CN113307045B - Multi-station feeding control system and method - Google Patents
Multi-station feeding control system and method Download PDFInfo
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- CN113307045B CN113307045B CN202110505379.1A CN202110505379A CN113307045B CN 113307045 B CN113307045 B CN 113307045B CN 202110505379 A CN202110505379 A CN 202110505379A CN 113307045 B CN113307045 B CN 113307045B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a multi-station feeding control system and a method, which comprises a feeding car arranged at the front end, a plurality of ultrasonic sensors, a plurality of feed boxes, a driving device and a PLC (programmable logic controller) arranged at the rear end, wherein the feeding car is connected with the feeding car; the plurality of ultrasonic sensors are correspondingly arranged on the station where each material box is located one by one, the ultrasonic sensors collect the height values of the residual material bodies from the corresponding material boxes to generate feeding signals, the PLC determines the feeding sequence from all the height values of the residual material bodies according to the feeding signals, and generates control quantity corresponding to at least one material box to be fed according to the feeding sequence; the driving device is arranged on the feeding trolley and used for driving the feeding trolley to move from a feeding origin to a material box to be fed according to the control quantity; when the materials arrive, the material feeding car feeds materials to the material feeding box to be fed. The automatic feeding device can realize automatic feeding and feeding of the multi-station material box, reduce the labor intensity and workload of workers, reduce the cost and improve the production efficiency.
Description
Technical Field
The invention mainly relates to the technical field of feeding control, in particular to a multi-station feeding control system and method.
Background
At present, the feeding work of enterprises mainly depends on a semi-automatic feeding trolley and manual repeated feeding from a feeding box, and the semi-automatic feeding device is low in efficiency and high in energy consumption. For example, the production in the rice flour industry is still in the manual or semi-automatic processing production stage, and the produced rice flour has inconsistent quality, cannot be produced in large scale, and even has the rice flour with unqualified quality inspection. The degree of mechanization is low, and this kind of semi-automatization's control system has satisfied a plurality of production pay-off station requirements of unable enterprise, often needs the manual work to go to operate in the continuous feeder box manually reinforced, and the workman of factory work that degree of mechanization is low in addition still need face adverse work environment such as high temperature, dust, noise, works under such environment for a long time, causes not few injury for the workman health. The labor intensity of workers is high, the workload is high, the efficiency is low, the production cost of enterprises is high, and the development of the rice flour industry is greatly limited.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a multi-station feeding control system and method.
The technical scheme for solving the technical problems is as follows: a multi-station feeding control system comprises a feeding car arranged at the front end, a plurality of ultrasonic sensors, a plurality of feed boxes, a driving device used for driving the feeding car to operate, and a PLC (programmable logic controller) arranged at the rear end;
the ultrasonic sensors are correspondingly arranged on the station where each material box is located one by one, the ultrasonic sensors collect the height values of the residual materials from the corresponding material boxes, and feeding signals are generated according to the height values of the residual materials;
the PLC is used for determining a feeding sequence from all the residual material body height values according to the feeding signals and generating a control quantity corresponding to at least one material box to be fed according to the feeding sequence;
the driving device is arranged on the feeding trolley and used for driving the feeding trolley to move from a feeding origin to a material box to be fed according to the control quantity;
and when the materials arrive, the material feeding car feeds the material box to be fed.
Another technical solution of the present invention for solving the above technical problems is as follows: a multi-station feeding control method comprises the following steps:
the ultrasonic sensor collects the height value of the residual material body from the corresponding material box, and a feeding signal is generated according to the height value of the residual material body;
the PLC determines a feeding sequence from all the residual material body height values according to the feeding signals and generates a control quantity corresponding to at least one material box to be fed according to the feeding sequence;
the driving device drives the feeding car to run from the feeding origin to the feeding box to be fed according to the control quantity;
and when the materials arrive, the material feeding car feeds materials to the material box to be fed.
The invention has the beneficial effects that: the PLC controller can determine the feeding sequence through the height value of the residual material bodies collected by the ultrasonic sensor, at least one or more control quantities are generated according to the feeding sequence, the driving device drives the feeding trolley to move to the position of the material box to be fed through each control quantity, automatic feeding and feeding of the multi-station material box can be achieved, the labor intensity and the workload of workers are reduced, the cost is reduced, and the production efficiency is improved.
Drawings
Fig. 1 is a schematic block diagram of a multi-station feeding control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of fuzzy control provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a feeding process provided by an embodiment of the present invention;
FIG. 4 is a flow chart of a PLC implementation of a fuzzy control algorithm according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a multi-station feeding control method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the connection of various components of the driving apparatus according to the embodiment of the present invention;
fig. 7 is a schematic diagram of the connection of the components of the system according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1: as shown in fig. 1, a multi-station feeding control system comprises a feeding car arranged at the front end, a plurality of ultrasonic sensors, a plurality of feed boxes, a driving device for driving the feeding car to operate, and a PLC controller arranged at the rear end;
the ultrasonic sensors are correspondingly arranged on the station where each material box is located one by one, the ultrasonic sensors collect the height values of the residual materials from the corresponding material boxes, and feeding signals are generated according to the height values of the residual materials;
the PLC is used for determining a feeding sequence from all the residual material body height values according to the feeding signals and generating a control quantity corresponding to at least one material box to be fed according to the feeding sequence;
the driving device is arranged on the feeding trolley and used for driving the feeding trolley to move from a feeding origin to a material box to be fed according to the control quantity;
and when the materials arrive, the feeding car feeds the material box to be fed.
The PLC is used as a bottom layer unit of the whole control system, has an important effect on data acquisition and processing of the whole control system, completes acquisition of height information of the material box through the ultrasonic sensor, and finally sends an output signal to the feeding trolley to realize an intelligent feeding scheme.
In the embodiment, the PLC can determine the feeding sequence through the height value of the residual material body collected by the ultrasonic sensor, at least one or more control quantities are generated according to the feeding sequence, the driving device drives the feeding trolley to move to the position of the feeding box to be fed for feeding through each control quantity, automatic feeding and feeding of the multi-station feeding box can be achieved, the labor intensity and the workload of workers are reduced, the cost is reduced, and the production efficiency is improved.
On the basis of example 1, example 2: the driving device comprises conveying tracks, a servo controller and a servo motor, the tracks are laid on paths passing through the material boxes, the feeding car is connected to the tracks in a rolling mode through a wheel transmission device installed at the bottom, the servo controller and the servo motor are installed on the feeding car, the servo controller is connected with the servo motor through a line, the wheel transmission device is connected with the output end of the servo motor, the servo controller receives control quantity sent by the PLC controller and controls the servo motor to drive the feeding car to move to the material boxes to be fed from a feeding origin according to the control quantity.
It should be understood that the wheel transmission is a conventional device, and includes a wheel and a transmission member for driving the wheel to move, and the transmission member is mechanically connected with the output end of the servo motor.
Specifically, after the PLC is electrified, whether the feeding car is at the feeding origin or not is determined, and the manual feeding car is not controlled to return to the origin for feeding or wait for feeding at the origin. Once a certain workbin is less than when predetermineeing reinforced critical value, ultrasonic sensor produces an input level signal, feed back to the PLC controller and carry out the pay-off and handle, at first drive servo motor corotation to go to the workbin of waiting to pay off, accomplish the accurate counterpoint of stack pallet and workbin through triggering limit switch, after the stack pallet arrived the pay-off station, the PLC controller starts the time delay function, it waits to open to drive the cylinder again after the material release and closes and accomplish the powder feeding, drive servo motor reversal and get back to pay-off department (original point) pay-off.
As shown in fig. 6, the input end of the driver of the servo motor is provided with a control signal by the PLC controller, the signal is transmitted through the LoRa RTU module, the servo motor is connected with the 220V ac servo motor as a power source, and the servo motor can be started up at an accelerated speed, run at a uniform speed, stop at a decelerated speed and other stable and reliable running modes. Different speeds can be selected according to the distance between the work station and the feeding position, and a plurality of speed sections such as 1800r/min, 1500r/min, 1200r/min, 1000r/min and the like can be output.
Specifically, the PLC controller is FX3U-48MT, the servo motor is epoch supergroup 130AEA23015, and the servo controller is SD300-30AL-GBN.
Based on example 2, example 3: as shown in fig. 7, the system further includes a plurality of limit switches, the limit switches are respectively installed on the conveying track and located at each material box, the PLC controller is wirelessly connected with the limit switches, the limit switches are used for sending an alignment signal to the PLC controller when determining that the feeding cart is aligned with a box opening of a material box to be fed, and the PLC controller generates an opening signal for opening a discharge port door of the feeding cart according to the alignment signal.
The system can also carry out manual control, for example, the input end of the PLC controller is connected with seven limit switches, one of the limit switches is arranged at the feeding position, the other six limit switches are arranged at the No. 1-6 stations, the six manual calling switches and the 1 of the starting, stopping, scram and conversion switches are respectively arranged, the six ultrasonic sensors are connected to an RS485 interface of the PLC in an RS485 communication mode, and each sensor is set with a different address to return measured height information. RS485AB both ends of PLC controller are received the 485A B both ends of loRa module (sending end) respectively, are used for controlling servo motor, cylinder and alarm lamp's normal operating.
In the above embodiment, the accurate counterpoint problem of discharge gate and workbin of the feed carriage is judged by limit switch, makes the material feeding dolly can accurate stop to send the material level. The whole control system of the feeding trolley can run stably, and is stable, accurate and fast.
Based on example 3, example 4: as shown in fig. 7, the driving device further comprises an air cylinder, and the air cylinder is mounted on the feeding car and is in transmission connection with a discharge port bin gate of the feeding car;
the air cylinder drives the discharge port bin gate of the feeding car to be opened for feeding according to the opening signal, when feeding is completed, the air cylinder drives the discharge port bin gate of the feeding car to be closed, a feeding completion signal is sent to the PLC, the PLC generates a return signal according to the feeding completion signal and sends the return signal to the servo controller, and the servo controller controls the servo motor to drive the feeding car to return to a feeding origin according to the return signal.
It should understand, the cylinder is used for controlling opening and closing of the discharge gate door of stack pallet, and after stack pallet and workbin counterpoint the position, the instruction loRa module that PLC sent received the action of back drive actuating cylinder, and the door is opened this moment, and whether feeding is accomplished is judged through the timer, the timer begins the timing when opening from the door, and in all materials loaded into the workbin that waits to send, the cylinder action was accomplished in the timer timing, and the feed bin door is closed, and the stack pallet is got back to the original point and is continued next pay-off.
Example 5 on the basis of example 1: in the PLC controller, the process of determining the feeding sequence from all the remaining material height values according to the feeding signal includes:
when a feeding signal is received, respectively comparing each residual material body height value with a preset feeding critical value, if the residual material body height value is smaller than the preset feeding critical value, retaining the residual material body height value, and otherwise, rejecting the residual material body height value;
sequencing the remaining height values of the residual materials according to a rule that the numerical values are from small to large, and sequentially determining the feeding sequence of each feeding car according to the sequence from the first position to the last position of the sequencing.
It should be understood that the above process is to determine the order of the feeding boxes, for example, there are three feeding boxes a, B, and C that need to be fed, the feeding cart is initially at the origin, feeding box a feeds, feeding is completed, the feeding cart returns to the origin, feeding box B feeds, feeding is completed, the feeding cart returns to the origin again, feeding box C feeds, and the feeding cart returns to the origin, that is, feeding of all the feeding boxes is completed.
Specifically, ultrasonic sensor goes to judge the height of workbin internal material, and when being less than the warning value of settlement (the reinforced critical value of preliminary settlement), the PLC controller uses RS 485's communication mode to go for servo controller through loRa RTU wireless communication module to drive the stack pallet and give the workbin pay-off of waiting to pay. The ultrasonic sensor acquires height information, the height information is compared by introducing a fuzzy control algorithm to determine the priority feeding right of each station, and the solution of the optimized path of feeding is realized. And adopting the material level height deviation e and the material level height deviation change rate ec as input language variables. After fuzzy reasoning and clear operation, the PLC controller passes the calculated parameters required by the servo driver and sends the parameters to an analog input end of a servo motor controller of the feeding car to control a servo motor, so that the advancing speed is changed, and the feeding is positioned. The RS232 interface is connected with the touch display screen to set information such as feeding speed and running state.
Example 6 on the basis of example 1: in the PLC, the process of generating the control quantity corresponding to at least one material box to be fed according to the feeding sequence comprises the following steps:
s1: determining a current feed box to be fed according to the feeding sequence;
s2: calling a pre-selected loaded fuzzy controller, constructing a quantization factor error e (k) and an error change rate ec (k), inputting the quantization factor error e (k) and the error change rate ec (k) into the fuzzy controller as input quantities of the fuzzy controller, and outputting a control quantity U through the fuzzy controller; wherein e (k) = r-y, ec (k) = [ e (k) -e (k-1) ]/T, r is a preset reference height given value of the material level, y is an actual feedback value of the material level height, k is the current moment, k-1 is the previous moment, and T is the sampling time of the ultrasonic sensor;
s3: and determining whether the feeding of the material box to be fed is finished or not from the feeding sequence, if not, returning to execute S1, and if so, exiting.
Specifically, the control quantity U, i.e. the servo controller, controls the speed of the feeding carriage, T =3min.
Specifically, in S3, when feeding of the bin to be fed is completed once, the information of the bin to be fed is removed, and when feeding of all the bins to be fed is completed, the information in the feeding sequence is empty, so that feeding of the bin to be fed is determined to be completed.
The following example illustrates how to feed the bins with large demand, large demand and small demand, that is, the feeding sequence is the bin with the largest demand, large demand and small demand, in turn.
As shown in fig. 3:
the procedure is started. Judging whether the feed carriage is at a charging (origin) position, if not, remotely controlling the feed carriage or manually controlling the feed carriage to return to the origin, if so, judging whether a feed box A with the largest demand exists, if so, detecting whether the feed carriage runs to the position above the feed box with the largest demand, if not, continuously moving to the position above the feed box A with the largest demand, and if so, controlling the feed carriage to stop and feed. And then, controlling the feeding car to return to the original point, and judging the material box B with larger demand and the material box C with smaller demand, wherein the judging process is the same as the process of the material box A with the largest demand, and the description is omitted. And when the feeding of the material box C with smaller demand is finished, ending the program.
As shown in fig. 4, input and output variables of the fuzzy controller are determined. In the whole control system, the height of the residual materials in the material box is used as a critical point of feeding, and according to the conventional manual feeding experience, serious material shortage, general material shortage and non-material shortage are used as feeding bases. In the fuzzy controller of the related feeding system, a quantization factor error (material level height deviation) e and an error change rate (material level height deviation change rate) ec are adopted as input language variables. The material level height is collected by an ultrasonic sensor. After fuzzy reasoning and clarification operations are carried out by the fuzzy controller, the PLC sends the calculated speed to the servo controller through the LoRa RTU wireless communication module to control the motor, so that the advancing speed is changed, and the blanking is positioned by combining with the limit switch. The change of the rotating speed of the motor is taken as an output language variable, and is represented by a symbol U after being fuzzified.
The specific process is as follows:
the procedure is started. Implanting the quantization factor into the PLC, judging whether the sampling time is reached, and if not, continuing to wait; and if the level height deviation e (deviation amount) and the level height deviation change rate ec (deviation) are reached, inputting the level height deviation e (deviation amount) and the level height deviation change rate ec (deviation) into the PLC, judging whether the e and the ec exceed the maximum limit value or not, if so, setting the out-of-limit variables of the e and the ec at the maximum limit value or the minimum limit value, quantizing and storing the e and the ec into the PLC, and if not, directly quantizing and storing the e and the ec into the PLC. And querying a fuzzy control table through a fuzzy controller to obtain an output control variable U. The routine is ended.
For example, the physical discourse field of e is e = [ -12cm, +12cm ], which is converted into an integer discourse field of Ke =6 by the fuzzy control table;
the physical discourse domain of ec (k) is ec (k) = [ -6, +6cm ], which is converted into an integer discourse domain of Kec =6 by a fuzzy control table;
the output control amount U has a domain of U = [ -12, +12], which is converted into an integer domain of U =6 by a fuzzy control table.
It should be understood that the principle of a fuzzy controller is to mimic the logical pattern of the human brain. Generally speaking, human thinking practice divides things into three levels, and the description is defined as large, medium and small in the feed trolley fuzzy controller of the system, and the large, medium and small are used as output and input variables of artificial intelligence. Meanwhile, certain positive and negative properties of output or input variables are also considered, so that in order to be suitable for detailed and flexible control of the feeding trolley and also in consideration of the calculation condition of the two-dimensional fuzzy controller, seven fuzzy states are selected to define the change of the output and input quantity, namely negative large, negative medium, negative small, zero, positive small, positive medium and positive large, and the corresponding language values are respectively E = A = { PB, PM, PS, Z, NS, NM and NB }.
Membership functions are used to characterize the variables (non-quantized subsets) that are assigned values in the linguistic variable domain.
Membership functions of these assigned variables, i.e., the way they are described in linguistic values, are continuous functions in some circumstances and irregular quantization levels in other circumstances. The curve form of the membership function cannot determine the control result, but the change amplitude of the slope of the curve can generate certain influence on the characteristics of the system, so that the membership function of the fuzzy subset mostly adopts the forms of a trapezoid, a triangle and the like with simple mathematical models and operation processes. The fuzzy subset membership function in the invention is in a triangular form.
The fuzzy controller inputs field acquired data into a computing module, multiplies a scale factor after analyzing fuzzy, reasoning fuzzy and fuzzification, and transmits accurate control quantity to a PLC control object, so that a fuzzy operation process is completed, field equipment and a feeding trolley are controlled, and the process needs a large amount of computing resources and support of a high-speed platform.
The control principle of the fuzzy controller (in the PLC), the servo controller (servo motor) and the ultrasonic sensor is shown in figure 2, the ultrasonic sensor collects bin data, a feeding signal is generated according to the height value of the residual material body and is sent to the PLC, the fuzzy controller inputs a quantization factor error e (k) and an error change rate ec (k) into the fuzzy control table for query, a control quantity U is output, and the output control quantity U is output to the servo controller (servo motor).
In practical application, an off-line fuzzy manner is usually adopted to improve the calculation efficiency, a fuzzy control table is made to include correspondence between control quantity and input and output quantity, and a fuzzy controller is embedded in the PLC controller, wherein the fuzzy controller includes the fuzzy control table. Therefore, the variables collected and fuzzified can be input into the fuzzy data table for query in the running process of the feeding trolley, one-time off-line fuzzification processing can be completed, the output is completed after the processing, the optimal control effect is achieved, and resources are saved.
Example 7 on the basis of example 1: as shown in fig. 7, the system further includes a touch display screen, the touch display screen is disposed at the rear end and is in line connection with the PLC controller, the touch display screen is configured to acquire receiving feeding cart operating parameters entered by a user, and the PLC controller is further configured to send the feeding cart operating parameters to the driving device so as to control an operating state of the feeding cart;
the touch display screen is also used for displaying the height values of the residual materials of the workbins sent by the PLC.
The touch display screen is embedded on the control cabinet, and is characterized in that the touch screen is used for setting the running parameters of the feeding trolley, monitoring the running state of each station, and controlling the starting, stopping and the like, the control cabinet is provided with a switching power supply which respectively provides a 24V direct current power supply for the ultrasonic sensor and the limit switch, provides an alternating current 220V voltage for the PLC controller and the servo motor, and is also provided with an indicator lamp and a button for starting, stopping and scramming. The touch display screen enables the operation to be simpler, more visual and more humanized. When the set of control system enters an actual factory, the automation degree of the factory is greatly improved, the enterprise is saved, meanwhile, the cost is reduced, and the improvement of the production efficiency also helps the health of workers to a certain extent.
Specifically, the touch display screen can adopt Kunlun Tong TPC7062Ti.
Specifically, the manual working mode can be selected by touching the display screen starting device to monitor the overall operation condition of the control system, and parameters such as speed, acceleration and deceleration time, operation mode and rotating speed of the servo controller can be set to control the working state of the servo motor.
On the basis of example 1, example 8: the PLC is also used for detecting whether the feeding trolley is at a feeding origin when the feeding sequence is determined to be completed, and if not, generating a reset signal and sending the reset signal to the driving device;
the driving device is also used for driving the feeding car to return to the feeding origin according to the reset signal.
Example 9 on the basis of examples 1 to 8: in the system, the connection relation of each part can be in a wireless and wired matching way. For example:
the system further comprises a first wireless communication device and a second wireless communication device, the first wireless communication device is arranged on the feeding trolley and is in line connection with the driving device, the second wireless communication device is arranged at the rear end and is in line connection with the PLC, and the first wireless communication device is in wireless connection with the second wireless communication device.
Specifically, the first wireless communication device and the second wireless communication device are LoRa RTU wireless communication modules, and form a local area network through the LoRa RTU wireless communication modules by using an RS485 communication mode.
On the basis of examples 1 to 8, example 10: as shown in fig. 7, the system further comprises a warning lamp, the warning lamp is installed on the feeding car and is connected with the driving device through a line, and the warning lamp gives an alarm according to the starting of the driving device.
Specifically, PLC controller controls cylinder and alarm lamp through loRa RTU wireless communication module's switching value, and the closing of cylinder control feed carriage door, alarm lamp and feed carriage simultaneous working. The model of the LoRa wireless communication module can adopt a ZSLR311 LoRa RTU module.
The alarm lamp is installed on the outer wall of the feeding car body and works simultaneously when the feeding car is started, and the alarm lamp reminds workers not to be close to the feeding car when the feeding car is in operation so as to avoid being damaged by collision of the feeding car.
Specifically, the system also comprises a 24V direct current power supply for supplying power to the PLC, and indicator lamps and buttons for starting, stopping and scramming are also arranged on the power supply.
Specifically, a control cabinet is equipped with by the stack pallet itself, contains receiving terminal, switching power supply, servo controller, alarm lamp etc. of loRa module. The switching power supply provides 24V power for alarm lamp and loRa, and servo motor and servo controller connect U, V, W three-phase line. And the LoRa receiving end is connected with the servo controller through RS 485. Wherein the switching value of LoRa connects warning light and cylinder respectively.
Example 11: as shown in fig. 5, a multi-station feeding control method includes the following steps:
the ultrasonic sensor collects the height value of the residual material body from the corresponding material box, and generates a feeding signal according to the height value of the residual material body;
the PLC controller determines a feeding sequence from all the residual material body height values according to the feeding signals, and generates a control quantity corresponding to at least one material box to be fed according to the feeding sequence;
the driving device drives the feeding car to run from the feeding origin to the material box to be fed according to the control quantity;
and when the materials arrive, the material feeding car feeds materials to the material box to be fed.
The process of generating the control quantity corresponding to at least one material box to be fed according to the feeding sequence comprises the following steps:
s1: determining a current feed box to be fed according to the feeding sequence;
s2: calling a pre-selected loaded fuzzy controller, constructing a quantization factor error e (k) and an error change rate ec (k), inputting the quantization factor error e (k) and the error change rate ec (k) into the fuzzy controller as input quantities of the fuzzy controller, and outputting a control quantity U through the fuzzy controller; wherein e (k) = r-y, ec (k) = [ e (k) -e (k-1) ]/T, r is a preset reference height given value of the material level, y is an actual feedback value of the material level height, k is the current moment, k-1 is the previous moment, and T is the sampling time of the ultrasonic sensor;
s3: and determining whether the feeding of each material box to be fed is finished or not from the feeding sequence, if not, returning to execute S1, and if so, exiting.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (6)
1. A multi-station feeding control system is characterized by comprising a feeding car, a plurality of ultrasonic sensors, a plurality of material boxes, a driving device and a PLC (programmable logic controller), wherein the feeding car is arranged at the front end of the feeding car;
the ultrasonic sensors are correspondingly arranged on the station where each material box is located one by one, the ultrasonic sensors collect the height values of the residual materials from the corresponding material boxes, and feeding signals are generated according to the height values of the residual materials;
the PLC is used for determining a feeding sequence from all the residual material body height values according to the feeding signals and generating a control quantity corresponding to at least one material box to be fed according to the feeding sequence;
the driving device is arranged on the feeding trolley and used for driving the feeding trolley to move from a feeding origin to a material box to be fed according to the control quantity;
when the materials arrive, the feeding car feeds the materials to be fed into the material box;
in the PLC controller, the process of determining the feeding sequence from all the remaining material height values according to the feeding signal includes:
when a feeding signal is received, respectively comparing each residual material body height value with a preset feeding critical value, if the residual material body height value is smaller than the preset feeding critical value, retaining the residual material body height value, and otherwise, rejecting the residual material body height value;
sequencing the height values of the remained residual material bodies according to a rule that the numerical values are from small to large, and sequentially determining the feeding sequence of each feeding car according to the sequence from the first position to the last position of the sequencing;
in the PLC, the process of generating the control quantity corresponding to at least one material box to be fed according to the feeding sequence comprises the following steps:
s1: determining a current feed box to be fed according to the feeding sequence;
s2: calling a pre-selected loaded fuzzy controller, constructing a quantization factor error e (k) and an error change rate ec (k), inputting the quantization factor error e (k) and the error change rate ec (k) into the fuzzy controller as input quantities of the fuzzy controller, and outputting a control quantity U through the fuzzy controller; wherein e (k) = r-y, ec (k) = [ e (k) -e (k-1) ]/T, r is a preset reference height given value of the material level, y is an actual feedback value of the material level height, k is the current time, k-1 is the previous time, T is the sampling time of the ultrasonic sensor, and the control quantity U is the speed of the servo controller for controlling the feeding car;
s3: and determining whether the feeding of each material box to be fed is finished or not from the feeding sequence, if not, returning to execute S1, and if so, exiting.
2. The multi-station feeding control system according to claim 1, wherein the driving device comprises a conveying track, a servo controller and a servo motor, the track is laid on a path passing through each material box, the feeding car is connected to the track in a rolling mode through a wheel transmission device installed at the bottom, the servo controller and the servo motor are installed on the feeding car, the servo controller is connected with the servo motor in a line mode, the wheel transmission device is connected with an output end of the servo motor, the servo controller receives control quantity sent by the PLC controller and controls the servo motor to drive the feeding car to move from a feeding origin to a material box to be fed according to the control quantity.
3. The multi-station feeding control system according to claim 2, further comprising a plurality of limit switches, wherein the limit switches are respectively installed on the conveying track and located at each material box, the PLC is wirelessly connected with the limit switches, the limit switches are used for sending an alignment signal to the PLC when the material conveying trolley is aligned with a box opening of a material box to be fed, and the PLC generates an opening signal for opening a discharge door of the material conveying trolley according to the alignment signal.
4. The multi-station feeding control system according to claim 3, wherein the driving device further comprises an air cylinder, and the air cylinder is mounted on the feeding car and is in transmission connection with a discharge port bin gate of the feeding car;
the cylinder drives a discharge port bin gate of the feeding car to be opened for feeding according to the opening signal, when feeding is completed, the cylinder drives the discharge port bin gate of the feeding car to be closed and sends a feeding completion signal to the PLC, the PLC generates a return signal according to the feeding completion signal and sends the return signal to the servo controller, and the servo controller controls the servo motor to drive the feeding car to return to a feeding origin according to the return signal.
5. The multi-station feeding control system according to claim 1, further comprising a touch display screen, wherein the touch display screen is arranged at the rear end and is in line connection with the PLC, the touch display screen is used for acquiring feeding car operating parameters input by a user, and the PLC is further used for sending the feeding car operating parameters to the driving device so as to control the operating state of the feeding car;
the touch display screen is also used for displaying the height values of the residual materials of the workbins sent by the PLC.
6. The multi-station feeding control system according to claim 1, wherein the PLC is further configured to detect whether the feeding cart is at a feeding origin point when the feeding sequence is determined to be completed, and if not, generate a reset signal and send the reset signal to the driving device;
the driving device is also used for driving the feeding car to return to the feeding origin according to the reset signal.
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| JP2832767B2 (en) * | 1991-06-18 | 1998-12-09 | アンリツ株式会社 | Distributed feeder |
| CN201069529Y (en) * | 2007-07-17 | 2008-06-04 | 鞍山广联科技发展有限公司 | Wireless communication control system for automatic cloth machine |
| CN201322855Y (en) * | 2008-11-21 | 2009-10-07 | 长沙有色冶金设计研究院 | Laser-location automatic feeding control system |
| CN107381086A (en) * | 2017-08-14 | 2017-11-24 | 江苏省冶金设计院有限公司 | One kind movement falls mine car automatic blanking control system and its control method |
| CN108000720A (en) * | 2017-12-01 | 2018-05-08 | 朱旭 | A kind of control system and monitoring method for concrete automatic discharging |
| CN109832207A (en) * | 2019-03-21 | 2019-06-04 | 无锡职业技术学院 | A kind of animal intelligence feeding system |
| CN210456700U (en) * | 2019-03-26 | 2020-05-05 | 郑州三和水工机械有限公司 | Aggregate conveying coordinate and material level system based on laser ranging |
| CN111522265A (en) * | 2020-04-03 | 2020-08-11 | 湖南工程学院 | Remote control system and method for limestone conveying trolley and material level monitoring |
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