CN110980613A - High-speed canning self-adaptive control system and method - Google Patents

High-speed canning self-adaptive control system and method Download PDF

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Publication number
CN110980613A
CN110980613A CN201911157458.7A CN201911157458A CN110980613A CN 110980613 A CN110980613 A CN 110980613A CN 201911157458 A CN201911157458 A CN 201911157458A CN 110980613 A CN110980613 A CN 110980613A
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Prior art keywords
filling
control
error
motion controller
self
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何静
张昌凡
孙晓
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Hunan University of Technology
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Hunan University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
    • B67C3/007—Applications of control, warning or safety devices in filling machinery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
    • B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
    • B67C3/20—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus with provision for metering the liquids to be introduced, e.g. when adding syrups
    • B67C3/202—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus with provision for metering the liquids to be introduced, e.g. when adding syrups by weighing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
    • B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
    • B67C3/22—Details
    • B67C3/24—Devices for supporting or handling bottles

Abstract

The invention discloses a high-speed canning self-adaptive control system and a method, which comprises the following steps: aiming at a small-dose high-speed liquid food filling machine with high filling precision requirement, a manual filling control method is still widely used at present, the problem that the filling error is larger due to time-varying characteristics of a filling system is difficult to solve, and a liquid food filling system based on weighing self-correction is designed to improve the filling precision of the high-speed filling system. Based on the above, in order to solve the problem of filling characteristic change caused by system nonlinearity, a self-adaptive intelligent filling control algorithm capable of overcoming time-varying and nonlinear influences is designed. The method can avoid the influence of human factors and realize the automatic and high-precision control of the existing filling system under the condition of not greatly increasing the cost.

Description

High-speed canning self-adaptive control system and method
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a high-speed canning self-adaptive control system and a high-speed canning self-adaptive control method.
Background
The liquid filling control system is a servo control system which controls the stroke of the liquid injection pump according to different liquid food filling quantity set values and carries out automatic filling. The difficulty of realizing high-speed and high-precision automatic filling of a filling system with small filling quantity and high filling precision requirement is very high. Aiming at the high-speed liquid medicine filling machine, the filling precision is improved mainly by adopting a method of improving the process and the manufacturing level of a filling production line and manually and finely adjusting the set value of the filling amount on line. The method can increase the development and maintenance cost of equipment, and the high-precision filling control effect is difficult to ensure. The patent provides an intelligent filling controller based on high-speed filling model improves the filling precision of high-speed filling system to design the self-adaptation intelligent filling control algorithm that can overcome time-varying and nonlinear influences, solve because of the filling characteristic change problem that the system nonlinearity brought.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a high-speed canning adaptive control system and a high-speed canning adaptive control method.
The invention provides a high-speed canning self-adaptive control system which is characterized by comprising a front measuring scale, a rear measuring scale, a motion controller, a servo driver, a canning injection pump and an upper computer. The high-speed filling system is connected with the motion controller through the upper computer to monitor the system in real time. And the motion controller is simultaneously connected with the front measuring scale and the rear measuring scale to acquire the weight data of the filling bottle before and after filling. The motion controller is connected with the servo driver and controls the injection stroke of the filling injection pump, so that the control of the filling amount is realized.
The application of the high-speed canning self-adaptive control method mainly comprises the following steps:
step 1, setting the liquid food filling amount through a human-computer interface module of an upper computer, starting a system, and controlling filling bottles to enter a front measuring scale in order;
step 2, weighing the filling bottles before and after filling by weighing on a front sampling and weighing drive plate and a rear sampling and weighing drive plate respectively, and transmitting the weight data of the filling bottles to a motion controller by a weighing unit;
step 3, the motion controller processes data transmitted by the sampling weighing sensor to obtain actual filling quantity and calculate filling error, and the injection stroke of the liquid food injection pump is obtained through a self-adaptive filling control algorithm;
step 4, the motion controller outputs the injection stroke to the servo driver to drive the filling injection pump to execute a filling control action;
and 5, connecting the upper computer with the motion controller through the industrial Ethernet to monitor the canning process in real time.
Preferably, the filling error calculation method in step 3 is as follows:
the method comprises the steps of firstly carrying out averaging filtering processing on signals of historical control quantity u (k) and actually measured filling quantity deviation e (k), and then calculating filling control increment through filtered data. The length of the array for performing the average filtering is determined by the control action times and the length of the averaging array set by the upper computer, and the filtered filling error
Figure BDA0002285178750000021
And control quantity
Figure BDA0002285178750000022
Can be expressed as:
Figure BDA0002285178750000023
wherein
Figure BDA0002285178750000025
Indicating the filling error at the filtered kth sampling,
Figure BDA0002285178750000026
is the filling control quantity N filtered at the k-1 th momentrThe length of an averaging array set by the upper computer is represented, and n represents the filled times in the automatic control mode.
Preferably, the intelligent control mode in step 3 is as follows:
if the error after filtering is larger than the set upper limit threshold value, that is
Figure BDA0002285178750000031
Indicating that the filling error is large and the error needs to be reduced rapidly, and adopting the 1 st compensation proportion pmaxThe control increment is calculated > 0 and the following control mode 1 is used:
Figure BDA0002285178750000032
wherein λ0And the proportional factor represents the proportional factor of the filling quantity and the servo stroke of the filling injection pump calculated according to the physical model.
Further, when
Figure BDA0002285178750000033
The control increment is determined according to the error, and 2 nd compensation proportion is adopted
Figure BDA0002285178750000034
The control quantity increment is calculated, and the following control mode 2 is adopted:
Figure BDA0002285178750000035
wherein a proportional function is compensated
Figure BDA0002285178750000036
As a straight line function.
Further, when the error after filtering is less than the set lower threshold, that is
Figure BDA0002285178750000037
Indicating that the filling error is small and the control quantity is close to the optimal injection stroke, and adopting a 3 rd compensation proportion pminControl increments are calculated > 0 and the following control modality 3 is employed:
Figure BDA0002285178750000038
further, if the filling error is m times continuously or the error history value is smaller than the set allowable error range, the filling process can be considered to be stable in the current time period, and the control quantity is kept unchanged, so as to prevent the control quantity from being changed frequently to cause unstable filling process, and the control mode 4 is adopted:
u(k)＝u(k-1)
compared with the prior art, the invention has the beneficial technical effects that: aiming at a high-speed liquid food filling system with small dosage and high filling precision requirement, a multi-mode intelligent filling control method is designed, the problem that the filling control precision is reduced due to time-varying system characteristics is solved, the influence of time-varying system characteristics can be effectively overcome, and the liquid food filling precision is improved. Meanwhile, the influence of human factors can be avoided, the automatic and high-precision control of the existing filling system can be realized under the condition of not greatly increasing the cost, and the method has good market popularization prospect.
The attached drawings show
Figure 1 is a schematic diagram of a high-speed canning adaptive control system.
FIG. 2 is a flow chart of the steps of the present invention.
Detailed Description
A high-speed canning self-adaptive control system is characterized by comprising a front measuring scale, a rear measuring scale, a motion controller, a servo driver, a canning injection pump and an upper computer. The high-speed filling system is connected with the motion controller through the upper computer to monitor the system in real time. And the motion controller is simultaneously connected with the front measuring scale and the rear measuring scale to acquire the weight data of the filling bottle before and after filling. The motion controller is connected with the servo driver and controls the injection stroke of the filling injection pump, so that the control of the filling amount is realized.
The application of the high-speed canning self-adaptive control method mainly comprises the following steps:
step 1, setting the liquid food filling amount through a human-computer interface module of an upper computer, starting a system, and controlling filling bottles to enter a front measuring scale in order;
step 2, weighing the filling bottles before and after filling by weighing on a front sampling and weighing drive plate and a rear sampling and weighing drive plate respectively, and transmitting the weight data of the filling bottles to a motion controller by a weighing unit;
step 3, the motion controller processes data transmitted by the sampling weighing sensor to obtain actual filling quantity and calculate filling error, and the injection stroke of the liquid food injection pump is obtained through a self-adaptive filling control algorithm;
specifically, the historical control quantity u (k) and the actually measured filling quantity deviation e (k) are subjected to averaging filtering processing, and then the filling control increment is calculated through filtered data. The length of the array for performing the average filtering is determined by the control action times and the length of the averaging array set by the upper computer, and the filtered filling error
Figure BDA0002285178750000051
Controlling amount of yang
Figure BDA0002285178750000052
Can be expressed as:
Figure BDA0002285178750000053
Figure BDA0002285178750000054
wherein
Figure BDA0002285178750000055
Indicating the filling error at the filtered kth sampling,
Figure BDA0002285178750000056
is the filling control quantity N filtered at the k-1 th momentrThe length of an averaging array set by the upper computer is represented, and n represents the filled times in the automatic control mode.
If the error after filtering is larger than the set upper limitThreshold value, i.e.
Figure BDA0002285178750000057
Indicating that the filling error is large and the error needs to be reduced rapidly, and adopting the 1 st compensation proportion pmaxThe control increment is calculated > 0 and the following control mode 1 is used:
Figure BDA0002285178750000058
wherein λ0And the proportional factor represents the proportional factor of the filling quantity and the servo stroke of the filling injection pump calculated according to the physical model.
Further, when
Figure BDA0002285178750000059
The control increment is determined according to the error, and 2 nd compensation proportion is adopted
Figure BDA00022851787500000510
The control quantity increment is calculated, and the following control mode 2 is adopted:
Figure BDA00022851787500000511
wherein a proportional function is compensated
Figure BDA00022851787500000512
As a straight line function.
Further, when the error after filtering is less than the set lower threshold, that is
Figure BDA00022851787500000513
Indicating that the filling error is small and the control quantity is close to the optimal injection stroke, and adopting a 3 rd compensation proportion pminControl increments are calculated > 0 and the following control modality 3 is employed:
Figure BDA0002285178750000061
further, if the filling error is m times continuously or the error history value is smaller than the set allowable error range, the filling process can be considered to be stable in the current time period, and the control quantity is kept unchanged, so as to prevent the control quantity from being changed frequently to cause unstable filling process, and the control mode 4 is adopted:
u(k)＝u(k-1)
step 4, the motion controller outputs the injection stroke to the servo driver to drive the filling injection pump to execute a filling control action;
and 5, connecting the upper computer with the motion controller through the industrial Ethernet to monitor the canning process in real time.
The present invention has been described in detail, and the principle and embodiments of the present invention are explained by using specific examples, which are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present disclosure should not be construed as a limitation to the present invention.

Claims (4)

1. A high-speed canning self-adaptive control system is characterized by comprising a front measuring scale, a rear measuring scale, a motion controller, a servo driver, a canning injection pump and an upper computer; the high-speed filling system is connected with the motion controller through the upper computer, real-time monitoring is carried out on the system, the motion controller is simultaneously connected with the front measuring scale and the rear measuring scale to acquire weight data of filling bottles before and after filling, and the motion controller is connected with the servo driver and controls the injection stroke of the filling injection pump, so that the control of the filling quantity is realized.
2. A high-speed canning self-adaptive control method mainly comprises the following steps:
step 1, setting the liquid food filling amount through a human-computer interface module of an upper computer, starting a system, and controlling filling bottles to enter a front measuring scale in order;
step 2, weighing the filling bottles before and after filling by weighing on a front sampling and weighing drive plate and a rear sampling and weighing drive plate respectively, and transmitting the weight data of the filling bottles to a motion controller by a weighing unit;
step 3, the motion controller processes data transmitted by the sampling weighing sensor to obtain actual filling quantity and calculate filling error, and the injection stroke of the liquid food injection pump is obtained through a self-adaptive filling control algorithm;
step 4, the motion controller outputs the injection stroke to the servo driver to drive the filling injection pump to execute a filling control action;
and 5, connecting the upper computer with the motion controller through the industrial Ethernet to monitor the canning process in real time.
3. The high-speed tank filling adaptive control method according to claim 2,
the filling error calculation mode in the step 3 is as follows:
firstly, carrying out averaging filtering processing on signals of historical control quantity u (k) and actually measured filling quantity deviation e (k), then calculating filling control increment through filtered data, wherein the length of an array for executing average filtering is jointly determined by the number of control actions and the length of an averaging array set by an upper computer, and the filtered filling error is
Figure FDA0002285178740000011
And control quantity
Figure FDA0002285178740000012
Can be expressed as:
Figure FDA0002285178740000021
Figure FDA0002285178740000022
wherein
Figure FDA0002285178740000023
Indicating the filling error at the filtered kth sampling,
Figure FDA0002285178740000024
is the filling control quantity N filtered at the k-1 th momentrThe length of an averaging array set by the upper computer is represented, and n represents the filled times in the automatic control mode.
4. The thick sauce viscous food canning control method according to claim 2, characterized in that:
the intelligent control mode in the step 3 is as follows:
if the error after filtering is larger than the set upper limit threshold value, that is
Figure FDA0002285178740000025
Indicating that the filling error is large and the error needs to be reduced rapidly, and adopting the 1 st compensation proportion pmaxThe control increment is calculated > 0 and the following control mode 1 is used:
Figure FDA0002285178740000026
wherein λ0A proportional factor representing the filling quantity calculated according to the physical model and the servo stroke of the filling injection pump;
when in use
Figure FDA00022851787400000211
The control increment is determined according to the error, and 2 nd compensation proportion is adopted
Figure FDA0002285178740000027
The control quantity increment is calculated, and the following control mode 2 is adopted:
Figure FDA0002285178740000028
wherein a proportional function is compensated
Figure FDA0002285178740000029
Is a linear function;
when the error after filtering is less than the set lower threshold, i.e.
Figure FDA00022851787400000210
Indicating that the filling error is small and the control quantity is close to the optimal injection stroke, and adopting a 3 rd compensation proportion pminControl increments are calculated > 0 and the following control modality 3 is employed:
Figure FDA0002285178740000031
if the filling error is m times continuously or the error historical value is smaller than the set allowable error range, the filling process can be considered to be stable in the current time period, the control quantity is kept unchanged, and therefore when the filling process is unstable due to frequent change of the control quantity, the control mode 4 is adopted:
u(k)＝u((k-1)。
CN201911157458.7A 2019-11-22 2019-11-22 High-speed canning self-adaptive control system and method Pending CN110980613A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113911418A (en) * 2021-10-27 2022-01-11 楚天科技股份有限公司 Filling pump loading amount correction method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5823234A (en) * 1995-06-16 1998-10-20 Robert Bosch Gmbh Process for filling containers with a pressurized liquid
CN101343027A (en) * 2008-08-20 2009-01-14 佛山市海天调味食品有限公司 Weighing type bulking system
US20150114515A1 (en) * 2013-10-31 2015-04-30 Oden Machinery Inc. Liquid filler using single motive force
CN106773698A (en) * 2016-12-28 2017-05-31 中南大学 A kind of beverage filling control method based on on-line parameter identification
CN107459015A (en) * 2017-09-06 2017-12-12 福建省安溪县兴缘茶叶机械有限公司 A kind of automatic liquid package machine
CN109110714A (en) * 2018-10-30 2019-01-01 楚天科技股份有限公司 A kind of intelligent weighing filling apparatus and method
CN109323738A (en) * 2018-11-20 2019-02-12 苏州智本信息科技有限公司 Intelligent batching weighing system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5823234A (en) * 1995-06-16 1998-10-20 Robert Bosch Gmbh Process for filling containers with a pressurized liquid
CN101343027A (en) * 2008-08-20 2009-01-14 佛山市海天调味食品有限公司 Weighing type bulking system
US20150114515A1 (en) * 2013-10-31 2015-04-30 Oden Machinery Inc. Liquid filler using single motive force
CN106773698A (en) * 2016-12-28 2017-05-31 中南大学 A kind of beverage filling control method based on on-line parameter identification
CN107459015A (en) * 2017-09-06 2017-12-12 福建省安溪县兴缘茶叶机械有限公司 A kind of automatic liquid package machine
CN109110714A (en) * 2018-10-30 2019-01-01 楚天科技股份有限公司 A kind of intelligent weighing filling apparatus and method
CN109323738A (en) * 2018-11-20 2019-02-12 苏州智本信息科技有限公司 Intelligent batching weighing system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113911418A (en) * 2021-10-27 2022-01-11 楚天科技股份有限公司 Filling pump loading amount correction method

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