CN113093817A - Magnetic levitation ball lamp control method and control system based on pid algorithm - Google Patents

Magnetic levitation ball lamp control method and control system based on pid algorithm Download PDF

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Publication number
CN113093817A
CN113093817A CN202110363669.7A CN202110363669A CN113093817A CN 113093817 A CN113093817 A CN 113093817A CN 202110363669 A CN202110363669 A CN 202110363669A CN 113093817 A CN113093817 A CN 113093817A
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suspension body
module
axis
suspension
pid algorithm
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华晨辉
赵汉林
李媛
刘佩森
李谊骏
王晋泉
虞旭
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Chengdu Technological University CDTU
Chengdu Univeristy of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
    • H05B45/30—Driver circuits
    • H05B45/32—Pulse-control circuits
    • H05B45/325—Pulse-width modulation [PWM]

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)

Abstract

The invention discloses a method for controlling a magnetic levitation ball lamp based on a pid algorithm, which comprises the following steps: the method comprises the following steps: detecting whether a suspension body exists above the electromagnetic coil and whether the magnetic pole of the suspension body is correct or not through a Hall sensor, if the suspension body is detected above the electromagnetic coil and the magnetic pole of the suspension body is correct correspondingly, supplying power to the electromagnetic coil, initializing an I/O port of an ADC (analog-to-digital converter) by a singlechip and collecting position data of the suspension body in the left-right direction and the front-back direction; step two: performing analog-to-digital conversion on data of an I/O port of the ADC, and transmitting the data to the MCU for further processing; step three: comparing the collected position data of the suspension body in the left-right direction and the front-back direction with a target value, and judging the direction of the suspension body needing to deflect; step four: and controlling the output of pwm wave by PID algorithm according to the required deflection direction of the suspension body, and controlling the deflection of the suspension body to return the suspension body to the set position. By the invention, the position of the ball lamp can be controlled more stably.

Description

Magnetic levitation ball lamp control method and control system based on pid algorithm
Technical Field
The invention relates to a method and a system for controlling a magnetic levitation ball lamp based on a pid algorithm.
Background
With the continuous development of electric power, lamps have become necessities of life, appearing in daily life of each family. With the increasing market demand, different types of lamps are starting to appear on the market, as well as the appreciation of the lamps
With advances in the state of technology, a wide variety of lamps are beginning to appear in the market. The appreciation level of people for lamps is also gradually improved, so that the lamp has new requirements on the functions of the lamps and further requirements on the appearance and entertainment of the lamps. Therefore, the design is needed, the basic lighting requirements are met, the illusion of science and technology can be met, the practicability is achieved, and the requirements of people on appearance can be met.
The magnetic suspension ball lamps on the market at present are divided into two types. The first magnetic suspension ball lamp is large in size, high in requirement on environment and not suitable for small scenes. The other magnetic suspension ball lamp adopts an amplifying circuit to form closed-loop control, does not introduce an engineering control algorithm, is sensitive to an initial position, is not easy to place and is unstable in suspension.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a magnetic levitation ball lamp control method based on a pid algorithm, which comprises the following steps:
the method comprises the following steps: detecting whether a suspension body exists above the electromagnetic coil and whether the magnetic pole of the suspension body is correct or not through a Hall sensor, if the suspension body is detected above the electromagnetic coil and the magnetic pole of the suspension body is correct correspondingly, supplying power to the electromagnetic coil, initializing an I/O port of an ADC (analog-to-digital converter) by a singlechip and collecting position data of the suspension body in the left-right direction and the front-back direction;
step two: performing analog-to-digital conversion on data of an I/O port of the ADC, and transmitting the data to the MCU for further processing;
step three: comparing the collected position data of the suspension body in the left-right direction and the front-back direction with a target value, and judging the direction of the suspension body needing to deflect;
step four: and controlling the output of pwm wave by PID algorithm according to the required deflection direction of the suspension body, and controlling the deflection of the suspension body to return the suspension body to the set position.
Furthermore, the left-right direction and the front-back direction of the suspension body in the first step are the x-axis and the y-axis which are perpendicular to each other and use the horizontal plane where the ring magnet is located and the geometric center of the ring magnet as an origin, wherein one axis is the left-right direction, and the other axis is the front-back direction.
Further, the step three of comparing the collected position data of the suspension body in the left-right direction and the front-back direction with the target value to determine the direction in which the suspension body needs to deflect includes the following steps:
the target values are magnetic flux information corresponding to the x-axis Hall sensor and the y-axis Hall sensor respectively as an x-axis target value and a y-axis target value when the ball lamp is set to be a distance above the center of the annular magnet set; when the floating ball lamp deviates from the center, the magnetic flux information collected by the Hall sensor on the x axis and the y axis is a distance value, and the distance value on the x axis and the distance value on the y axis are respectively;
according to the difference value between the x-axis distance value and the x-axis target value, if the difference value is negative, the difference value is deviated to the left, and if the difference value is regular, the difference value is deviated to the right; and according to the difference between the y-axis distance value and the y-axis target value, if the difference is negative, the difference is determined to be backward, and if the difference is regular, the difference is determined to be forward.
Further, the control of the output of the pwm wave by the PID algorithm to control the deflection of the levitation body and return the levitation body to the set position includes the following processes:
at time t, the input quantity is rin (t), the output quantity is rout (t), and the deviation can be calculated as err (t) ═ rin (t) — rout (t), so the PID control adopts the following formula:
Figure BDA0003006552330000021
where Kp is the proportional term, TtFor integration time, TDIs the differential time.
Further, the method also comprises power failure fault processing, wherein the power failure fault processing comprises the following processes:
the suspension table is provided with a protection device, when the magnetic suspension ball lamp works normally, the protection device is locked on the suspension table through an electromagnet, the lower part of the protection device is connected with the suspension table through a spring, and the spring is in a compressed state;
when the power is cut off accidentally, the electromagnet is turned off and the protecting device is released, the spring releases and drives the protecting device to support and hold the suspension body, so that the suspension body cannot move, and the suspension body is protected
A magnetic levitation ball lamp control system based on pid algorithm comprises a main control module, a switch control module, a driving module, a power supply module, a Hall sensor module, an electromagnetic coil module, an LED module and a communication module; the communication module, the driving module, the power supply module and the Hall sensor module are respectively connected with the main control module; the switch control module is arranged between the power supply module and the main control module; the LED module is in communication connection with the communication module and the LED module; the electromagnetic coil module is connected with the driving module.
The invention has the beneficial effects that: the moving direction of the ball lamp is detected through the Hall sensor. The current flow direction in the electromagnetic coils around the ball lamp is controlled through pwm waves, and the moving direction of the ball lamp is controlled. The output of pwm wave is controlled by PID algorithm, so the position of the ball lamp can be controlled more stably. The volume is small, and the device can be used under the condition of small environment.
Drawings
FIG. 1 is a schematic flow chart of a magnetic levitation ball lamp control method based on pid algorithm;
FIG. 2 is a schematic diagram of a magnetic levitation ball lamp control system based on pid algorithm;
FIG. 3 is an analysis diagram of the magnetic levitation principle in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a drive module in an embodiment of the invention;
FIG. 5 is a schematic diagram of the overall circuit in an embodiment of the invention;
FIG. 6 is a scatter plot of Hall sensor X-axis data in an embodiment of the present invention;
FIG. 7 is a Y-axis data scatter plot of a Hall sensor according to an embodiment of the invention;
FIG. 8 is a flow chart of a PID algorithm in an embodiment of the invention;
FIG. 9 is a flow chart of ball light control in an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1, the method for controlling the magnetic levitation sphere lamp based on the pid algorithm comprises the following steps:
the method comprises the following steps: detecting whether a suspension body exists above the electromagnetic coil and whether the magnetic pole of the suspension body is correct or not through a Hall sensor, if the suspension body is detected above the electromagnetic coil and the magnetic pole of the suspension body is correct correspondingly, supplying power to the electromagnetic coil, initializing an I/O port of an ADC (analog-to-digital converter) by a singlechip and collecting position data of the suspension body in the left-right direction and the front-back direction;
step two: performing analog-to-digital conversion on data of an I/O port of the ADC, and transmitting the data to the MCU for further processing;
step three: comparing the collected position data of the suspension body in the left-right direction and the front-back direction with a target value, and judging the direction of the suspension body needing to deflect;
step four: and controlling the output of pwm wave by PID algorithm according to the required deflection direction of the suspension body, and controlling the deflection of the suspension body to return the suspension body to the set position.
The left-right direction and the front-back direction of the suspension body in the first step are mutually vertical x-axis and y-axis which take the horizontal plane of the annular magnet and the geometric center of the annular magnet as an origin, wherein one axis is the left-right direction, and the other axis is the front-back direction.
Comparing the collected position data of the suspension body in the left-right direction and the front-back direction with a target value in the third step, and judging the direction of the suspension body needing to deflect, wherein the method comprises the following steps:
the target values are magnetic flux information corresponding to the x-axis Hall sensor and the y-axis Hall sensor respectively as an x-axis target value and a y-axis target value when the ball lamp is set to be a distance above the center of the annular magnet set; when the floating ball lamp deviates from the center, the magnetic flux information collected by the Hall sensor on the x axis and the y axis is a distance value, and the distance value on the x axis and the distance value on the y axis are respectively;
according to the difference value between the x-axis distance value and the x-axis target value, if the difference value is negative, the difference value is deviated to the left, and if the difference value is regular, the difference value is deviated to the right; and according to the difference between the y-axis distance value and the y-axis target value, if the difference is negative, the difference is determined to be backward, and if the difference is regular, the difference is determined to be forward.
The method for controlling the output of pwm wave and the deflection of the suspension body by PID algorithm to make the suspension body return to the set position comprises the following steps:
at time t, the input quantity is rin (t), the output quantity is rout (t), and the deviation can be calculated as err (t) ═ rin (t) — rout (t), so the PID control adopts the following formula:
Figure BDA0003006552330000031
where Kp is the proportional term, TtFor integration time, TDIs the differential time.
The method also comprises power failure fault processing, wherein the power failure fault processing comprises the following processes:
the suspension table is provided with a protection device, when the magnetic suspension ball lamp works normally, the protection device is locked on the suspension table through an electromagnet, the lower part of the protection device is connected with the suspension table through a spring, and the spring is in a compressed state;
when power is cut off accidentally, the electromagnet is turned off and the protecting device is released, the spring releases and drives the protecting device to support and receive the suspension body, so that the suspension body cannot move, and the suspension body is protected.
A magnetic levitation ball lamp control system based on pid algorithm comprises a main control module, a switch control module, a driving module, a power supply module, a Hall sensor module, an electromagnetic coil module, an LED module and a communication module; the communication module, the driving module, the power supply module and the Hall sensor module are respectively connected with the main control module; the switch control module is arranged between the power supply module and the main control module; the LED module is in communication connection with the communication module and the LED module; the electromagnetic coil module is connected with the driving module.
The protection device is a groove which is the same as the suspension body in shape and size and can contain the suspension body, the lower portion of the groove is connected with the suspension table through a spring, the electromagnet is arranged below the groove, and when the protection device is electrified, the electromagnet is in electromagnetic connection with the groove.
Specifically, the magnetic levitation ball lamp control system is composed of an STM32F103C8T6 single chip microcomputer, an annular magnet, a Hall sensor, an L298N driving module, an electromagnetic coil and a ball lamp. 4 electromagnetic coils are arranged at the bottom for controlling the moving direction of the ball lamp, and then an X-axis Hall sensor and a Y-axis Hall sensor are arranged between the four electromagnetic coils for detecting the position of the ball lamp. And an annular magnet is arranged outside the spherical lamp to push the spherical lamp to float upwards. And finally, connecting the STM32 with a driving module to output current so as to control the moving direction of the ball lamp.
The second part is that hall sensor detects the lamp ball position. As shown in FIG. 3, the present invention requires that the position of the levitated ball be determined by both the x-axis Hall sensor and the y-axis Hall sensor. The linear Hall sensor is composed of a Hall element, a linear amplifier and an emitter follower, and output data are analog quantities. The output voltage of the linear Hall is in direct proportion to the intensity of the magnetic field transmitted by the linear Hall, and the output voltage rises or falls according to the characteristics and the intensity of the magnetic field, and the relationship between the output voltage and the polarity and the intensity of the induced magnetic field is fixed. The static output voltage is half of the power voltage, namely the midpoint voltage, when the magnetic field is enhanced when the S magnetic pole is aligned with the seal surface of the Hall circuit, the output voltage is higher than the midpoint voltage and gradually becomes larger, and when the N magnetic pole is aligned with the seal surface of the Hall circuit, the output voltage is lower than the midpoint voltage when the magnetic field is enhanced. When the Hall element is electrified with constant current, the Hall voltage VH is only related to the magnetic induction intensity B at the position of the Hall element, the gradient dB/dx of the magnetic induction intensity B in the vertical x direction of a gradient magnetic field within a certain range is a constant, and therefore, the change of the Hall voltage along with the change of the Hall voltage when the Hall element moves up and down is equal to
Figure BDA0003006552330000041
Where K is a constant and is the sensitivity S of the Hall displacement sensornIntegrate the above equation to obtain
VH＝Kx
I.e. the hall voltage is linear with the displacement x within a certain range. The invention utilizes the characteristic, the Hall sensors of the x axis and the y axis are arranged in the magnetic field, the position change of the floating ball lamp in the electromagnetic field is detected, the analog quantity is output to the main control module, and the digital quantity is output at the serial port through digital-to-analog conversion, as shown in figures 6 and 7.
And the third part is that a PID algorithm controls and outputs pwm waves. As shown in fig. 8, the overall structure of the PID algorithm is that at time t, the input quantity is rin (t) and the output quantity is rout (t), and the deviation can be calculated as err (t) ═ rin (t) -rout (t), so the basic control law of PID is:
Figure BDA0003006552330000051
wherein Kp is a proportional term, TI is integral time, TD is differential time, and the proportional element is used for comparing the output value with a target value, increasing the output of pwm wave if the deviation is large, and decreasing the output of pwm wave if the deviation is small. The differential element is
The differentiation of each deviation can reflect the variation trend of the deviation signal, and when the value of the deviation signal becomes too large or too small, an effective early correction signal is introduced into the system, so that the speed is increased, and the adjusting time is shortened. The integration link is to continue to function when the differentiation link and the proportion link are not in function, and the integration link can control output pwm waves as long as the system has deviation.
The fourth part is that STM32 controls the direction in which the ball lamp moves. As shown in fig. 9, the configuration of the GPIO port of the ADC is initialized, the offset data of the x and y axes of the floating sphere is obtained by the hall sensor, the difference between the current output value and the target value is compared by the PID algorithm, pwm waves are controlled to be output, the electromagnet below the floating sphere controls the direction of the force in the magnetic field by the forward direction and the reverse direction of the pwm waves output by the STM32, and thus the position where the floating sphere moves is controlled.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. A magnetic levitation ball lamp control method based on pid algorithm is characterized by comprising the following steps:
the method comprises the following steps: detecting whether a suspension body exists above the electromagnetic coil and whether the magnetic pole of the suspension body is correct or not through a Hall sensor, if the suspension body is detected above the electromagnetic coil and the magnetic pole of the suspension body is correct correspondingly, supplying power to the electromagnetic coil, initializing an I/O port of an ADC (analog-to-digital converter) by a singlechip and collecting position data of the suspension body in the left-right direction and the front-back direction;
step two: performing analog-to-digital conversion on data of an I/O port of the ADC, and transmitting the data to the MCU for further processing;
step three: comparing the collected position data of the suspension body in the left-right direction and the front-back direction with a target value, and judging the direction of the suspension body needing to deflect;
step four: and controlling the output of pwm wave by PID algorithm according to the required deflection direction of the suspension body, and controlling the deflection of the suspension body to return the suspension body to the set position.
2. The method for controlling the magnetic levitation lamp based on the pid algorithm as claimed in claim 1, wherein the left-right direction and the front-back direction of the levitation body in the first step are the x-axis and the y-axis perpendicular to each other with the horizontal plane of the ring magnet and the geometric center of the ring magnet as the origin, wherein one axis is the left-right direction and the other axis is the front-back direction.
3. The method for controlling the magnetic levitation ball lamp based on the pid algorithm as claimed in claim 1, wherein the step three of comparing the collected position data of the levitation body in the left-right direction and the front-back direction with the target value to determine the direction in which the levitation body needs to deflect comprises the following steps:
the target values are magnetic flux information corresponding to the x-axis Hall sensor and the y-axis Hall sensor respectively as an x-axis target value and a y-axis target value when the ball lamp is set to be a distance above the center of the annular magnet set; when the floating ball lamp deviates from the center, the magnetic flux information collected by the Hall sensor on the x axis and the y axis is a distance value, and the distance value on the x axis and the distance value on the y axis are respectively;
according to the difference value between the x-axis distance value and the x-axis target value, if the difference value is negative, the difference value is deviated to the left, and if the difference value is regular, the difference value is deviated to the right; and according to the difference between the y-axis distance value and the y-axis target value, if the difference is negative, the difference is determined to be backward, and if the difference is regular, the difference is determined to be forward.
4. The method for controlling the maglev ball lamp based on the PID algorithm according to claim 1, wherein the step of controlling the output of pwm wave by the PID algorithm to control the deflection of the levitation body and return the levitation body to the set position comprises the following steps:
at time t, the input quantity is rin (t), the output quantity is rout (t), and the deviation can be calculated as err (t) ═ rin (t) — rout (t), so the PID control adopts the following formula:
Figure FDA0003006552320000011
where Kp is the proportional term, TtFor integration time, TDIs the differential time.
5. The method for controlling the magnetic levitation lamp based on the pid algorithm as claimed in claim 1, further comprising a power failure fault processing, wherein the power failure fault processing comprises the following processes:
the suspension table is provided with a protection device, when the magnetic suspension ball lamp works normally, the protection device is locked on the suspension table through an electromagnet, the lower part of the protection device is connected with the suspension table through a spring, and the spring is in a compressed state;
when power is cut off accidentally, the electromagnet is turned off and the protecting device is released, the spring releases and drives the protecting device to support and receive the suspension body, so that the suspension body cannot move, and the suspension body is protected.
6. A magnetic levitation ball lamp control system based on a pid algorithm is characterized by comprising a main control module, a switch control module, a driving module, a power supply module, a Hall sensor module, an electromagnetic coil module, an LED module, a communication module, a protection device and an electromagnet module; the communication module, the driving module, the power supply module and the Hall sensor module are respectively connected with the main control module; the switch control module is arranged between the power supply module and the main control module; the LED module is in communication connection with the communication module and the LED module; the electromagnetic coil module is connected with the driving module; the electromagnet module is connected with the power supply module, and the protection device is connected with the electromagnet module.
CN202110363669.7A 2021-04-02 2021-04-02 Magnetic levitation ball lamp control method and control system based on pid algorithm Pending CN113093817A (en)

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CN104456366A (en) * 2014-12-03 2015-03-25 苏州贝多环保技术有限公司 Magnetic suspension LED lamp
CN105841024A (en) * 2015-01-12 2016-08-10 芋头科技（杭州）有限公司 Self-luminous suspension lamp
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CN210960868U (en) * 2019-10-12 2020-07-10 高月霞 Intelligent table based on magnetic suspension technology

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Application publication date: 20210709