CN113204253B - Fuzzy control method and system for liquid level of dripping disc of dripping pill machine - Google Patents
Fuzzy control method and system for liquid level of dripping disc of dripping pill machine Download PDFInfo
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Abstract
The invention discloses a fuzzy control method and a system for the liquid level of a dripping disc of a dripping pill machine, wherein the method comprises the following steps: s01, acquiring the liquid level height in the drip tray; s02, calculating the deviation e of the liquid level of the drip tray and the change rate delta e/delta t of the liquid level in a preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the standard opening u of the liquid inlet of the drip tray; s03, adjusting the opening of the liquid inlet of the drip tray to the standard opening u so as to enable the liquid level of the drip tray to be stable in a constant range. The invention detects the liquid level height of the drip tray, adjusts the opening of the liquid inlet of the drip tray through fuzzy control, finally and rapidly controls the liquid level of the drip tray in a more accurate and stable state, realizes constant dripping speed, and ensures consistent weight and shape of dripping pills.
Description
Technical Field
The invention mainly relates to the technical field of medicine and food packaging, in particular to a fuzzy control method and a fuzzy control system for the liquid level of a dripping disc of a dripping pill machine.
Background
The dripping pill machine is one kind of dripping pill producing machine and is one kind of medicine preparation machine and is used widely in food, medicine, chemical industry and other industry.
The dripping pill machine adopts natural dead weight dripping method, and the dripping disk filled with medicinal liquid is continuously dripped into the cooling column below. The pressure generated by the gravity of the liquid medicine in the drip tray in the drip process determines the drip speed and influences the weight and the form of the dripping pill, so that the liquid level of the liquid medicine in the drip tray is a very important parameter, is in a proportional relation with the pressure, and needs to be accurately controlled.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problems existing in the prior art, the invention provides a fuzzy control method and a fuzzy control system for the liquid level of a dripping disc of a dripping pill machine, which can be applied to different dripping pill machines and can realize uniform dripping pills.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a fuzzy control method for the liquid level of a dripping disc of a dripping pill machine comprises the following steps:
s01, acquiring the liquid level height in the drip tray;
s02, calculating the deviation e of the liquid level of the drip tray and the change rate delta e/delta t of the liquid level in a preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray;
s03, obtaining a standard opening u=u of the liquid inlet of the drip tray according to the opening increment deltau 0 +Deltau, the opening of the liquid inlet of the drip tray is adjusted to be a standard opening u, so that the liquid level of the drip tray is stabilized in a constant range; wherein u is 0 Is the preset reference opening of the liquid inlet of the drip tray.
Preferably, in step S02, the construction process of the fuzzy controller is as follows: and taking the deviation e and the change rate delta e/delta t as fuzzy inputs, taking the opening increment of the liquid inlet of the drip tray as fuzzy output, establishing a mapping relation between the fuzzy inputs and the fuzzy outputs, and constructing the fuzzy controller.
Preferably, the specific process of step S02 is: the deviation e and the change rate delta e/delta t are used as fuzzy inputs, and the triangle membership functions are used for respectively carrying out fuzzification treatment to obtain triangle membership function distribution of the deviation e and the change rate delta e/delta t; according to the fuzzy rules predefined by using a Mamdani method and fuzzy sets to which the actual values of the deviation e and the change rate delta e/delta t belong, specific fuzzy rules can be obtained, the reliability of the triggered fuzzy rules is calculated, the reliability of each triggered fuzzy rule is used as a respective weight, and finally the specific opening increment delta u is calculated by using a weighted average method to perform defuzzification.
The invention also discloses a fuzzy control system of the liquid level of the dripping disc of the dripping pill machine, which comprises the following components:
the first module is used for acquiring the liquid level height in the drip tray;
the second module is used for calculating the deviation e of the liquid level of the drip tray and the change rate delta e/delta t of the liquid level in a preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray;
a third module for obtaining the standard opening u=u of the drip tray liquid inlet according to the opening increment deltau 0 +Deltau, the opening of the liquid inlet of the drip tray is adjusted to be a standard opening u, so that the liquid level of the drip tray is stabilized in a constant range; wherein u is 0 Is the preset reference opening of the liquid inlet of the drip tray.
The invention further discloses a fuzzy control system for the liquid level of the dripping disc of the dripping pill machine, which is characterized by comprising the following components:
the liquid level acquisition unit is used for acquiring the liquid level height in the drip tray;
the fuzzy control unit is used for calculating the deviation e of the liquid level of the drip tray and the change rate delta e/delta t of the liquid level in a preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray;
an opening adjusting unit for obtaining a standard opening u=u of the drip tray liquid inlet according to the opening increment deltau 0 +Deltau, the opening of the liquid inlet of the drip tray is adjusted to be a standard opening u, so that the liquid level of the drip tray is stabilized in a constant range; wherein u is 0 Is the preset reference opening of the liquid inlet of the drip tray.
Preferably, the liquid level acquisition unit comprises an ultrasonic sensor.
Preferably, the fuzzy control unit comprises a programmable controller with a fuzzy control algorithm program.
Preferably, the opening degree adjusting unit comprises a switch module and an adjusting module; the switch module is arranged at the liquid inlet of the drip tray, and the adjusting module is used for adjusting the opening of the switch module.
The invention further discloses a computer readable storage medium having stored thereon a computer program which, when run by a processor, performs the steps of the fuzzy control method of the drip pan level of a pill machine as described above.
The invention also discloses a computer device comprising a memory and a processor, wherein the memory stores a computer program which executes the steps of the fuzzy control method for the drip tray liquid level of the pill dripping machine when being run by the processor.
Compared with the prior art, the invention has the advantages that:
according to the invention, through detecting the liquid level of the drip tray of the drip pill machine in real time, and then according to the difference value (variation) and the variation rate (variation trend) between the current liquid level height and the preset liquid level height in the drip tray, the standard opening of the liquid inlet of the corresponding drip tray is obtained by utilizing a fuzzy control algorithm, so that the liquid level of the drip tray is ensured to be stable in a constant range, the constant dripping speed is finally realized, and the weight and the shape of the drip pill are ensured to be consistent. The invention does not need to change the integral structure of the pill dropping machine, is applicable to various pill dropping machines and has wide application.
Drawings
FIG. 1 is a flow chart of a method of the present invention in an embodiment.
Fig. 2 is a block diagram of the pill machine according to the present invention in a specific embodiment.
FIG. 3 is a graph showing the distribution of e, Δe/Δt, Δu membership functions according to the present invention.
Legend description: 1. a liquid level acquisition unit; 2. a fuzzy control unit; 3. an opening degree adjustment unit; 301. a switch module; 302. an adjustment module; 4. a liquid storage tank; 401. a liquid inlet valve; 5. a drip tray; 501. a drip temperature sensor; 6. a cooling column; 601. a cooling column level sensor; 602. a cooling column temperature sensor; 603. a lighting lamp; 604. a paraffin inlet valve; 605. a discharge valve; 606. paraffin overflow pipe.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1, the fuzzy control method for the liquid level of the dripping disc of the dripping pill machine in the embodiment comprises the following steps:
s01, acquiring the liquid level height in the drip tray 5;
s02, calculating the deviation e of the liquid level of the drip tray 5 and the change rate delta e/delta t of the liquid level in a preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray 5; the deviation e is the difference between the acquired liquid level height and the preset liquid level height, and the change rate delta e/delta t is the ratio of the change value delta e of the deviation e in the preset unit time delta t to the preset unit time delta t;
s03, obtaining a standard opening u=u of the liquid inlet of the drip tray 5 according to the opening increment deltau 0 +Deltau, the opening of the liquid inlet of the drip tray 5 is adjusted to be a standard opening u, so that the liquid level of the drip tray 5 is stabilized in a constant range; wherein u is 0 Is the preset reference opening of the liquid inlet of the drip tray 5.
According to the invention, through detecting the liquid level of the drip tray 5 of the drip pill machine in real time, and then according to the difference value (variation) and the variation rate (variation trend) between the current liquid level height and the preset liquid level height in the drip tray 5, the corresponding opening increment of the liquid inlet of the drip tray 5 is obtained by utilizing a fuzzy control algorithm, so that the standard opening is obtained, the liquid level of the drip tray 5 is ensured to be stable in a constant range, the constant dripping speed is finally realized, and the weight and the shape of the drip pill are ensured to be consistent.
In a specific embodiment, in step S02, the fuzzy controller is constructed by: the deviation e and the change rate delta e/delta t are used as fuzzy input, the standard opening of the liquid inlet of the drip tray 5 is used as fuzzy output, the mapping relation between the fuzzy input and the fuzzy output is established, and the fuzzy controller is constructed.
In one embodiment, the specific process of step S02 is as follows: the deviation e and the change rate delta e/delta t are used as fuzzy inputs, and the triangle membership functions are used for respectively carrying out fuzzification treatment to obtain triangle membership function distribution of the deviation e and the change rate delta e/delta t; according to the fuzzy rules predefined by using the Mamdani method and the fuzzy sets of the deviation e and the actual value of the change rate delta e/delta t, the specific fuzzy rules can be obtained, and then the fuzzy rules are triggeredThe reliability of the fuzzy rule is calculated, the reliability of each triggered fuzzy rule is taken as the weight of each fuzzy rule, and finally, the fuzzy is solved by using a weighted average method to calculate the specific opening increment delta u, and finally, the standard opening u=u of the liquid inlet of the drip tray is obtained 0 +Δu, where u 0 Is the preset reference opening of the liquid inlet of the drip tray.
The invention further discloses a fuzzy control system for the liquid level of the dripping disc of the dripping pill machine, which comprises the following components:
a liquid level acquisition unit 1 for acquiring a liquid level height in the drip tray 5;
the fuzzy control unit 2 is used for calculating the deviation e of the liquid level of the drip tray 5 and the change rate delta e/delta t of the liquid level in a preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray 5;
an opening adjusting unit 3, configured to obtain a standard opening u=u of the drip tray liquid inlet according to the opening increment Δu 0 +Deltau, the opening of the liquid inlet of the drip tray 5 is adjusted to be a standard opening u, so that the liquid level of the drip tray 5 is stabilized in a constant range; wherein u is 0 Is the preset reference opening of the liquid inlet of the drip tray.
The fuzzy control system of the dripping pill machine dripping disc liquid level is used for executing the fuzzy control method and has the advantages as the method.
In a specific embodiment, the liquid level acquisition unit 1 comprises an ultrasonic sensor arranged outside the drip tray 5, and the service life of the ultrasonic sensor can be prolonged and the pollution to the liquid medicine can be avoided as the ultrasonic sensor is not in direct contact with the liquid medicine. The fuzzy control unit 2 includes a programmable controller (PLC) having a fuzzy control algorithm program built therein. The opening degree adjustment unit 3 includes a switch module 301 (such as a solenoid valve or the like) and an adjustment module 302 (such as a motor); the electromagnetic valve is arranged at the liquid inlet of the drip tray 5, and the motor adjusts the opening of the electromagnetic valve to the standard opening u after receiving the standard opening u output by the fuzzy control unit 2.
The following is a specific embodiment the above method and system are described:
as shown in fig. 2, the liquid medicine enters the liquid storage tank 4 through the liquid inlet valve 401, then the liquid outlet of the liquid storage tank 4 (namely, the switch module 301 of the liquid inlet of the drip tray 5) is opened, the liquid medicine flows into the drip tray 5 positioned below the liquid storage tank 4, the liquid medicine in the drip tray 5 is formed into medicine drops through the drip nozzle positioned below the drip tray 5 by the pressure formed by self gravity, the medicine drops into the cooling column 6 positioned below the drip tray 5, the medium in the cooling column 6 is paraffin liquid, the liquid medicine gradually solidifies into solid pills after dropping into the cooling column 6, and then the solid pills reach the subsequent dewaxing link through the discharge pipeline positioned below the cooling column 6. A drip tray temperature sensor 501 is arranged in the drip tray 5, and the temperature of the liquid medicine in the drip tray 5 is detected by the drip tray temperature sensor 501, so that on one hand, the temperature of the liquid medicine in the drip tray 5 is monitored, and the temperature of the liquid medicine is ensured to be in a normal range; on the other hand, the temperature has a certain influence on the pressure generated by the self weight of the liquid medicine, so that the preset liquid level height can be corrected through the temperature value, and the working reliability of the liquid medicine is ensured. In addition, an illuminating lamp 603, a cooling column liquid level sensor 601 and a cooling column temperature sensor 602 are also arranged in the cooling column 6, so that the detection of the liquid level and the temperature in the cooling column 6 is realized. Wherein paraffin enters the cooling column 6 through the paraffin inlet valve 604, and the dropping pill enters the next station through the discharge valve 605. A paraffin overflow pipe 606 is also provided on the cooling column 6.
In the process that the liquid medicine is dripped into the cooling column 6 from the drip nozzle below the drip tray 5, an ultrasonic sensor is adopted to monitor the liquid level h1 of the drip tray 5 in the dripping process in real time, and the difference value between the h1 and a set value h2 is calculated to obtain a deviation e= (h 1-h 2); and setting a proper unit time delta t, and obtaining the change rate delta e/[ delta ] t of the liquid level deviation of the drip tray 5. The liquid level deviation (real-time value) of the drip tray 5 and the change rate (change trend) of the liquid level deviation of the drip tray 5 are used as inputs, a fuzzy control algorithm program is written in a Programmable Logic Controller (PLC), a variable is output to control the opening of an electromagnetic valve at the liquid inlet (namely the liquid outlet of the liquid storage tank 4) of the drip tray 5, and then the liquid level of the drip tray 5 is controlled within a set range. Wherein the deviation e reflects the difference between the actual liquid level of the drip tray 5 in the current state and the set liquid level, and the deviation change rate deltae/deltat reflects the trend of the current deviation change, i.e. the trend and degree of whether the deviation is bigger or smaller. The deviation e and the deviation change rate delta e/delta t are taken as fuzzy input, the opening of the liquid inlet (the liquid outlet of the liquid storage tank 4) of the drip tray 5 is taken as fuzzy output, a fuzzy controller is constructed, a program is written in the PLC to realize the fuzzy controller, a control signal is output to regulate the opening u of the liquid inlet (the liquid outlet of the liquid storage tank 4) of the drip tray 5, finally, the liquid level of the drip tray 5 is rapidly controlled in a relatively accurate and stable state, the constant dripping speed is realized, and the weight and the shape of a dripping pill are ensured to be consistent.
The fuzzy control related principle and the process are further described as follows:
the constant liquid level of the drip tray is realized by controlling the opening of the liquid inlet, and the reference opening u of the liquid inlet is given 0 Then an opening increment deltau is applied thereto, i.e. the actual opening u=u 0 The opening increment deltau is changed in real time according to the change of the drip tray liquid level, so that the drip tray liquid level is always kept in a specific range.
According to the data L of the liquid level sensor and the preset liquid level L 0 Subtracting the obtained deviation e and the deviation change rate delta e/delta t (namely the first derivative of the deviation e with respect to time t) obtained by differentiating the deviation with respect to time, adopting a fuzzy control algorithm, determining a control rule by simulating human experience, and obtaining an actual required opening u=u without obtaining an accurate mathematical model between input and output, fuzzifying an input variable, and obtaining an accurate output, namely the opening increment delta u of a liquid inlet by fuzzy reasoning and defuzzification according to the formulated fuzzy rule 0 +Δu。
Blurring of input quantity: the liquid level deviation e and the deviation change rate deltae/deltat (for example, deltat=5 ms is set, and the deviation value at this moment is assumed to be e) 1 The first 5ms time offset value is e 0 The deviation change rate Δe/Δt= (e) 1 -e 0 )/0.005)。
Assume that the actual universe of deviations e is [ -e max ，+e max ]The actual domain of variation of the deviation is [ - Δe max ，+Δe max ]The actual argument of the opening delta deltau is [ -u max ，+u max ]Multiplying the three by the respective domain conversion factor K 1 、K 2、 K 3 So that the domains thereof are converted into [ -3, +3]As a result ofAre respective fuzzy domains.
The deviation and the deviation change rate are used as input quantity of the fuzzy controller. The opening increment deltau is used as the output quantity of the fuzzy controller. Thus, a dual-input single-output fuzzy controller is formed by input deviation e, deviation change rate delta e/delta t, output opening increment delta u, fuzzy rule and fuzzy reasoning and anti-fuzzy calculation.
After determining the input-output variables of the fuzzy controller, the respective fuzzy subsets are selected. The higher the order of the fuzzy rule matrix, the higher the control precision, but the greater the control rule entries, the greater the inconvenience is brought to the rule setting, and the calculation burden of the controller is increased, so that the response becomes slow. Under the trade-off, 7 subsets of each input-output variable were selected, respectively: NB (negative big), NM (negative medium), NS (negative small), ZE (zero), PS (positive small), PM (median), PB (positive big). The membership functions of the selected subsets are all triangle membership functions, as shown in figure 3;
determining a fuzzy rule: after determining the fuzzy input/output variables, the fuzzy rules need to be formulated. The Mamdani method is chosen to represent the fuzzy relationship: if A, then B. According to experience, when the actual liquid level is lower than the preset liquid level, the deviation e is negative, and then the opening of the liquid inlet should be properly increased to aim at correcting the deviation, i.e. deltau is positive, and the larger the absolute value of the deviation is, the larger the required opening increment is. When the actual liquid level is higher than the preset liquid level, the deviation e is positive, and then the opening of the liquid inlet should be properly reduced to strive for correcting the deviation, i.e. the delta u is negative, and the larger the absolute value of the deviation is, the larger the absolute value of the required opening increment is. When the deviation is positive and the deviation change rate is positive, it means that the deviation tends to be positive. When the deviation is positive and the deviation change rate is negative, it means that the deviation tends to be smaller in the positive direction. When the deviation is negative and the deviation change rate is positive, it means that the deviation tends to decrease in the negative direction. When the deviation is negative and the deviation change rate is negative, it means that the deviation tends to become larger in the negative direction. In summary, the fuzzy rule is formulated as follows (in part):
if e＝NB and Δe/Δt＝NB，then Δu＝PB；
if e＝NB and Δe/Δt＝ZE，then Δu＝PM；
if e＝NB and Δe/Δt＝PB，then Δu＝ZE；
if e＝ZE and Δe/Δt＝NB，then Δu＝PM；
if e＝ZE and Δe/Δt＝ZE，then Δu＝ZE；
if e＝ZE and Δe/Δt＝PB，then Δu＝NM；
if e＝PB and Δe/Δt＝NB，then Δu＝ZE；
if e＝PB and Δe/Δt＝ZE，then Δu＝NM；
if e＝PB and Δe/Δt＝PB，then Δu＝NB；
TABLE 1 opening increment fuzzy control rule TABLE
Fuzzy reasoning and defuzzification process: obtaining a fuzzy output set of the opening increment Deltau according to the fuzzy rule determined by the steps, determining a fuzzy solving method to obtain a fuzzy output value of the opening increment, and finally dividing the fuzzy output value by a domain conversion factor K 3 The actual output value of the opening increment Deltau can be obtained, and finally the reference opening U is added 0 To obtain the actually required opening u=u 0 +Δu。
The general defuzzification method comprises the following steps: maximum membership, weighted average, area median, etc. The maximum membership method only takes one piece with the maximum membership in the triggered fuzzy rule, so that a part of data is lost, and the control precision is lower. The area median method is complex in solution in the using process, so that the solution time is prolonged, and the response is slower. The weighted average method comprehensively considers each triggered fuzzy rule, and is convenient to solve and quick in calculation response. In summary, a weighted average method is used as a deblurring method of the opening delta fuzzy controller.
Substituting fuzzy input variables into membership functions to which the fuzzy input variables belong to obtain membership degrees of fuzzy sets to which each input variable belongs, judging the credibility of each triggered fuzzy rule, respectively taking the membership degrees as membership degrees U1, U2, U3 and U4 of fuzzy subsets to which opening increment of the triggered fuzzy rule belongs, averaging two output values W1, W2, W3 and W4 corresponding to the membership degrees of each triggered fuzzy rule, respectively taking the membership degrees as weights of the fuzzy sets, and then calculating the final fuzzy output values by using a weighted average method, wherein the weighted average method is as shown in formula 1:
for example: assuming that the deviation (converted to the fuzzy theory) e= -0.6 and the deviation change rate (converted to the fuzzy theory) Δe/Δt=1.2 at this time, the triggered fuzzy rule and its reliability are shown in table 2.
TABLE 2 triggering of fuzzy control and confidence level thereof
As can be seen from the above table, there are four triggered fuzzy rules:
1. if e=ns and Δe/Δt=ps, then u=ze; membership is (credibility) 3/5;
2. if e=ns and Δe/Δt=pm, then u=ns; membership is (credibility) 1/5;
3. if e=ze and Δe/Δt=ps, then u=ns; membership is (confidence) 2/5;
4. if e=ze and Δe/Δt=pm, then u=nm; membership is (credibility) 1/5;
in addition, w1=0, w2= -1, w3= -1, w4= -2 are obtained from the output opening increment membership function distribution; according to the weighted average method, the finally output fuzzy opening increment is:
finally dividing the value by the opening increment discourse domain conversion factor K 3 Can obtain the solidThe opening delta deltau needed by the driver 1 ＝Δu/K 3 。
Finally, the actual required opening delta u is obtained according to the process 1 Adding the reference opening degree u 0 To obtain the actually required opening u=u 0 +Δu 1 The liquid level of the drip tray can be quickly controlled within a stable range by outputting the liquid level to the opening adjusting unit 3 through the controller.
The invention also discloses a fuzzy control system of the liquid level of the dripping disc of the dripping pill machine, which comprises the following components:
a first module for acquiring the liquid level in the drip tray 5;
the second module is used for calculating the deviation e of the liquid level of the drip tray 5 and the change rate delta e/delta t of the liquid level in a preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray 5;
a third module for obtaining a standard opening u=u of the liquid inlet of the drip tray 5 according to the opening increment deltau 0 +Deltau, the opening of the liquid inlet of the drip tray 5 is adjusted to be a standard opening u, so that the liquid level of the drip tray 5 is stabilized in a constant range; wherein u is 0 Is the preset reference opening of the liquid inlet of the drip tray 5.
The fuzzy control system of the liquid level of the dripping pill machine dripping disc corresponds to the fuzzy control method of the liquid level of the dripping pill machine dripping disc, and has the advantages as described in the method.
The invention also discloses a computer readable storage medium having stored thereon a computer program which, when run by a processor, performs the steps of the fuzzy control method of the liquid level of the drip tray 5 of the pill machine as described above. The invention further discloses a computer device comprising a memory and a processor, said memory having stored thereon a computer program which, when run by the processor, performs the steps of the fuzzy control method of the liquid level of the drip tray 5 of the pill machine as described above. The present invention may be implemented by implementing all or part of the procedures in the methods of the embodiments described above, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. The memory may be used to store computer programs and/or modules, and the processor performs various functions by executing or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid state storage device, etc.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (10)
1. A fuzzy control method for the liquid level of a dripping disc of a dripping pill machine is characterized by comprising the following steps:
s01, acquiring the liquid level height in the drip tray (5);
s02, calculating the deviation e of the liquid level of the drip tray (5) and the change rate delta e/delta t of the liquid level in a preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray (5);
s03, obtaining a standard opening u=u of a liquid inlet of the drip tray (5) according to the opening increment deltau 0 +Deltau, the opening of the liquid inlet of the drip tray (5) is adjusted to be a standard opening u, so that the liquid level of the drip tray (5) is stabilized in a constant range; wherein u is 0 The preset reference opening degree of the liquid inlet of the drip tray (5);
the fuzzy controller is selected to have 7 subsets of each input and output variable, which are respectively: negative large, negative medium, negative small, zero, positive small, medium, positive large;
a weighted average method is adopted as a deblurring method of the opening increment fuzzy controller;
a drip tray temperature sensor (501) is arranged in the drip tray (5), the temperature of the liquid medicine in the drip tray is detected by the drip tray temperature sensor (501), and the preset liquid level height is corrected by the detected temperature value.
2. The fuzzy control method of a drip pan liquid level of a pill machine according to claim 1, wherein in step S02, the fuzzy controller is constructed by: the deviation e and the change rate delta e/delta t are used as fuzzy input, the opening increment of the liquid inlet of the drip tray (5) is used as fuzzy output, the mapping relation between the fuzzy input and the fuzzy output is established, and the fuzzy controller is constructed.
3. The fuzzy control method of the dripping pill machine dripping disc liquid level according to claim 2, wherein the specific process of step S02 is as follows: the deviation e and the change rate delta e/delta t are used as fuzzy inputs, and the triangle membership functions are used for respectively carrying out fuzzification treatment to obtain triangle membership function distribution of the deviation e and the change rate delta e/delta t; according to the fuzzy rules predefined by using a Mamdani method and fuzzy sets to which the actual values of the deviation e and the change rate delta e/delta t belong, specific fuzzy rules can be obtained, the reliability of the triggered fuzzy rules is calculated, the reliability of each triggered fuzzy rule is used as a respective weight, and finally the specific opening increment delta u is calculated by using a weighted average method to perform defuzzification.
4. A fuzzy control system for the liquid level of a drip tray of a drip pill machine, for executing the fuzzy control method for the liquid level of the drip tray of the drip pill machine according to any one of claims 1 to 3, characterized by comprising:
a first module for acquiring the liquid level in the drip tray (5);
the second module is used for calculating the deviation e of the liquid level of the drip tray (5) and the change rate delta e/delta t of the liquid level in the preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray (5);
a third module for obtaining the standard opening u=u of the liquid inlet of the drip tray (5) according to the opening increment deltau 0 +Deltau, the opening of the liquid inlet of the drip tray (5) is adjusted to be a standard opening u, so that the liquid level of the drip tray (5) is stabilized in a constant range; wherein u is 0 Is the preset reference opening of the liquid inlet of the drip tray (5).
5. A fuzzy control system for the liquid level of a drip tray of a drip pill machine, for executing the fuzzy control method for the liquid level of the drip tray of the drip pill machine according to any one of claims 1 to 3, characterized by comprising:
a liquid level acquisition unit (1) for acquiring the liquid level height in the drip tray (5);
the fuzzy control unit (2) is used for calculating the deviation e of the liquid level of the drip tray (5) and the change rate delta e/delta t of the liquid level in the preset unit time according to the liquid level height and the preset liquid level height, and inputting the deviation e and the change rate delta e/delta t into a pre-built fuzzy controller to obtain the opening increment delta u of the liquid inlet of the drip tray (5);
an opening adjusting unit (3) for obtaining the standard opening u=u of the liquid inlet of the drip tray (5) according to the opening increment deltau 0 +Deltau, the opening of the liquid inlet of the drip tray (5) is adjusted to be a standard opening u, so that the liquid level of the drip tray (5) is stabilized in a constant range; wherein u is 0 Is the preset reference opening of the liquid inlet of the drip tray (5).
6. The fuzzy control system of a drip pan level of a pill machine according to claim 5, characterized in that the level acquisition unit (1) comprises an ultrasonic sensor.
7. The fuzzy control system of a drip pan level of a pill machine of claim 5, wherein the fuzzy control unit comprises a programmable controller having a fuzzy control algorithm program built therein.
8. The fuzzy control system of a drip pan level of a pill machine according to claim 5, characterized in that the opening adjustment unit (3) comprises a switch module (301) and an adjustment module (302); the switch module (301) is installed at the liquid inlet of the drip tray (5), and the adjusting module (302) is used for adjusting the opening degree of the switch module (301).
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the fuzzy control method of the drip pan level of a pill machine as claimed in any one of claims 1-3.
10. A computer device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the computer program, when run by the processor, performs the steps of the fuzzy control method of the drip pan level of a pill machine as claimed in any one of claims 1-3.
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