control result that operator thinks that this group of control parameter finally obtains is undesirable, control parameter can be set again
It sets.
The controller controls the complex industrial process simulator by the virtual detection actuator, carries out industrial mistake
Process control experiment.
In the present embodiment, process variable includes: three-phase electrode current value, three-phase electrode motor rotation frequency, single ton of energy consumption
Predicted value, electric current pre-set value, current offset values, electric current optimal setting value.Control parameter includes: the control of three-phase current circuit
Pid parameter, running optimizatin Control PID parameter, three-phase electrode operating voltage, single ton of energy consumption desired value.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (8)
1. a kind of experiment device for teaching of industrial stokehold characterized by comprising
For simulating the complex industrial process simulator of true industrial processes feature, for simulating true executing agency
With detection instrument virtual detection actuator, for optimize control and simulated effect monitoring controller；
The controller includes master controller, expansion board, ac-dc switching power；The controller is held by the virtual detection
Row device controls complex industrial process simulator；
The expansion board is connect by industrial-controlled general line with the master controller, for realizing the input and control of controlled variable
The output of variable, the ac-dc switching power provide power supply and support for the master controller and the expansion board；
The complex industrial process simulator includes the virtual industrial processes model and net established according to Industry Control theory
Port communications unit, the virtual industrial processes model include basic loop model unit, operating index model unit；
The basis loop model unit, including collected control variable is as input using in experimentation, with controlled variable
For output, the circuit Controlling model of foundation；
The operating index model unit, including collected controlled variable is as input using in experimentation, with operating index
For output, the operating index model of foundation；
The network interface communication unit, including network interface communication functions and timer, the timer are held with certain cycle time
The row network interface communication functions send the controlled variable data of basic loop model unit output and receive the control that controller generates
Variable data processed realizes the real-time, interactive of complex industrial process simulator and controller.
2. experiment device for teaching according to claim 1, which is characterized in that
Between the virtual detection actuator and controller be equipped with data collecting card and pinboard, the virtual detection actuator with
After data collecting card connection, it is connect by pinboard with controller.
3. experiment device for teaching according to claim 2, which is characterized in that
The data collecting card includes data collecting card A and data collecting card B；
It is connected between the data collecting card A and the virtual detection actuator by pci card slot；
It is connected between the data collecting card B and the virtual detection actuator by pci card slot；
The pinboard includes pinboard A and pinboard B；
The pinboard A is connect with data collecting card A；
The pinboard B is connect with data collecting card B；
The control variable of controller output is transmitted to data collecting card A by pinboard A, is input to using data collecting card A
Virtual detection actuator, control variable, is input to needed for being converted to complex industrial process simulator as virtual detection actuator
Complex industrial process simulator；
Complex industrial process simulator exports controlled variable by network interface, is input to virtual detection actuator, then by virtually examining
It surveys actuator and reaches data collecting card B, controlled variable is exported by it, controller is transmitted to by pinboard B.
4. experiment device for teaching according to claim 1, which is characterized in that
The virtual detection actuator includes virtual measuring cell and virtual execution unit；
The virtual measuring cell simulates true detection device dynamic characteristic, realizes the virtual detection and acquisition of controlled variable；
The virtual execution unit realizes the control to complex industrial process simulator for simulating true executing agency.
5. -4 any experiment device for teaching according to claim 1, which is characterized in that
Master controller in the controller further includes optimal control unit and simulated effect monitoring unit；The master controller
Kernel-based methods parameter realizes the control to complex industrial process simulator by optimal control unit and simulated effect monitoring unit
And monitoring.
6. experiment device for teaching according to claim 5, which is characterized in that
The simulated effect monitoring unit is used to monitor the process variable of the optimal control unit in the process of running in real time,
The variable includes control variable, controlled variable, procedure parameter and operating index.
7. experiment device for teaching according to claim 1, which is characterized in that
The experiment device for teaching further includes controlling experimental model according to the industrial processes that Industry Control theory is established；
The controller controls experimental model according to industrial processes and controls the complexity by the virtual detection actuator
Commercial process simulation device carries out industrial stokehold teaching experiment；
The experimental model includes the experiment of pid control algolithm, optimal control algorithm experiment, the experiment of setting control algolithm, abnormal work
The experiment of condition diagnosis algorithm.
8. a kind of Industrial Process Control Methods based on any experiment device for teaching described in claim 1-7, which is characterized in that
Using following steps:
S1, the controller obtain control variable according to pid control algolithm, pass through virtual detection according to the initializaing variable of input
Actuator is input in complex industrial process simulator；
S2, the complex industrial process simulator execute basic loop model unit and operating index model unit, according to control
Variable obtains controlled variable and operating index, and controlled variable and operating index are input to control by virtual detection actuator
In device；
S3, the controller obtain controlled variable and reach complex industrial process simulator according to controlled variable, operating index；
S4, step S2-S3 is repeated, realizes the teaching experiment of industrial stokehold.
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