CN114114916A - Method and system for controlling size of liquid drop in real time - Google Patents
Method and system for controlling size of liquid drop in real time Download PDFInfo
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- CN114114916A CN114114916A CN202111396938.6A CN202111396938A CN114114916A CN 114114916 A CN114114916 A CN 114114916A CN 202111396938 A CN202111396938 A CN 202111396938A CN 114114916 A CN114114916 A CN 114114916A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
Abstract
The invention belongs to the technical field of monitoring of the size of liquid drops in the dropping process of the liquid drops, and discloses a method and a system for controlling the size of the liquid drops in real time. The method comprises the following steps: s1: constructing a liquid drop size feedback control system; s2: setting a target droplet size value; s3: measuring the liquid drops in the dripping process in real time by adopting a laser detection system; s4: and according to the measured data, dynamically regulating the opening of the dripper valve by using a feedback control system to regulate the size of the liquid drop to a target value. The system comprises: the device comprises a dripping device, a laser detection system, an electric actuator and a detection control unit, wherein the laser detection system is used for detecting liquid drop data on line and transmitting the liquid drop data to the detection control unit; the detection control unit carries out real-time feedback control according to the measured value and the set target value; the electric actuator receives the control instruction to control the opening of the dripper valve to regulate the size of the liquid drop. The invention can regulate and control the size of the liquid drop to a set target value in real time, and has the advantages of flexible and simple operation, high response speed, high control precision and good system stability.
Description
Technical Field
The invention belongs to the technical field of monitoring of the size of liquid drops in the dropping process of the liquid drops, and particularly relates to a method and a system for controlling the size of the liquid drops in real time.
Background
The dropping process of the liquid drops has various application scenes, such as dropping pill preparation, microdroplet preparation, ink-jet printing and the like. The size of the liquid drop is a key index for evaluating the liquid drop forming process, because the size directly influences the quality of the product, such as the weight of the drop pill in the preparation process of the drop pill, the uniformity of the printed finished product in ink-jet printing and the like.
The application takes the dropping process of the dropping pill as an application example, and provides a technology capable of controlling the size of the dropping pill drop in real time. The dropping pill is a typical pharmaceutical dosage form, and due to the diversity of the dropping process, the process parameters influencing the size of the liquid drop are more, such as the temperature of liquid medicine in the dropping pill preparation process, the pressure of a medicine tank, the opening degree of a dripper valve and the like. At present, in production, an enterprise mostly judges the dropping state of liquid drops manually according to production experience, the size of the liquid drops is mostly controlled by adopting a traditional balance weighing method after manual sampling, the control effect of the size of the liquid drops is poor, and the efficiency is low.
The prior application patent CN112903508A of the application discloses an on-line detection method of a dripping pill preparation, which utilizes a detection system to measure the width of a liquid drop in the dripping process of the dripping pill; after data processing, the width of the liquid drop is correlated with the weight of the dripping pill, and a model is established; and then, according to the measured liquid drop width, predicting the pill weight of the dropping pill by using a model, and realizing the online detection of the dropping process. The prior patent application only discloses an on-line measuring method of the pill weight of the dropping pill and does not disclose a control method of the size of the dropping pill. The conventional method for artificially controlling the size of the liquid drop has certain hysteresis. Therefore, the technical scheme of the prior patent application CN112903508A is improved and perfected, the application range is further widened on the basis of realizing on-line measurement of the pill weight of the dropping pill, and the purpose of controlling the size of the dropping liquid in real time is realized efficiently and accurately.
The existing chinese patent document CN 202027925U discloses a full-automatic pill dropping machine with an online detection function, which includes a chassis, a drip irrigation device, a pill dropping host of a cooling pill receiving device, a high-speed camera online detection system for capturing and collecting the transient phenomenon from the instant of dropping to the complete forming process in the dropping process of pills in time, a pill dropping machine control system for controlling the heating, stirring, refrigerating or circulating components in the pill dropping host according to the information such as the radius of the dropping process provided by the high-speed camera online detection system, and a condensation column capable of adjusting the length. The technical scheme changes the weight of the dripping pill by increasing or decreasing the length of a lifting condensation column and increasing or decreasing the temperature of a dripping tank, the method needs to control heating, stirring, refrigerating or circulating components in a dripping pill host in real time, the control process is complex, a PLC control method is adopted, the temperature control mode is difficult to control, the control precision and the system stability are poor, the temperature regulation has serious hysteresis, the response speed is slow, the efficiency is low, and the high-efficiency and accurate control of the weight (or size) of the dripping pill is difficult to realize; in addition, the pill weight of the dropping pill is adjusted through the lifting of the condensing column; when the length of the condensation column is reduced, the liquid drops drop elongated filaments to cause small liquid drops to be generated, the original liquid drops are divided into main liquid drops and small liquid drops, and the small liquid drops exist in a micro-pill form, so that the weight of pills generated by the main liquid drops is reduced; after the liquid drops are dripped, the weight of the liquid drops cannot be reversed, and the pill weight of the dripping pills is adjusted by increasing or reducing the length of the condensation column, so that not only is the effective adjustment of the pill weight difficult to realize, but also a large amount of by-product pills are generated, and a large amount of unqualified pills are produced to cause material waste.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the size of a liquid drop in real time aiming at the defects in the prior art, the size of the liquid drop in the dripping process is measured in real time, and the size of the liquid drop is regulated and controlled in real time through setting the size of a target liquid drop, so that the method and the system are flexible and simple to operate, high in response speed and control precision, strong in anti-interference capability and good in system stability.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a method for controlling the size of liquid drops in real time comprises the following steps:
s1: constructing a liquid drop size feedback control system, wherein the feedback control system comprises a laser detection system, an electric actuator and a detection control unit;
s2: setting a target droplet size value;
s3: measuring the liquid drops in the dripping process in real time by adopting a laser detection system;
s4: and according to the measured data, dynamically regulating the opening of a dripper valve of the dripping device by using a feedback control system to regulate the size of the liquid droplet to a target value.
Further, the laser detection system includes a laser transmitter, a laser receiver and a sensor amplifier, and the specific steps of S3 are as follows: the laser detection system utilizes a laser transmitter and a laser receiver to measure the width value of the liquid drop in the dripping process in real time, and transmits the measured data to the detection control unit through a sensor amplifier.
Furthermore, the detection control unit comprises an analysis measurement module and a PI controller; the specific steps of S4 are as follows:
s41: the detection control unit calculates and measures the size of the detected liquid drop through an analysis and measurement module according to the liquid drop width value measured by the laser detection system;
s42: the detection control unit regulates and controls the size of the liquid drop in real time through the PI controller according to result data obtained by calculation of the analysis and measurement module, so that the size of the liquid drop reaches a set target value.
Furthermore, the input signal of the PI controller is a deviation between a target set value of the droplet size and a droplet size value actually measured by the analysis and measurement module, and the output signal of the PI controller is used for controlling the opening of the dripper valve.
Further, the specific step of S42 is: the PI controller sends an output signal to the electric actuator, and the electric actuator rotates the valve rod to control the opening of a dripper valve of the dripping device, so that the size of liquid drops is regulated and controlled in real time.
Further, the control equation of the PI controller is:
wherein KcTo proportional gain, TiFor integral gain, e is the difference between the target set point and the measured value of the drop size at time t, u0Being a constant controllerAnd (4) biasing.
A real-time control system for the size of liquid drops comprises a dropping device and a feedback control system;
the feedback control system comprises a laser detection system, an electric actuator and a detection control unit, and the laser detection system and the electric actuator are both electrically connected with the detection control unit;
the laser detection system is used for detecting liquid drops of the liquid dropping device on line and transmitting the detected data to the detection control unit;
the detection control unit is used for analyzing and processing the liquid drop data measured by the laser detection system, comparing the liquid drop data with a set target value and further sending a control command to the electric actuator;
the electric actuator is used for receiving the command of the detection control unit and rotating the valve rod to control the opening of a dripper valve of the dripping device, so that the size of liquid drops is controlled in real time.
Further, the laser detection system comprises a laser transmitter, a laser receiver and a sensor amplifier; the laser transmitter and the laser receiver are electrically connected with a sensor amplifier, and the sensor amplifier is electrically connected with the detection control unit.
Furthermore, the detection control unit comprises an analysis measurement module and a PI controller, and the analysis measurement module is electrically connected with the PI controller; the detection control unit calculates and measures the size of the detected liquid drop through the analysis and measurement module according to the liquid drop width value measured by the laser detection system, and then outputs a signal to the electric actuator through the PI controller to control the opening degree of the dripper valve, so that the size of the liquid drop is regulated and controlled in real time to reach a set target value.
Furthermore, the input signal of the PI controller is a deviation between a target set value of the droplet size and a droplet size value actually measured by the analysis and measurement module, and the output signal of the PI controller is used for controlling the opening of the dripper valve.
Compared with the prior art, the invention has the following beneficial effects: the invention constructs a liquid drop size feedback control system, can flexibly set a liquid drop size target value according to production requirements, utilizes a laser detection system to measure the width value of a liquid drop in real time, and utilizes an analysis measurement module and a PI (proportional integral) controller which are arranged in the feedback control system to regulate and control the opening degree of a dripper valve in real time, thereby regulating and controlling the liquid drop size to the target value.
Drawings
FIG. 1 is a flow chart of a feedback control loop according to an embodiment of the present invention;
FIG. 2 is a block diagram illustrating the structural arrangement and connection of a control system according to an embodiment of the present invention;
FIG. 3 is a graph of the droplet size real-time monitoring of the experimental determination of example 1 of the present invention;
FIG. 4 is a graph of the droplet size monitoring in real time for the experimental determination example 2 of the present invention;
FIG. 5 is a graph of the droplet size monitoring in real time for the experimental determination example 3 of the present invention;
FIG. 6 is a graph showing real-time monitoring of droplet size in experimental determination example 4 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With reference to fig. 1-2, the present invention provides a system for controlling droplet size in real time, comprising a droplet generation device and a feedback control system, wherein the feedback control system comprises a laser detection system, an electric actuator and a detection control unit;
the laser detection system is used for detecting liquid drops of the liquid dropping device on line and transmitting the detected data to the detection control unit;
the detection control unit is used for analyzing and processing the liquid drop data measured by the laser detection system, comparing the liquid drop data with a set target value and further sending a control command to the electric actuator;
the electric actuator is used for receiving the command of the detection control unit and rotating the valve rod to control the opening of a dripper valve of the dripping device, so that the size of liquid drops is controlled in real time.
The laser detection system comprises a laser transmitter, a laser receiver and a sensor amplifier; the laser transmitter and the laser receiver are electrically connected with a sensor amplifier, and the sensor amplifier is electrically connected with the detection control unit; the detection control unit is electrically connected with the electric actuator; the electric actuator is used for receiving the command of the detection control unit and rotating the valve rod to control the opening of a dripper valve of the dripping device, so that the size of liquid drops is controlled in real time.
The detection control unit comprises an analysis measurement module and a PI controller, and the analysis measurement module is electrically connected with the PI controller; the detection control unit calculates and measures the size of the detected liquid drop through the analysis and measurement module according to the liquid drop width value measured by the laser detection system, then the PI controller calculates and obtains an output signal according to the input signal and transmits the output signal to the electric actuator, and the electric actuator rotates the valve rod to control the opening degree of a dripper valve of the dripping device, so that the size of the liquid drop is regulated and controlled in real time and is continuously close to a set target value. The input signal of the PI controller is the deviation between a target set value of the size of the liquid drop and the size value of the liquid drop actually measured and calculated by the analysis and measurement module, and the output signal of the PI controller is used for controlling the opening of the dripper valve.
The method for controlling the size of the liquid drop in real time according to the system specifically comprises the following steps:
s1: constructing a liquid drop size feedback control system, wherein the feedback control system comprises a laser detection system, a detection control unit and an electric actuator, and the mutual connection relation among the laser detection system, the detection control unit, the electric actuator and a dripping device is set and established;
s2: setting a required target value of the size of the liquid drop in a detection control unit according to production requirements;
s3: a laser detection system is adopted to measure the width value of the liquid drop in the dripping process of the dripping device in real time;
s4: and according to the data measured by the laser detection system, dynamically regulating the opening degree of a dripper valve of the dripping device by using a feedback control system, and regulating the size of the liquid droplet to a target value.
Preferably, the specific step of S3 is:
and the laser emitter and the laser receiver of the laser detection system are utilized to measure the width value of the liquid drop of the dripping device in the dripping process in real time, and the measured data is transmitted to the detection control unit through the sensor amplifier.
Preferably, the specific step of S4 is:
s41: the detection control unit calculates and measures the size of the detected liquid drop through an analysis and measurement module according to the liquid drop width value measured by the laser detection system;
s42: the detection control unit regulates and controls the size of the liquid drop in real time through a PI controller according to result data obtained by calculation of the analysis and measurement module, so that the size of the liquid drop reaches a set target value;
the input signal of the PI controller is the deviation between a target set value of the size of the liquid drop and the size value of the liquid drop actually measured and calculated by the analysis and measurement module, and the output signal of the PI controller is used for controlling the opening of the dripper valve.
The control equation of the PI controller is as follows:
wherein, KcTo proportional gain, TiFor integral gain, e is the difference between the target set point and the measured value of the drop size at time t, u0Is a constant controller bias.
Preferably, the specific step of S42 is: the PI controller sends a control command to the electric actuator, and the electric actuator rotates the valve rod to control the opening of a dripper valve of the dripping device, so that the size of liquid drops is regulated and controlled in real time.
Test measurement example 1
Adding the uniformly mixed liquid medicine into a liquid storage tank of a dripping device, starting related hardware and software of a control system, setting the size of a target liquid drop to be 58mg, and starting dripping. The control results are shown in fig. 3. As can be seen from fig. 3, the feedback control system adjusts the droplet size to the set target value within 126s and maintains the droplet size constant, which indicates that the control method and system can rapidly and accurately regulate and control the droplet size, and the control precision is high.
Test measurement example 2
Adding the uniformly mixed liquid medicine into a liquid storage tank of a dripping device, starting related hardware and software of a control system, setting the size of a target liquid drop to be 60mg, and starting dripping. The control results are shown in fig. 4. As can be seen from fig. 4, the feedback control system adjusts the droplet size to the set target value within 150s and maintains the droplet size constant, which further shows that the control method and system can rapidly and accurately regulate and control the droplet size, and the control precision is high.
Test measurement example 3
Adding the uniformly mixed liquid medicine into a liquid storage tank of a dripping device, starting related hardware and software of a control system, setting the size of a target liquid drop to be 62mg, and starting dripping. The control results are shown in fig. 5. As can be seen from fig. 5, the feedback control system adjusts the droplet size to the set target value within 196s and maintains the droplet size constant, which further shows that the control method and system can rapidly and accurately regulate and control the droplet size, and the control precision is high.
Test measurement example 4
Adding the uniformly mixed liquid medicine into a liquid storage tank of a dripping device, starting related hardware and software of a control system, setting the size of a target liquid drop to be 60mg, and starting dripping. In the dripping process, a certain amount of the same liquid medicine is added into the liquid storage tank, the control effect of the size of the liquid drops is observed, and the control result is shown in figure 6. As can be seen from fig. 6, after the disturbance is artificially added, the control system can still respond quickly, adjust the size of the droplet to the set target value within 200s, and maintain the droplet constant, which further shows that the control method and the control system not only have high response speed and high control accuracy, but also have strong anti-interference capability and good stability.
The above description is only an example of the present application and is not intended to limit the present invention. Any modification, equivalent replacement, and improvement made within the scope of the application of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for controlling the size of liquid drops in real time comprises the following steps:
s1: constructing a liquid drop size feedback control system, wherein the feedback control system comprises a laser detection system, an electric actuator and a detection control unit;
s2: setting a target droplet size value;
s3: measuring the liquid drops in the dripping process in real time by adopting a laser detection system;
s4: and according to the measured data, dynamically regulating the opening of a dripper valve of the dripping device by using a feedback control system to regulate the size of the liquid droplet to a target value.
2. The method for controlling droplet size in real time as claimed in claim 1, wherein the laser detection system comprises a laser transmitter, a laser receiver and a sensor amplifier, and the step S3 comprises the following steps: the laser detection system utilizes a laser transmitter and a laser receiver to measure the width value of the liquid drop in the dripping process in real time, and transmits the measured data to the detection control unit through a sensor amplifier.
3. The method for controlling the size of the liquid drop in real time as claimed in claim 2, wherein the detection control unit comprises an analysis measuring module and a PI controller; the specific steps of S4 are as follows:
s41: the detection control unit calculates and measures the size of the detected liquid drop through an analysis and measurement module according to the liquid drop width value measured by the laser detection system;
s42: the detection control unit regulates and controls the size of the liquid drop in real time through the PI controller according to result data obtained by calculation of the analysis and measurement module, so that the size of the liquid drop reaches a set target value.
4. The method as claimed in claim 3, wherein the input signal of the PI controller is a deviation between a target set value of the droplet size and a droplet size value actually measured by the analysis and measurement module, and the output signal of the PI controller is used for controlling the opening of the dripper valve.
5. The method for controlling droplet size in real time according to claim 4, wherein the step S42 comprises the following steps: the PI controller sends an output signal to the electric actuator, and the electric actuator rotates the valve rod to control the opening of a dripper valve of the dripping device, so that the size of liquid drops is regulated and controlled in real time.
6. A method according to any one of claims 3 to 5, wherein the control equation of the PI controller is:
wherein KcTo proportional gain, TiFor integral gain, e is the difference between the target set point and the measured value of the drop size at time t, u0Is a constant controller bias.
7. A real-time control system for droplet size comprises a dripping device and a feedback control system, and is characterized in that:
the feedback control system comprises a laser detection system, an electric actuator and a detection control unit, and the laser detection system and the electric actuator are both electrically connected with the detection control unit;
the laser detection system is used for detecting liquid drops of the liquid dropping device on line and transmitting the detected data to the detection control unit;
the detection control unit is used for analyzing and processing the liquid drop data measured by the laser detection system, comparing the liquid drop data with a set target value and further sending a control command to the electric actuator;
the electric actuator is used for receiving the command of the detection control unit and rotating the valve rod to control the opening of a dripper valve of the dripping device, so that the size of liquid drops is controlled in real time.
8. The system of claim 7, wherein the laser detection system comprises a laser transmitter, a laser receiver, and a sensor amplifier; the laser transmitter and the laser receiver are electrically connected with a sensor amplifier, and the sensor amplifier is electrically connected with the detection control unit.
9. The system of claim 7 or 8, wherein the detection control unit comprises an analysis and measurement module and a PI controller, and the analysis and measurement module is electrically connected with the PI controller; the detection control unit calculates and measures the size of the detected liquid drop through the analysis and measurement module according to the liquid drop width value measured by the laser detection system, and then outputs a signal to the electric actuator through the PI controller to control the opening degree of the dripper valve, so that the size of the liquid drop is regulated and controlled in real time to reach a set target value.
10. The system of claim 9, wherein the input signal of the PI controller is a deviation between a target set value of the droplet size and a droplet size value actually measured by the analysis and measurement module, and the output signal of the PI controller is used to control the opening of the dripper valve.
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| CN202111396938.6A CN114114916A (en) | 2021-11-23 | 2021-11-23 | Method and system for controlling size of liquid drop in real time |
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| CN202111396938.6A CN114114916A (en) | 2021-11-23 | 2021-11-23 | Method and system for controlling size of liquid drop in real time |
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