CN109188962B - Double closed-loop control algorithm of control system - Google Patents
Double closed-loop control algorithm of control system Download PDFInfo
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- CN109188962B CN109188962B CN201810972781.9A CN201810972781A CN109188962B CN 109188962 B CN109188962 B CN 109188962B CN 201810972781 A CN201810972781 A CN 201810972781A CN 109188962 B CN109188962 B CN 109188962B
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- 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
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention discloses a double closed-loop control algorithm of a control system, wherein the control system comprises a control module, a driving module, an execution module, a transmission module and a load, and the algorithm comprises the following steps: responding to a key index control instruction input by a user, so that the control module calculates to obtain a real-time key parameter value according to the first key parameter data; responding to a control instruction which is sent by the control module and generated according to the comparison result of the real-time key parameter value and the preset first threshold value, and controlling the output key parameter of the execution module to be close to or equal to the preset first threshold value; and the driving module controls the second key parameter value to be equal to the preset second threshold value according to the comparison result of the second key parameter value of the execution module and the preset second threshold value. The double closed-loop control algorithm of the control system can accurately control the execution module to stably operate so as to control the key index value of the output of the load which is powered by the execution module and connected with the transmission module, and improve the control accuracy and stability of the key index.
Description
Technical Field
The invention relates to the technical field of control algorithms, in particular to a double closed-loop control algorithm of a control system.
Background
High-pressure water jet is a high-tech cleaning technology which is internationally established in recent years and utilizes high-pressure high-speed water jet beams to complete cleaning, cutting, crushing and other operations. The high-pressure water jet has the advantages of high precision, low cost, no pollution and the like, and is widely applied to the fields of medical treatment, construction, light industry, mining, aerospace, automobiles, ships, metal processing and the like.
With the development of economy and science, people's requirements for high-pressure water jet technology are gradually increased. At present, the existing control system applied to high-pressure water jet generally has the defects of low control precision of key indexes and large fluctuation, so that the accurate operation of the control system is difficult to ensure.
Disclosure of Invention
The invention aims to provide a double closed-loop control algorithm of a control system, which can improve the control precision and stability of the control system on key indexes so as to ensure the accurate operation of the control system.
In order to solve the technical problem, the invention provides a dual closed-loop control algorithm of a control system, wherein the control system comprises a control module, a driving module, an execution module, a transmission module and a load, and the dual closed-loop control algorithm comprises the following steps:
responding to a key index control instruction input by a user on a control platform, reading first key parameter data of the driving module, and sending the first key parameter data to the control module, so that the control module calculates to obtain a corresponding real-time key parameter value according to the first key parameter data; wherein the first key parameter data is any one of speed, voltage, current or torque data;
responding to a control instruction which is sent by the control module and generated according to the comparison result of the real-time key parameter value and a preset first threshold value, and controlling the output key parameter of the execution module so that the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision; wherein the deviation precision is between 0% and 2.0%;
the driving module detects a second key parameter value of the execution module in real time;
and correspondingly controlling the second key parameter value of the execution module according to the comparison result of the second key parameter value and a preset second threshold value, so that the second key parameter value is equal to the preset second threshold value.
In one possible implementation, the first key parameter data includes a plurality of first key parameter values.
In an implementation manner, the calculating, by the control module, a corresponding real-time key parameter value according to the first key parameter data specifically includes:
the control module sequences a plurality of first key parameter values in the first key parameter data;
and obtaining a first key parameter value with the largest value in the first key parameter data based on the sorted first key parameter data, and taking the first key parameter value with the largest value as the real-time key parameter value.
In an implementation manner, the calculating, by the control module, a corresponding real-time key parameter value according to the first key parameter data specifically includes:
the control module sequences a plurality of first key parameter values in the first key parameter data;
and calculating to obtain an average value of the first key parameter data based on the sorted first key parameter data, and taking the average value of the first key parameter data as the real-time key parameter value.
In one possible embodiment, the control module employs a bubble algorithm to rank the plurality of first key parameter values in the first key parameter data.
In an implementation manner, the generating of the control instruction according to the comparison result of the real-time key parameter value and the preset first threshold includes: the control instruction for reducing the output key parameter of the execution module and the control instruction for increasing the output key parameter of the execution module.
In an implementation manner, the controlling, in response to a control instruction sent by the control module and generated according to a comparison result between the real-time key parameter value and a preset first threshold, an output key parameter of the execution module to enable the output key parameter of the execution module to approach or be equal to the preset first threshold with reasonable deviation precision includes:
when the real-time key parameter value is larger than the preset first threshold value, responding to a control instruction which is sent by the control module and used for reducing the output key parameter of the execution module, and controlling to reduce the output key parameter of the execution module until the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision;
and when the real-time key parameter value is smaller than the preset first threshold value, responding to a control instruction which is sent by the control module and used for increasing the output key parameter of the execution module, and controlling to increase the output key parameter of the execution module until the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision.
In an implementation manner, the correspondingly controlling the second key parameter value of the execution module according to the comparison result of the second key parameter value and a preset second threshold value so that the second key parameter value is equal to the preset second threshold value includes:
when the second key parameter value is larger than the preset second threshold, controlling to reduce the second key parameter value of the execution module until the second key parameter value is equal to the preset second threshold;
and when the second key parameter value is smaller than the preset second threshold, controlling to increase the second key parameter value of the execution module until the second key parameter value is equal to the preset second threshold.
In an implementation manner, the preset first threshold and the preset second threshold are both obtained according to a key index control instruction input by a user on the control platform.
The invention provides a double closed-loop control algorithm of a control system, wherein the control system comprises a control module, a driving module, an execution module, a transmission module and a load, and the double closed-loop control algorithm comprises the following steps: responding to a key index control instruction input by a user on a control platform, reading first key parameter data of the driving module, and sending the first key parameter data to the control module, so that the control module calculates to obtain a corresponding real-time key parameter value according to the first key parameter data; wherein the first key parameter data is any one of speed, voltage, current or torque data; responding to a control instruction which is sent by the control module and generated according to the comparison result of the real-time key parameter value and a preset first threshold value, and controlling the output key parameter of the execution module so that the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision; the driving module detects a second key parameter value of the execution module in real time; and correspondingly controlling the second key parameter value of the execution module according to the comparison result of the second key parameter value and a preset second threshold value, so that the second key parameter value is equal to the preset second threshold value. After responding to a key index control instruction input by a user on a control platform, controlling the output key parameters of an execution module according to the real-time key parameter values and a preset first threshold value, so that the output key parameter of the execution module approaches or equals to the preset first threshold value with reasonable deviation precision, and then the second key parameter value of the execution module is controlled according to the detected second key parameter value and the preset second threshold value so as to make the second key parameter value of the execution module equal to the preset second threshold value, therefore, the double closed loop control algorithm of the control system can realize the accurate control of the stable operation of the execution module, the method and the device have the advantages that the key index value of the output of the load which is powered by the execution module and connected with the transmission module is controlled, the control precision and the stability of the key index are improved, and therefore the accurate operation of a control system is guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of a control system in an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of one embodiment of a dual closed-loop control algorithm of the control system in an embodiment of the present invention;
FIG. 3 is a flow diagram of another embodiment of a dual closed-loop control algorithm of the control system in an embodiment of the present invention.
Wherein, 1, a control module; 2. a drive module; 3. an execution module; 4. a transmission module; 5. and (4) loading.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1, a dual closed-loop control algorithm of a control system according to a preferred embodiment of the present invention includes a control module 1, a driving module 2, an executing module 3, a transmission module 4, and a load 5, wherein a control end of the control module 1 is connected to a first input end of the driving module 2; a first output end of the driving module 2 is connected with a detection end of the control module 1 so as to send the read first key parameter data of the driving module 2 to the control module 1; the control end of the driving module 2 is connected with the first input end of the execution module 3; a first output end of the execution module 3 is connected with a detection end of the driving module 2 to detect a second key parameter value of the execution module 3, and send the second key parameter value of the execution module 3 to the driving module 2; the second output end of the execution module 3 is connected with the input end of the transmission module 4, and the output end of the transmission module 4 is connected with the input end of the load 5. The control system in this embodiment controls the implement module 3 via the control module 1 and the drive module 2 to control a load 5 powered by the implement module 3 and connected to the transmission module 4.
Referring to fig. 2 and 3, the dual closed-loop control algorithm takes the driving module as an execution main body, and specifically, the dual closed-loop control algorithm includes the following steps:
s1, responding to a key index control instruction input by a user on a control platform, reading first key parameter data of the driving module, and sending the first key parameter data to the control module, so that the control module calculates to obtain a corresponding real-time key parameter value according to the first key parameter data; wherein the first key parameter data is any one of speed, voltage, current or torque;
in the embodiment of the present invention, before implementing step S1, the method further includes: responding to a system starting instruction input by a user on the control platform, and performing system self-check; when the control system self-checking is normal, the process goes to step S1; when the control system is abnormal in self-checking, abnormal alarm information of the system is output to remind a professional to overhaul.
In the embodiment of the present invention, when a key index control instruction input by a user on the control platform is responded, the preset first threshold and the preset second threshold corresponding to the key index value input by the user on the control platform are also obtained. Therefore, the preset first threshold and the preset second threshold are both obtained according to a key index control instruction input by a user on the control platform.
In step S1, the first key parameter data includes a plurality of first key parameter values. The method comprises the steps of reading first key parameter data of the driving module and sending the first key parameter data to the control module, and specifically comprises the following steps: setting the number of the first key parameter values to be read to be N through a counter, continuously reading the N first key parameter values by the driving module so as to obtain first key parameter data consisting of the N first key parameter values, and sending the obtained first key parameter data to the control module; wherein N is greater than 0.
In step S1, the control module calculates one of the real-time key parameter values according to the first key parameter data, which is specifically represented as:
the control module sequences a plurality of first key parameter values in the first key parameter data;
and obtaining a first key parameter value with the largest value in the first key parameter data based on the sorted first key parameter data, and taking the first key parameter value with the largest value as the real-time key parameter value. Specifically, the first key parameter value with the largest value in the first key parameter data is obtained by comparing the values of the plurality of first key parameter values in the sorted first key parameter data.
In step S1, another way for the control module to calculate the real-time key parameter value according to the first key parameter data is specifically shown as:
the control module sequences a plurality of first key parameter values in the first key parameter data;
calculating to obtain an average value of the first key parameter data based on the sorted first key parameter data, and taking the average value of the first key parameter data as the real-time key parameter value;
the control module adopts a bubbling algorithm to sequence a plurality of first key parameter values in the first key parameter data; of course, the control module may also use other methods to sequence the plurality of first key parameter values in the first key parameter data, which is not described herein any more.
S2, responding to a control instruction which is sent by the control module and generated according to the comparison result of the real-time key parameter value and a preset first threshold value, and controlling the output key parameter of the execution module so as to enable the output key parameter of the execution module to be close to or equal to the preset first threshold value with reasonable deviation precision; wherein the deviation precision is 0-2.0%;
as shown in fig. 3, the control instruction generated according to the comparison result between the real-time key parameter value and the preset first threshold includes: the control instruction for reducing the output key parameter of the execution module and the control instruction for increasing the output key parameter of the execution module; the comparison result of the real-time key parameter value and the preset first threshold value comprises: the comparison result that the real-time key parameter value is larger than a preset first threshold value, the comparison result that the real-time key parameter value is smaller than the preset first threshold value, and the comparison result that the real-time key parameter value is equal to the preset first threshold value. Specifically, generating a control instruction according to a comparison result between the real-time key parameter value and a preset first threshold value includes: when the real-time key parameter value is larger than the preset first threshold value, generating a control instruction for reducing the output key parameter of the execution module; and when the real-time key parameter value is smaller than the preset first threshold value, generating and increasing an output key parameter of the execution module.
Therefore, in this embodiment of the present invention, the controlling, in response to the control instruction generated according to the comparison result between the real-time key parameter value and the preset first threshold sent by the control module, the output key parameter of the execution module to enable the output key parameter of the execution module to approach or be equal to the preset first threshold with reasonable deviation precision specifically includes:
when the real-time key parameter value is larger than the preset first threshold value, responding to a control instruction which is sent by the control module and used for reducing the output key parameter of the execution module, and controlling to reduce the output key parameter of the execution module until the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision;
and when the real-time key parameter value is smaller than the preset first threshold value, responding to a control instruction which is sent by the control module and used for increasing the output key parameter of the execution module, and controlling to increase the output key parameter of the execution module until the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision.
When the output key parameter of the execution module approaches or equals to the preset first threshold value with reasonable deviation accuracy, the step S3 is entered.
S3, detecting a second key parameter value of the execution module in real time by the driving module;
s4, according to the comparison result of the second key parameter value and a preset second threshold, correspondingly controlling the second key parameter value of the execution module to make the second key parameter value equal to the preset second threshold.
In step S4, the comparison result of the second key parameter value and the preset second threshold includes a comparison result that the second key parameter value is greater than the preset second threshold, a comparison result that the second key parameter value is smaller than the preset second threshold, and a comparison result that the second key parameter value is equal to the preset second threshold.
As shown in fig. 3, in the embodiment of the present invention, the correspondingly controlling the second key parameter value of the execution module according to the comparison result between the second key parameter value and the preset second threshold value, so that the second key parameter value is equal to the preset second threshold value specifically includes:
when the second key parameter value is larger than the preset second threshold, controlling to reduce the second key parameter value of the execution module until the second key parameter value is equal to the preset second threshold;
and when the second key parameter value is smaller than the preset second threshold, controlling to increase the second key parameter value of the execution module until the second key parameter value is equal to the preset second threshold.
The following examples are provided to illustrate the dual closed loop control algorithm of the control system, as follows:
example 1
In embodiment 1 of the present invention, the key indicator control instruction is a pressure control instruction; the first key parameter data is torque data, and correspondingly, the output key parameter of the execution module is the output torque of the execution module; the second key parameter value of the execution module is input current; therefore, the double closed-loop control algorithm of the control system specifically comprises the following steps:
s100, responding to a pressure control instruction input by a user on a control platform, reading torque data of a driving module, and sending the torque data to a control module so that the control module calculates to obtain a corresponding real-time torque value according to the torque data;
in the embodiment of the invention, when responding to the pressure control command input by the user on the control platform, the preset first threshold and the preset second threshold corresponding to the pressure input by the user on the control platform are also obtained.
In step S100, the torque data includes a plurality of torque parameter values.
Therefore, the control module calculates one of the corresponding real-time torque values according to the torque data, which is specifically represented as:
the control module ranks a plurality of torque parameter values in the torque data;
and obtaining a torque parameter value with the largest numerical value in the torque data based on the sequenced torque data, and taking the torque parameter value with the largest numerical value as the real-time torque value. Specifically, the torque parameter value with the largest value in the torque data is obtained by comparing the sizes of a plurality of torque parameter values in the sequenced torque data.
The control module calculates another way of the corresponding real-time torque value according to the torque data, which is specifically represented as:
the control module ranks a plurality of torque parameter values in the torque data;
calculating an average torque value of the torque data based on the sequenced torque data, and taking the average torque value of the torque data as the real-time torque value;
wherein the control module employs a bubble algorithm to rank a plurality of torque parameter values in the torque data.
S101, responding to a control instruction which is sent by the control module and generated according to a comparison result of the real-time torque value and a preset first threshold value, and controlling the output torque of the execution module so that the output torque of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision; wherein the deviation precision is 0-2.0%;
specifically, when the real-time torque value is greater than the preset first threshold, the control module responds to a control instruction which is sent by the control module and used for reducing the output torque of the execution module, and the control module controls the output torque of the execution module to be reduced until the output torque of the execution module is close to or equal to the preset first threshold with reasonable deviation precision;
when the real-time torque value is smaller than the preset first threshold value, responding to a control instruction which is sent by the control module and used for increasing the output torque of the execution module, and controlling to increase the output torque of the execution module until the output torque of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision;
when the real-time torque value approaches or equals to the preset first threshold value with reasonable deviation accuracy, the step S102 is entered.
S102, the driving module detects the input current of the execution module in real time;
s103, correspondingly controlling the input current of the execution module according to the comparison result of the input current and a preset second threshold value, so that the input current is equal to the preset second threshold value.
Specifically, when the input current is greater than the preset second threshold, controlling to reduce the input current of the execution module until the input current is equal to the preset second threshold;
and when the input current is smaller than the preset second threshold, controlling to increase the input current of the execution module until the input current is equal to the preset second threshold.
In this embodiment 1 of the present invention, after a pressure control instruction input by a user on a control platform is responded, an output torque of the execution module is controlled according to a comparison result between the real-time torque value and a preset first threshold, so that the output torque of the execution module approaches or equals to the preset first threshold with reasonable deviation accuracy, and then an input current of the execution module is controlled according to a comparison result between the input current of the execution module and a preset second threshold, so that the input current of the execution module equals to the preset second threshold, thereby accurately controlling stable operation of the execution module, controlling an output pressure of a load driven by the execution module, and further improving control accuracy and stability of the output pressure of the load.
In summary, the present invention provides a dual closed-loop control algorithm of a control system, wherein the control system comprises a control module, a driving module, an executing module, a transmission module and a load, and the dual closed-loop control algorithm comprises the following steps: responding to a key index control instruction input by a user on a control platform, reading first key parameter data of the driving module, and sending the first key parameter data to the control module, so that the control module calculates to obtain a corresponding real-time key parameter value according to the first key parameter data; wherein the first key parameter data is any one of speed, voltage, current or torque data; responding to a control instruction which is sent by the control module and generated according to the comparison result of the real-time key parameter value and a preset first threshold value, and controlling the output key parameter of the execution module so that the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision; the driving module detects a second key parameter value of the execution module in real time; and correspondingly controlling the second key parameter value of the execution module according to the comparison result of the second key parameter value and a preset second threshold value, so that the second key parameter value is equal to the preset second threshold value. After responding to a key index control instruction input by a user on a control platform, controlling the output key parameters of an execution module according to the real-time key parameter values and a preset first threshold value, so that the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision, and then the second key parameter value of the execution module is controlled according to the second key parameter value and the preset second threshold value so as to enable the second key parameter value of the execution module to be equal to the preset second threshold value, therefore, the double closed loop control algorithm of the control system can realize the accurate control of the stable operation of the execution module, the method and the device have the advantages that the key index value of the output of the load which is powered by the execution module and connected with the transmission module is controlled, the control precision and the stability of the key index are improved, and therefore the accurate operation of a control system is guaranteed.
The foregoing is an embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (7)
1. A double closed-loop control algorithm of a control system, the control system comprises a control module, a driving module, an execution module, a transmission module and a load, and is characterized by comprising the following steps:
responding to a key index control instruction input by a user on a control platform, reading first key parameter data of the driving module, and sending the first key parameter data to the control module, so that the control module calculates to obtain a corresponding real-time key parameter value according to the first key parameter data; wherein the first key parameter data is any one of speed, voltage, current or torque data, and the first key parameter data comprises a plurality of first key parameter values;
responding to a control instruction which is sent by the control module and generated according to the comparison result of the real-time key parameter value and a preset first threshold value, and controlling the output key parameter of the execution module so that the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision; the deviation precision is between 0% and 2.0%, wherein the preset first threshold is obtained according to a key index control instruction input by a user on the control platform;
the driving module detects a second key parameter value of the execution module in real time;
and correspondingly controlling a second key parameter value of the execution module according to a comparison result of the second key parameter value and a preset second threshold value, so that the second key parameter value is equal to the preset second threshold value, wherein the preset second threshold value is obtained according to a key index control instruction input by a user on a control platform.
2. The dual closed-loop control algorithm of the control system according to claim 1, wherein the calculating, by the control module, the corresponding real-time key parameter value according to the first key parameter data specifically comprises:
the control module sequences a plurality of first key parameter values in the first key parameter data;
and obtaining a first key parameter value with the largest value in the first key parameter data based on the sorted first key parameter data, and taking the first key parameter value with the largest value as the real-time key parameter value.
3. The dual closed-loop control algorithm of the control system according to claim 1, wherein the calculating, by the control module, the corresponding real-time key parameter value according to the first key parameter data specifically comprises:
the control module sequences a plurality of first key parameter values in the first key parameter data;
and calculating to obtain an average value of the first key parameter data based on the sorted first key parameter data, and taking the average value of the first key parameter data as the real-time key parameter value.
4. The dual closed-loop control algorithm of the control system of claim 2 or 3, wherein the control module employs a bubble algorithm to rank the plurality of first key parameter values in the first key parameter data.
5. The dual closed-loop control algorithm of the control system as claimed in claim 1, wherein the control command generated according to the comparison result of the real-time key parameter value and the preset first threshold value comprises: the control instruction for reducing the output key parameter of the execution module and the control instruction for increasing the output key parameter of the execution module.
6. The dual closed-loop control algorithm of the control system as claimed in claim 5, wherein the controlling the output key parameter of the execution module in response to the control command sent by the control module and generated according to the comparison result between the real-time key parameter value and the preset first threshold value, so that the output key parameter of the execution module approaches or equals to the preset first threshold value with reasonable deviation precision, comprises:
when the real-time key parameter value is larger than the preset first threshold value, responding to a control instruction which is sent by the control module and used for reducing the output key parameter of the execution module, and controlling to reduce the output key parameter of the execution module until the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision;
and when the real-time key parameter value is smaller than the preset first threshold value, responding to a control instruction which is sent by the control module and used for increasing the output key parameter of the execution module, and controlling to increase the output key parameter of the execution module until the output key parameter of the execution module is close to or equal to the preset first threshold value with reasonable deviation precision.
7. The dual closed-loop control algorithm of the control system as claimed in claim 1, wherein said controlling the second key parameter value of the execution module accordingly according to the comparison result of the second key parameter value with a preset second threshold value, so that the second key parameter value is equal to the preset second threshold value, comprises:
when the second key parameter value is larger than the preset second threshold, controlling to reduce the second key parameter value of the execution module until the second key parameter value is equal to the preset second threshold;
and when the second key parameter value is smaller than the preset second threshold, controlling to increase the second key parameter value of the execution module until the second key parameter value is equal to the preset second threshold.
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