CN113959183B - Freeze dryer plate position control method and system - Google Patents
Freeze dryer plate position control method and system Download PDFInfo
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- CN113959183B CN113959183B CN202111364504.8A CN202111364504A CN113959183B CN 113959183 B CN113959183 B CN 113959183B CN 202111364504 A CN202111364504 A CN 202111364504A CN 113959183 B CN113959183 B CN 113959183B
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- 230000001276 controlling effect Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
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- 230000008569 process Effects 0.000 description 7
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B5/00—Drying solid materials or objects by processes not involving the application of heat
- F26B5/04—Drying solid materials or objects by processes not involving the application of heat by evaporation or sublimation of moisture under reduced pressure, e.g. in a vacuum
- F26B5/06—Drying solid materials or objects by processes not involving the application of heat by evaporation or sublimation of moisture under reduced pressure, e.g. in a vacuum the process involving freezing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
- F26B25/001—Handling, e.g. loading or unloading arrangements
- F26B25/003—Handling, e.g. loading or unloading arrangements for articles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
- F26B25/02—Applications of driving mechanisms, not covered by another subclass
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
- F26B25/06—Chambers, containers, or receptacles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
- F26B25/06—Chambers, containers, or receptacles
- F26B25/14—Chambers, containers, receptacles of simple construction
- F26B25/18—Chambers, containers, receptacles of simple construction mainly open, e.g. dish, tray, pan, rack
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Abstract
The invention discloses a freeze dryer plate position control method and a freeze dryer plate position control system, wherein the method comprises the following steps: acquiring the current distance between a freeze dryer plate layer and a target position; and matching the current distance with a preset comparison table to obtain a corresponding target speed, changing the current speed of the freeze dryer plate layer to the target speed, and stopping the operation of the freeze dryer plate layer after the freeze dryer plate layer reaches a preset position interval. Wherein the second offset distance is less than or equal to 50% of the first offset distance, and the second speed is less than or equal to 50% of the first speed; the third offset distance is less than or equal to 20% of the first offset distance, and the third speed is less than or equal to 20% of the first speed; the fourth speed is less than or equal to 15% of the first speed. Compared with the existing two-stage speed control method, the speed reduction distance and the speed reduction time are shortened by adopting a multi-stage speed control mode, and the positioning accuracy of the freeze dryer plate layer is improved.
Description
Technical Field
The invention relates to control of a freeze dryer, in particular to a method and a system for controlling the position of a plate layer of the freeze dryer.
Background
The hydraulic system on the freeze dryer is used for controlling the lifting of the plate layer. As shown in fig. 1, an oil cylinder 4 is installed on a cold trap seal head above a freeze-drying box, a feeding and discharging bridge plate 3 and a freeze-drying machine plate layer 2 are arranged in the freeze-drying box, when a hydraulic pump runs and a lifting coil of a plate layer lifting electromagnetic directional valve is electrified, pressure oil enters the lower part of a press-plug hydraulic cylinder through a flow regulating valve and a check valve of a balance valve, a piston and a piston rod are pushed to move upwards to drive the freeze-drying machine plate layer 2 to ascend, and the oil above the piston returns to an oil tank through the flow regulating valve and the electromagnetic directional valve; when the hydraulic pump operates and the descending coil of the plate layer lifting electromagnetic directional valve is electrified, pressure oil enters the upper part of the oil cylinder 4 through the flow regulating valve, the piston and the piston rod are pushed to move downwards, the plate layer 2 of the freeze dryer is driven to descend, the small bottle can be pressed and plugged, and the oil below the piston returns to the oil tank through the flow regulating valve and the electromagnetic directional valve after the set pressure of the balance valve is overcome.
The freeze dryer has higher requirements on the positioning precision of the plate layer. When carrying out automatic business turn over material, need freeze dryer sheet layer 2 and business turn over material bridge plate 3 accurate butt joint, can take place serious accident when the butt joint is incorrect, for example freeze dryer sheet layer 2 and business turn over material bridge plate 3 bump, harm equipment. When CIP washs, need freeze dryer sheet layer 2 and nozzle 1 accurate butt joint, if the location is inaccurate, nozzle 1 can't wash freeze dryer sheet layer 2 comprehensively, leads to the equipment to be not conform to the production demand. Accurate positioning can be accomplished when the current freeze dryer sheet layer 2 moves under the unloaded condition, but when going up and down under the loaded condition, because the influence of load can lead to the inaccurate positioning, and the drunkenness makes a round trip near the target location.
At present, a two-stage speed control method is adopted to control the positioning of a freeze dryer plate layer, namely, the freeze dryer plate layer is controlled to run at a higher speed outside a set distance of a target position, and the freeze dryer plate layer is controlled to run at a lower speed within the set distance of the target position. The control method cannot meet the requirements of freeze dryer plate layer positioning of all working conditions and all machine types, and because the inertia of the hydraulic system is large, when switching from high speed to low speed, the plate layer movement needs a long deceleration buffer interval. If the low-speed interval is not long, the slab layer can exceed the target position far because of inertia when being switched from high speed to low speed, the positioning is inaccurate, and the consumed time is long. If the low-speed operation interval is set to meet the requirement of inertia buffering, the operation period is longer due to the overlong low-speed interval. The continuous operation time of the hydraulic system is long, the oil temperature is too high, the plate layer is settled due to the too high oil temperature, and the positioning is more inaccurate.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a freeze dryer plate position control method comprises the following steps:
s1) acquiring the current distance between a freeze dryer plate layer and a target position;
s2) matching the current distance with a preset comparison table to obtain a corresponding target speed, changing the running speed of the freeze dryer plate layer to the target speed, wherein the comparison table comprises at least four continuously arranged distance intervals, and returning to the step S1) until the current distance is less than or equal to the distance between the target position and a preset stop position;
and S3) stopping the operation of the freeze dryer plate layer.
Further, the step S2) of matching the current distance with a preset comparison table to obtain a corresponding target speed specifically includes:
if the current distance is in a first distance interval, the target speed is a first speed, and the lower limit of the first distance interval is a preset first offset distance;
if the current distance is in a second distance interval, the target speed is a second speed, the lower limit of the second distance interval is a preset second offset distance, the upper limit of the second distance interval is a first distance interval lower limit, the second offset distance is smaller than or equal to 50% of the first offset distance, and the second speed is smaller than or equal to 50% of the first speed;
if the current distance is in a third distance interval, the target speed is a third speed, the lower limit of the third distance interval is a preset third offset distance, the upper limit of the third distance interval is a second distance interval lower limit, the third offset distance is less than or equal to 20% of the first offset distance, and the third speed is less than or equal to 20% of the first speed;
if the current distance is in a fourth distance interval, the target speed is a fourth speed, the lower limit of the fourth distance interval is the distance between the target position and the stop position, the upper limit of the fourth distance interval is the lower limit of the third distance interval, and the fourth speed is less than or equal to 15% of the first speed;
if the current distance is smaller than the distance between the target position and the stop position, the target speed is 0, the lower limit of the position interval is 0, and the upper limit of the position interval is a preset threshold.
Further, changing the freeze dryer sheet layer from the current speed to the target speed in step S2) specifically includes:
if the current distance and the previous distance are in the same interval, keeping the current speed of the freeze dryer plate layer unchanged;
if the current distance and the previous distance are in different distance intervals and the current distance is in a first distance interval, accelerating or decelerating the freeze dryer plate layer to reach a first speed, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a first offset distance;
if the current distance and the previous distance are in different distance intervals and the current distance is in a second distance interval, accelerating or decelerating the freeze dryer plate layer to reach a second speed, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a second offset distance;
if the current distance and the previous distance are in different distance intervals and the current distance is in a third distance interval, accelerating or decelerating the freeze dryer plate layer to reach a third speed, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a third offset distance;
if the current distance and the previous distance are in different distance intervals and the current distance is in a fourth distance interval, accelerating or decelerating the freeze dryer plate layer to a fourth speed, wherein the distance of accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and the lower limit of the fourth distance interval;
if the current distance and the previous distance are in different distance intervals and the current distance is smaller than the distance between the target position and the stop position, decelerating the freeze dryer plate layer to stop running, wherein the deceleration distance of the freeze dryer plate layer is the current distance.
Further, the first offset distance is 100mm, and the first speed is full speed.
Further, the second offset distance is 50mm, and the second speed is 50% of the first speed.
Further, the third offset distance is 20mm, and the third speed is 18% of the first speed.
Further, the fourth speed is 14% of the first speed.
The invention also provides a freeze dryer plate position control system, which comprises:
the data acquisition unit is used for acquiring the current distance between the freeze dryer plate layer and the target position;
and the plate layer driving unit is used for matching the current distance with a preset comparison table to obtain a corresponding target speed, changing the plate layer of the freeze dryer from the current speed to the target speed, and stopping the operation of the plate layer of the freeze dryer when the current distance is less than or equal to the distance between the target position and a preset stop position.
The present invention further provides a freeze dryer system, comprising:
the nozzle is used for cleaning the freeze dryer plate layer;
the bridge plate is used for feeding or discharging materials to the freeze dryer plate layer;
the freeze dryer plate layer is used for bearing materials;
the oil cylinder is used for providing pressure oil for the freeze dryer plate layer;
the flow regulating valve is used for regulating the flow of the pressure oil;
a displacement sensor for acquiring the distance between the freeze dryer plate layer and the nozzle or the bridge plate;
and the valve control unit is used for matching the distance between the freeze dryer plate layer and the nozzle or the bridge plate with a preset comparison table to obtain a corresponding target speed, controlling the opening of the flow regulating valve to be increased or decreased so as to change the freeze dryer plate layer from the current speed to the target speed, and stopping the operation of the freeze dryer plate layer when the current distance is less than or equal to the distance between the target position and the preset stop position.
The present invention also proposes a computer-readable storage medium storing a computer program programmed or configured to perform the lyophilizer plate position control method.
Compared with the prior art, the invention has the advantages that:
compared with the conventional two-section control method, the method has the advantages that multi-section speed control is performed, on one hand, a speed reduction buffer interval from high speed to low speed can be provided, on the other hand, under partial conditions, the distance between the running starting position and the target position of the freeze dryer plate layer is larger than the lowest-speed running interval and smaller than the full-speed running interval, the hydraulic system of the freeze dryer does not run at full speed, the running speed can be guaranteed by adopting multi-section speed control, the freeze dryer plate layer under the condition has a relatively high running speed, the running time is reduced, and the locating time of the running period is short.
In addition, different freeze dryer models are different, the pressure of a hydraulic system is different, the plate layer loads of the freeze dryers are also different, and the speed reduction distance required by the plate layers of the freeze dryers and the speed of the plate layers of the freeze dryers during high-speed and low-speed operation are different.
Drawings
Fig. 1 is a schematic structural diagram of a freeze dryer and a hydraulic system thereof.
Fig. 2 is a flowchart of a first embodiment of the present invention.
Fig. 3 is a graph of the speed of the freeze dryer platen and the distance from the target location in accordance with one embodiment of the present invention.
Fig. 4 is a schematic diagram of the distance intervals when the freeze dryer plate layer moves upward according to the second embodiment of the present invention.
Fig. 5 is a schematic diagram of the distance intervals when the freeze dryer plate layer moves downward according to the second embodiment of the present invention.
Illustration of the drawings: 1-nozzle, 2-freeze dryer plate layer, 3-feeding and discharging bridge plate and 4-oil cylinder.
Detailed Description
The invention is further described below with reference to the drawings and the specific preferred embodiments, without thereby limiting the scope of protection of the invention.
Example one
As shown in fig. 2, this embodiment provides a method for controlling the position of a plate layer of a freeze dryer, which includes the following steps:
s1) obtaining the current distance between a freeze dryer plate layer and a target position;
s2) matching the current distance with a preset comparison table to obtain a corresponding target speed, changing the running speed of the freeze dryer plate layer to the target speed, wherein the comparison table comprises at least four continuously arranged distance intervals, and returning to the step S1) until the current distance is less than or equal to the distance between the target position and a preset stop position;
and S3) stopping the operation of the freeze dryer plate layer.
Through the steps, the speed of the freeze dryer plate layer is controlled in multiple sections in the embodiment, when the freeze dryer plate layer is lifted under the load condition, through speed regulation under multiple distance intervals, more accurate control can be performed compared with the existing two-section control method, because of the existence of the multiple distance intervals, when the freeze dryer plate layer is close to a target position in the lifting process, more deceleration buffer intervals exist, when the freeze dryer plate layer is close to the target position, an obvious low-speed control process exists, and positioning can be accurately performed.
As shown in fig. 2 and fig. 3, in this embodiment, the step S2) of matching the current distance with a preset comparison table to obtain a corresponding target speed specifically includes:
if the current distance is in a first distance interval, the target speed is a first speed V1, and the lower limit of the first distance interval is a preset first offset distance D + S1;
if the current distance is in a second distance interval, the target speed is a second speed V2, the lower limit of the second distance interval is a preset second offset distance D + S2, the upper limit of the second distance interval is a first distance interval lower limit D + S1, the second offset distance D + S2 is less than or equal to 50% of the first offset distance D + S1, and the second speed V2 is less than or equal to 50% of the first speed V1;
if the current distance is in a third distance interval, the target speed is a third speed V3, the lower limit of the third distance interval is a preset third offset distance D + S3, the upper limit of the third distance interval is a second distance interval lower limit D + S2, the third offset distance D + S3 is less than or equal to 20% of the first offset distance D + S1, and the third speed V3 is less than or equal to 20% of the first speed V1;
if the current distance is in a fourth distance interval, the target speed is a fourth speed V4, the lower limit of the fourth distance interval is the distance D between the target position and the stop position, the upper limit of the fourth distance interval is a third distance interval lower limit D + S3, and the fourth speed V4 is less than or equal to 15% of the first speed V1;
if the current distance is smaller than the distance D between the target position and the stop position, the target speed is 0, the lower limit of the position interval is 0, and the upper limit of the position interval is a preset threshold value.
In this embodiment, considering that the freeze dryer will run for a period of time according to inertia even after the plate speed is 0, a stop position is provided near the target position, and the distance D between the target position and the stop position can be adjusted according to actual needs, and is generally 10mm.
From the actual operation, we have found that the freeze dryer plate layers under load, from high speed to low speed operation, require a buffer interval of about 50mm to 80mm, whereby the settings for the above parameters are as follows:
s1 is 100mm, the first speed V1 is full speed, namely when the current distance between a freeze dryer plate layer and a target position is greater than D +100mm, the freeze dryer plate layer is controlled to run at full speed;
s2 is 50mm, and the second speed V2 is 50% of the full speed, namely when the current distance between the freeze dryer plate layer and the target position is less than D +100mm and more than D +50mm, controlling the freeze dryer plate layer to operate at 50% of the full speed;
s3 is 20mm, and the third speed V3 is 18% of the full speed, namely when the current distance between the freeze dryer plate layer and the target position is less than D +50mm and more than D +20mm, controlling the freeze dryer plate layer to operate at 18% of the full speed;
the fourth speed V4 is 14% of the full speed, namely when the current distance between the freeze dryer plate layer and the target position is less than D +20mm and greater than D, the freeze dryer plate layer is controlled to run at 14% of the full speed;
and when the current distance between the freeze dryer plate layer and the target position is less than D, controlling the freeze dryer plate layer to stop running.
Through the setting of above-mentioned parameter, this embodiment has guaranteed hydraulic system at freeze dryer plate layer positioning process, high-speed operation outside the buffer interval to hydraulic system's performance has been utilized to the high efficiency. Set up a plurality of distance intervals, and set up different speed to slow down to every distance interval, there are two important effects, firstly, for hydraulic system drive freeze dryer sheet layer by high-speed to low-speed operation provide fine speed reduction buffer interval, secondly under some circumstances, freeze dryer sheet layer initial position and target position distance of operation are greater than the interval of the lowest speed operation, be less than the interval of full speed operation again, the freeze dryer sheet layer does not get into full speed operation this moment, set up a plurality of distance intervals and let the freeze dryer sheet layer under this kind of circumstances select comparatively reasonable functioning speed, reduce the operating time, the operating cycle positioning time is shorter.
Because different freeze dryer models are different, the hydraulic system pressure is different, the performance of a proportional valve for driving a hydraulic system to operate is different, the plate layer loads of freeze dryers of different models are different, and the hydraulic system performance is different, so that the required buffer distance of the plate layer is different from the high-speed and low-speed operation speeds of the plate layer operation, and different speeds corresponding to a plurality of distance intervals adopted in the embodiment can provide corresponding distance intervals and target speeds for freeze dryers at various deceleration starting positions, and can cope with the condition of inconsistent equipment performance, specifically, the first speed V1, the second speed V2, the third speed V3, the fourth speed V4, the first offset distance D + S1, the second offset distance D + S2 and the third offset distance D + S3 can be adjusted according to experience and actual working conditions to adapt to various equipment and various conditions.
In this embodiment, in order to prevent that the freeze dryer plate layer is continuously decelerated in each distance interval, which causes the oil temperature to be too high, so that the positioning is inaccurate, the changing the freeze dryer plate layer from the current speed to the target speed in step S2) specifically includes:
if the current distance and the previous distance are in the same interval, keeping the current speed of the freeze dryer plate layer unchanged;
if the current distance and the previous distance are in different distance intervals and the current distance is in a first distance interval, accelerating or decelerating the freeze dryer plate layer to reach a first speed V1, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a first offset distance D + S1;
if the current distance and the previous distance are in different distance intervals and the current distance is in a second distance interval, accelerating or decelerating the freeze dryer plate layer to reach a second speed V2, wherein the distance of accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a second offset distance D + S2;
if the current distance and the previous distance are in different distance intervals and the current distance is in a third distance interval, accelerating or decelerating the freeze dryer plate layer to reach a third speed V3, wherein the distance of accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a third offset distance D + S3;
if the current distance and the previous distance are in different distance intervals and the current distance is in a fourth distance interval, accelerating or decelerating the freeze dryer plate layer to reach a fourth speed V4, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and the lower limit D of the fourth distance interval;
if the current distance and the previous distance are in different distance intervals, and the current distance is smaller than the distance D between the target position and the stop position, the freeze dryer plate layer is decelerated to stop running, and the deceleration distance of the freeze dryer plate layer is the current distance.
As shown in fig. 3, through the above steps, the freeze dryer plate layer can have a distance of uniform motion in each distance interval, so that the oil temperature rise caused by continuous deceleration is avoided, and the freeze dryer plate layer positioning is not affected by the oil temperature.
This embodiment also provides a freeze dryer slab layer position control system, includes:
the data acquisition unit is used for acquiring the current distance between the freeze dryer plate layer and the target position;
and the plate layer driving unit is used for matching the current distance with a preset comparison table to obtain a corresponding target speed, changing the plate layer of the freeze dryer from the current speed to the target speed, and stopping the operation of the plate layer of the freeze dryer when the current distance is less than or equal to the distance between the target position and a preset stop position.
The present embodiment also provides a computer readable storage medium storing a computer program programmed or configured to perform the lyophilizer plate position control method.
The corresponding initial speed is selected according to the distance between the initial position of the freeze dryer plate layer and the target position, the distance between the freeze dryer plate layer and the target position is judged in real time, the speed is reduced section by section, the positioning is accurate, and the beneficial effects are as follows:
1. the multi-section speed control mode can effectively realize the accurate positioning control of the freeze dryer plate layer, better realize the process requirements of automatic feeding and discharging and CIP positioning cleaning, and provide a technical basis for the development of the freeze drying process.
2. The speed and the sectional distance can be flexibly adjusted, and the method can be widely applied to hydraulic control systems of different machine types by combining empirical parameters of equipment debugging.
3. The various operating modes of the freeze dryer process can be better coped with, and obvious low-speed interval accurate positioning is realized after multi-stage speed regulation.
4. The freeze dryer plate layer moves at a proper speed according to the distance, and the freeze dryer is suitable for all working conditions and all machine types.
Example two
This embodiment proposes a freeze dryer system based on the embodiment one, includes:
the nozzle is used for cleaning the freeze dryer plate layer;
the bridge plate is used for feeding or discharging materials to the freeze dryer plate layer;
the freeze dryer plate layer is used for bearing materials;
the oil cylinder is used for providing pressure oil for the freeze dryer plate layer;
the flow regulating valve is used for regulating the flow of the pressure oil;
the displacement sensor is used for acquiring the distance between the freeze dryer plate layer and the nozzle or the bridge plate;
and the valve control unit is used for matching the distance between the freeze dryer plate layer and the nozzle or the bridge plate with a preset comparison table to obtain a corresponding target speed, controlling the flow regulating valve to increase or decrease the opening degree so as to change the freeze dryer plate layer from the current speed to the target speed, and stopping the operation of the freeze dryer plate layer when the current distance is less than or equal to the distance between the target position and the preset stop position.
Taking the positioning of the freeze dryer plate layer and the bridge plate as an example, the specific working process of the freeze dryer system of the present embodiment is described:
as shown in fig. 4, when the freeze dryer plate layer moves upward, the displacement sensor obtains the distance between the freeze dryer plate layer and the bridge plate, when the distance is greater than D + S1, the valve control unit controls the flow regulating valve to increase the opening degree so as to change the speed of the freeze dryer plate layer from the current speed to the full speed, when the distance is less than D + S1 and greater than D + S2, the valve control unit controls the flow regulating valve to decrease the opening degree so as to change the speed of the freeze dryer plate layer from 50% of the full speed to 18% of the full speed, when the distance is less than D + S2 and greater than D + S3, the valve control unit controls the flow regulating valve to decrease the opening degree so as to change the speed of the freeze dryer plate layer from 18% of the full speed to 14% of the full speed, when the distance is less than D + S3 and greater than D, the valve control unit controls the flow regulating valve to close so as to decrease the speed of the freeze dryer plate layer from 14% of the full speed to 0, so that the freeze dryer plate layer stops and the freeze dryer plate layer is positioned within the tolerance range.
Similarly, as shown in fig. 5, when the freeze dryer plate layer moves downward, the displacement sensor obtains the distance between the freeze dryer plate layer and the bridge plate, and when the distance is greater than D + S1, the valve control unit controls the flow control valve to increase the opening degree so as to change the freeze dryer plate layer from the current speed to the full speed operation, and when the distance is less than D + S1 and greater than D + S2, the valve control unit controls the flow control valve to decrease the opening degree so as to change the speed of the freeze dryer plate layer from the full speed to 50% of the full speed, when the distance is less than D + S2 and greater than D + S3, the valve control unit controls the flow control valve to continuously decrease the opening degree so as to change the speed of the freeze dryer plate layer from 18% of the full speed to 18% of the full speed, and when the distance is less than D + S3 and greater than D, the valve control unit controls the flow control valve to close so as to decrease the speed of the freeze dryer plate layer from 14% of the full speed to 0, so that the freeze dryer plate layer stops operating within an acceptable error range of the freeze dryer plate layer and the freeze dryer plate is positioned within an acceptable error range.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention, unless the technical essence of the present invention departs from the content of the technical solution of the present invention.
Claims (9)
1. A freeze dryer plate position control method is characterized by comprising the following steps:
s1) obtaining the current distance between a freeze dryer plate layer and a target position;
s2) matching the current distance with a preset comparison table to obtain a corresponding target speed, changing the running speed of the freeze dryer plate layer to the target speed, wherein the comparison table comprises at least four continuously arranged distance intervals, and returning to the step S1) until the current distance is less than or equal to the distance between the target position and a preset stop position;
the step of matching the current distance with a preset comparison table to obtain a corresponding target speed specifically includes:
if the current distance is within a first distance interval, the target speed is a first speed, and the lower limit of the first distance interval is a preset first offset distance;
if the current distance is within a second distance interval, the target speed is a second speed, the lower limit of the second distance interval is a preset second offset distance, the upper limit of the second distance interval is a first distance interval lower limit, the second offset distance is smaller than or equal to 50% of the first offset distance, and the second speed is smaller than or equal to 50% of the first speed;
if the current distance is within a third distance interval, the target speed is a third speed, the lower limit of the third distance interval is a preset third offset distance, the upper limit of the third distance interval is a second distance interval lower limit, the third offset distance is smaller than or equal to 20% of the first offset distance, and the third speed is smaller than or equal to 20% of the first speed;
if the current distance is within a fourth distance interval, the target speed is a fourth speed, the lower limit of the fourth distance interval is the distance between the target position and the stop position, the upper limit of the fourth distance interval is the lower limit of the third distance interval, and the fourth speed is less than or equal to 15% of the first speed;
if the current distance is smaller than the distance between the target position and the stop position, the target speed is 0, the lower limit of the interval of the distance between the target position and the stop position is 0, and the upper limit of the interval is a preset threshold;
s3) stopping the operation of the freeze dryer plate layer.
2. The method for controlling the position of the freeze dryer plate layer according to claim 1, wherein the changing the operation speed of the freeze dryer plate layer to the target speed in the step S2) specifically comprises:
if the current distance and the previous distance are in the same interval, keeping the current speed of the freeze dryer plate layer unchanged;
if the current distance and the previous distance are in different distance intervals and the current distance is in a first distance interval, accelerating or decelerating the freeze dryer plate layer to reach a first speed, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a first offset distance;
if the current distance and the previous distance are in different distance intervals and the current distance is in a second distance interval, accelerating or decelerating the freeze dryer plate layer to reach a second speed, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a second offset distance;
if the current distance and the previous distance are in different distance intervals and the current distance is in a third distance interval, accelerating or decelerating the freeze dryer plate layer to reach a third speed, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and a third offset distance;
if the current distance and the previous distance are in different distance intervals and the current distance is in a fourth distance interval, accelerating or decelerating the freeze dryer plate layer to a fourth speed, wherein the distance for accelerating or decelerating the freeze dryer plate layer is smaller than the length difference between the current distance and the lower limit of the fourth distance interval;
and if the current distance and the previous distance are in different distance intervals and the current distance is smaller than the distance between the target position and the stop position, decelerating the freeze dryer plate layer to stop running, wherein the deceleration distance of the freeze dryer plate layer is the current distance.
3. The method of claim 1 or 2, wherein the first offset distance is 100mm and the first speed is full speed.
4. The method of claim 1 or 2, wherein the second offset distance is 50mm and the second speed is 50% of the first speed.
5. The lyophilizer plate position control method of claim 1 or 2, characterized in that said third offset distance is 20mm and said third speed is 18% of the first speed.
6. The lyophilizer plate position control method of claim 1 or 2, characterized in that said fourth speed is 14% of the first speed.
7. A freeze dryer deck position control system, comprising:
the data acquisition unit is used for acquiring the current distance between the freeze dryer plate layer and the target position;
the plate layer driving unit is used for matching the current distance with a preset comparison table to obtain a corresponding target speed, changing the running speed of the freeze dryer plate layer to the target speed, stopping the running of the freeze dryer plate layer when the current distance is smaller than or equal to the distance between a target position and a preset stop position, and matching the current distance with the preset comparison table to obtain the corresponding target speed specifically comprises:
if the current distance is within a first distance interval, the target speed is a first speed, and the lower limit of the first distance interval is a preset first offset distance;
if the current distance is within a second distance interval, the target speed is a second speed, the lower limit of the second distance interval is a preset second offset distance, the upper limit of the second distance interval is a first distance interval lower limit, the second offset distance is smaller than or equal to 50% of the first offset distance, and the second speed is smaller than or equal to 50% of the first speed;
if the current distance is within a third distance interval, the target speed is a third speed, the lower limit of the third distance interval is a preset third offset distance, the upper limit of the third distance interval is a second distance interval lower limit, the third offset distance is less than or equal to 20% of the first offset distance, and the third speed is less than or equal to 20% of the first speed;
if the current distance is within a fourth distance interval, the target speed is a fourth speed, the lower limit of the fourth distance interval is the distance between the target position and the stop position, the upper limit of the fourth distance interval is the lower limit of the third distance interval, and the fourth speed is less than or equal to 15% of the first speed;
if the current distance is smaller than the distance between the target position and the stop position, the target speed is 0, the lower limit of the interval of the distance between the target position and the stop position is 0, and the upper limit of the interval is a preset threshold.
8. A lyophilizer system, comprising:
the nozzle is used for cleaning the freeze dryer plate layer;
the bridge plate is used for feeding or discharging the freeze dryer plate layer;
the freeze dryer plate layer is used for bearing materials;
the oil cylinder is used for providing pressure oil for the freeze dryer plate layer;
the flow regulating valve is used for regulating the flow of the pressure oil;
a displacement sensor for acquiring the distance between the freeze dryer plate layer and the nozzle or the bridge plate;
and the valve control unit is used for matching the distance between the freeze dryer plate layer and the nozzle or the bridge plate with a preset comparison table to obtain a corresponding target speed, controlling the opening of the flow regulating valve to be increased or decreased, so that the running speed of the freeze dryer plate layer is changed to the target speed, and stopping the running of the freeze dryer plate layer when the current distance is less than or equal to the distance between the target position and the preset stop position.
9. A computer-readable storage medium, characterized in that it stores a computer program programmed or configured to execute the method of controlling the position of a lyophilizer plate layer according to any one of claims 1 to 6.
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| CN112850039A (en) * | 2020-12-31 | 2021-05-28 | 楚天科技股份有限公司 | Automatic positioning control system and method for freeze dryer plate layer |
| CN113394151A (en) * | 2021-01-30 | 2021-09-14 | 宣城睿晖宣晟企业管理中心合伙企业(有限合伙) | Method and device for positioning carrier plate in film forming equipment |
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| EP2999934A1 (en) * | 2013-05-23 | 2016-03-30 | I.M.A. Industria Macchine Automatiche S.p.A. | Device for introducing bottles into a lyophilization chamber |
| CN112320314A (en) * | 2020-11-27 | 2021-02-05 | 河北凡度机械科技有限公司 | Automatic feeding and discharging device and method for freeze-drying plate on freeze dryer |
| CN112466799A (en) * | 2020-12-02 | 2021-03-09 | 北京北方华创微电子装备有限公司 | Method for controlling running speed of lifting mechanism |
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Application publication date: 20220121 Assignee: Changsha Pharmaceutical Equipment Industrial Technology Research Institute Co.,Ltd. Assignor: TRUKING TECHNOLOGY Ltd. Contract record no.: X2023980051833 Denomination of invention: A Method and System for Controlling the Layer Position of Freeze Drying Machine Granted publication date: 20221129 License type: Common License Record date: 20231213 |
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