CN115234123A - Novel control method for automatic window position of fume hood - Google Patents
Novel control method for automatic window position of fume hood Download PDFInfo
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- CN115234123A CN115234123A CN202210786966.7A CN202210786966A CN115234123A CN 115234123 A CN115234123 A CN 115234123A CN 202210786966 A CN202210786966 A CN 202210786966A CN 115234123 A CN115234123 A CN 115234123A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000003517 fume Substances 0.000 title claims abstract description 17
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 238000012360 testing method Methods 0.000 claims abstract description 5
- 238000012937 correction Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009828 non-uniform distribution Methods 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/02—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area using chambers or hoods covering the area
- B08B15/023—Fume cabinets or cupboards, e.g. for laboratories
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2999/00—Subject-matter not otherwise provided for in this subclass
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- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a novel control method for the position of an automatic window of a fume hood, belonging to the technical field of laboratory equipment, and the technical key points are as follows: the method comprises the following steps: step one, dividing the window stroke range into a plurality of stroke sections S 1 、S 2 、S 3 、S 4 、S 5 、…S n The division is uniformly or non-uniformly distributed, and the division density is adjusted according to the control precision requirement or the calculation speed of a controller; step two, carrying out multiple multi-position tests and calculation during system debugging and recording the corresponding average deceleration of the window during sliding in each stroke section; step three, predicting and calculating the position where the window motor stops running and starts to slide and stop at the moment in real time; step four, calculating and recording the predicted window stop position P t (ii) a Step five, recording the current actual stop position P r Comparing the predicted stop position P recorded at the start of coasting t (ii) a To be provided withAnd step six, calculating the preset comparison position P in real time s And the predicted position P t The difference has the advantage of achieving accurate position control.
Description
Technical Field
The invention relates to the technical field of laboratory equipment, in particular to a novel control method for an automatic window position of a fume hood.
Background
In the risk airflow environment of a biochemical laboratory, the fume hood is a key exhaust device, the energy consumption is high, and the exhaust control is vital to the health of experiment operators. In the daily operation of fume chamber, the window can be adjusted repeatedly from top to bottom according to the operation demand, and automatic window control system can be on the one hand the automatic window that falls after the operation is ended and energy-conserving by a wide margin, and on the other hand can convenience of customers pass through the button, dabs the window, perhaps other contactless actions come automatic adjustment window.
The dragging system of the window of the fume hood usually adopts an open counterweight type structure, and due to the inertia of the window and the counterweight and the elasticity of a transmission belt and a dragging wheel, a motor driving system cannot realize accurate position control by braking, and the system can only stop running in advance and is close to a preset position by the inertia of the system. However, after the window system runs for a long time, the resistance of the transmission system changes or the two sides of the transmission system incline, so that the inertia of the whole system changes, the traditional advanced control cannot ensure accurate window position control, and the window system often collides a table top or is limited, so that faults and hidden dangers are caused
Disclosure of Invention
Aiming at the defects in the prior art, the embodiment of the invention aims to provide a novel control method for the position of an automatic window of a fume hood, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a novel control method for the position of an automatic window of a fume hood comprises the following steps:
step one, dividing the window stroke range into a plurality of stroke sections S 1 、S 2 、S 3 、S 4 、S 5 、…S n The division is uniformly or non-uniformly distributed, and the division density is adjusted according to the control precision requirement or the calculation speed of a controller;
step two, carrying out multiple multi-position tests and calculation during system debugging and recording the corresponding average deceleration (corresponding to the system average resistance of each stroke section) of the window during sliding of each stroke section;
step three, when the system runs, predicting and calculating the position where the window motor stops running and starts to slide and stop at the moment in real time;
step four, when the system is in operationWhen the window starts to slide when the motor stops running in the running process, the predicted window stop position P is calculated and recorded t Calculating and recording the average deceleration corresponding to each subsequent stroke segment (namely the average system resistance of each stroke segment) again;
step five, recording the current actual stop position P after the window stops sliding r Comparing the predicted stop position P recorded at the start of coasting t Correcting data according to the error condition; and
step six, when the window control system is in the control state of receiving the preset position, calculating and comparing the preset position P in real time s And the predicted position P t And (5) difference, and stopping the motor according to the difference condition.
As a further scheme of the invention, the second specific method comprises the following steps: the motor drags the window to run at a certain speed and then stops running before a specific travel section, and the running time T of the window sliding through each divided travel section is recorded 1 、T 2 、T 3 、T 4 、T 5 、…T n Speed V of window sliding through each divided travel section node 0 、V 1 、V 2 、V 3 、V 5 、…V n Calculating and recording the average deceleration of the sliding of the window in each divided travel segment
A 1 、A 2 、A 3 、A 4 、A 5 、…A n 。
As a further scheme of the present invention, the third specific method is: according to the current window position P of the window i Current running speed V i Calculating the speed of the window sliding through each subsequent stroke section node one by one until the final speed is 0, namely stopping the window;
calculating the window passing through each travel segment S m Rear node velocity V m The calculating method of (2):
wherein
V m-1 The node speed of the previous stroke section is the initial speed entering the current stroke section, and the initial operation is the running speed V i ；
A m Recording the deceleration value of each corresponding stroke segment for the system;
S m recording the corresponding distance of each travel section or the remaining travel (counted as
)；
When the temperature is higher than the set temperature
When the predicted stop position is in the stroke section S m Internal;
calculating the final stop position of the prediction window as
Wherein C is a position correction factor.
As a further scheme of the invention, the fourth specific method is as follows: recording the subsequent stroke S passed by the sliding window i (section of stroke where coasting starts) to S i+j (section of travel where coasting is stopped) operating time T i 、T i+1 、T i+2 、T i+3 、T i+4 、…T i+j Wherein T is i The time of the remaining travel of the current travel section; velocity V through each subsequent trip segment node i 、V i+1 、V i+2 、V i+3 、V i+4 、…V i+j+1 (ii) a Calculating and recording the average deceleration of each subsequent stroke
A i 、A i+1 、A i+2 、A i+3 、A i+4 、…A i+j 。
As a further aspect of the present invention, said V i Is the current operating speed.
As a further scheme of the invention, the method in step five specifically comprises the following steps: such as error
(accuracy allowed), the previous trip deceleration data is maintained, if
(accuracy allowed), the values of deceleration in the corresponding run of the previous and the next recording are compared one by one, e.g. data differences
(allowable threshold), the predicted position correction value C = P is adjusted r -P t E.g. data differences
(allowable threshold), the stroke sections of the relevant parts are replaced one by one
The deceleration data.
As a further scheme of the invention, the sixth specific method of the step is as follows: such as
And (the allowed precision) immediately stopping the motor from running, and utilizing the inertia of the system to run to reach the preset position.
In summary, compared with the prior art, the embodiment of the invention has the following beneficial effects:
the resistance condition of the current window system can be detected in real time, prediction calculation is made, and accurate position control can be achieved through continuous comparison and adjustment.
In order to more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic diagram of an automatic window dragging system of a fume hood according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating window strokes dividing a plurality of stroke segments according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating the relationship between speed, distance, time, deceleration and speed in the travel segment according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
In one embodiment, a novel method for controlling the position of an automatic window of a fume hood, referring to fig. 1 to 3, comprises the following steps:
step one, dividing the window stroke range into a plurality of stroke sections S 1 、S 2 、S 3 、S 4 、S 5 、…S n The division is uniformly or non-uniformly distributed, and the division density is adjusted according to the control precision requirement or the calculation speed of a controller;
step two, carrying out multiple multi-position tests and calculation during system debugging and recording the corresponding average deceleration (corresponding to the system average resistance of each stroke section) of the window during sliding of each stroke section;
step three, when the system runs, predicting and calculating the position where the window motor stops running and starts to slide and stop at the moment in real time;
step four, when the window starts to slide when the motor stops running in the running process of the system, calculating and recording the predicted window stop position P t The average deceleration for each subsequent trip segment is again calculated and recorded (i.e., the system level for each trip segment is calculated and recordedResistance per unit);
step five, recording the current actual stop position P after the window stops sliding r Comparing the predicted stop position P recorded at the start of coasting t Correcting data according to the error condition; and
step six, when the window control system is in the control state of receiving the preset position, calculating and comparing the preset position P in real time s And the predicted position P t And (5) difference, and stopping the motor according to the difference condition.
Further, referring to fig. 1 to 3, the second specific method includes: the motor drags the window to run at a certain speed and then stops running before a specific travel section, and the running time T of the window sliding through each divided travel section is recorded 1 、T 2 、T 3 、T 4 、T 5 、…T n Speed V of the window sliding through each divided travel segment node 0 、V 1 、V 2 、V 3 、V 5 、…V n Calculating and recording the average deceleration of the sliding of the window in each divided travel segment
A 1 、A 2 、A 3 、A 4 、A 5 、…A n 。
Further, referring to fig. 1 to 3, the third specific method includes: according to the current window position P of the window i Current running speed V i Calculating the speed of the window sliding through each subsequent stroke section node one by one until the final speed is 0, namely the window stops;
the calculation window passes through each travel section S m Rear node velocity V m The calculating method of (2):
wherein
V m-1 The node speed of the previous stroke section is the initial speed entering the current stroke section, and the initial operation is the running speed V i ；
A m Recording the deceleration value of each corresponding stroke segment for the system;
S m recording the corresponding distance of each travel section or the remaining travel (counted as
)；
When in use
When the predicted stop position is in the stroke section S m Internal;
calculating the final stop position of the predicted window as
Wherein C is a position correction factor.
Further, referring to fig. 1 to 3, the fourth specific method includes: recording the subsequent stroke S passed by the sliding window i (section of stroke where coasting starts) to S i+j Operating time T of the travel section (the travel section in which the coasting is stopped) i 、T i+1 、T i+2 、T i+3 、T i+4 、…T i+j Wherein T is i The time of the remaining travel of the current travel section; velocity V through each subsequent trip segment node i 、V i+1 、V i+2 、V i+3 、V i+4 、…V i+j+1 (ii) a Calculating and recording the average deceleration of each subsequent stroke section
A i 、A i+1 、A i+2 、A i+3 、A i+4 、…A i+j 。
Further, referring to FIGS. 1 to 3, the V is shown i Is the current operating speed.
Further, referring to fig. 1 to fig. 3, the fifth specific method includes: such as error
(accuracy allowed), the previous trip segment deceleration data is maintained. If it is not
(accuracy allowed), the values of deceleration in the corresponding run of the previous and the next recording are compared one by one, e.g. data differences
(allowable threshold), the predicted position correction value C = P is adjusted r -P t . Such as data differences
(allowable threshold), the run segment of the relevant part is replaced one by one
Deceleration data.
Further, referring to fig. 1 to 3, the sixth specific method of the step includes: such as
And (allowing precision) immediately stopping the motor to run, and using the inertia running of the system to reach a preset position.
In the present embodiment, the window stroke range is divided into a plurality of stroke segments S 1 、S 2 、S 3 、S 4 、S 5 、…S n The division can be uniform or non-uniform distribution, and the division density can be adjusted according to the control precision requirement or the calculation speed of the controller.
When the system is debugged, the multi-position test and calculation are repeated for a plurality of times, and the corresponding average deceleration (the system average resistance corresponding to each stroke section) of the window during the sliding of each stroke section is recorded. The method comprises that the motorDragging the window to run at a certain speed and then stopping running before a specific travel segment, and recording the running time T of the window when the window slides through each divided travel segment 1 、T 2 、T 3 、T 4 、T 5 、…T n Speed V of window sliding through each divided travel section node 0 、V 1 、V 2 、V 3 、V 5 、…V n Calculating and recording the average deceleration of the sliding of the window in each divided travel segment
A 1 、A 2 、A 3 、A 4 、A 5 、…A n 。
When the system runs, the position where the window motor possibly stops running and starts sliding at the moment is calculated in a real-time prediction mode. The specific calculation method is as follows: according to the current window position P of the window i Current running speed V i And calculating the speed of the window sliding through each subsequent stroke section node one by one until the final speed is 0, namely the window stops.
Calculating the window passing through each travel segment S m Rear node velocity V m The calculating method of (2):
wherein
V m-1 The node speed of the previous stroke section is the initial speed entering the current stroke section, and the initial operation is the running speed V i ；
A m The deceleration value of each corresponding stroke segment recorded by the system;
S m pair of system recordsThe distance of each stroke section or the remaining stroke (i.e. the distance of the current stroke section)
)；
When the temperature is higher than the set temperature
When the predicted stop position is in the stroke section S m In the interior of the container body,
calculating the final stop position of the predicted window as
Wherein C is a position correction factor.
When the window starts to slide when the motor stops running in the running process of the system, the predicted window stop position P is calculated and recorded t The average deceleration (i.e., the system average resistance for each stroke segment) for each subsequent stroke segment is again calculated and recorded. The specific mode is as follows: recording the subsequent travel segment S passed by the sliding window i (section of stroke where coasting starts) to S i+j Operating time T of the travel section (the travel section in which the coasting is stopped) i 、T i+1 、T i+2 、T i+3 、T i+4 、…T i+j Wherein T is i The time of the remaining travel of the current travel section; velocity V through each subsequent trip segment node i 、V i+1 、V i+2 、V i+3 、V i+4 、…V i+j+1 In which V is i The current running speed; calculating and recording the average deceleration of each subsequent stroke section
A i 、A i+1 、A i+2 、A i+3 、A i+4 、…A i+j ，
After the window stops sliding, the current actual stop position P is recorded r Comparing the predicted stop position P recorded at the start of coasting t And correcting data according to the error condition. The specific method comprises the following steps: such as errors
(accuracy allowed), the previous trip deceleration data is maintained. If it is not
(accuracy allowed), the values of deceleration in the corresponding run of the previous and the next recording are compared one by one, e.g. data differences
(allowable threshold), the predicted position correction value C = P is adjusted r -P t . Such as data differences
(allowable threshold), the stroke sections of the relevant parts are replaced one by one
Deceleration data.
When the window control system is in the state of receiving the control of the preset position, the preset position P is calculated and compared in real time s And the predicted position P t And (5) difference, and stopping the motor according to the difference condition. The specific method comprises the following steps: such as
And (allowing precision) immediately stopping the motor to run, and using the inertia running of the system to reach a preset position.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A novel control method for the position of an automatic window of a fume hood is characterized by comprising the following steps:
step one, dividing the window stroke range into a plurality of stroke sections S 1 、S 2 、S 3 、S 4 、S 5 、…S n The division is uniformly or non-uniformly distributed, and the division density is adjusted according to the control precision requirement or the calculation speed of a controller;
step two, carrying out multiple multi-position tests and calculation during system debugging, and recording the corresponding average deceleration of the window during sliding of each stroke section and the corresponding system average resistance of each stroke section;
when the system runs, predicting and calculating the position where the window motor stops running at the moment in real time and starts to slide and stop;
step four, when the window starts to slide when the motor stops running in the running process of the system, calculating and recording the predicted window stop position P t Calculating and recording the average deceleration corresponding to each subsequent stroke section again, namely the system average resistance of each stroke section;
step five, after the window stops sliding, recording the current actual stop position P r Comparing the predicted stop position P recorded at the start of coasting t Correcting data according to error conditions; and
step six, when the window control system is in the state of receiving the control of the preset position, calculating and comparing the preset position P in real time s And the predicted position P t And (5) difference, and stopping the motor according to the difference condition.
2. The method for controlling the position of the automatic window of the fume hood as claimed in claim 1, wherein the second specific method comprises the following steps: the motor drags the window to run at a certain speed and then stops running before a specific travel section, and the running time T of the window sliding through each divided travel section is recorded 1 、T 2 、T 3 、T 4 、T 5 、…T n The window sliding past each of the divided travel segment nodesVelocity V 0 、V 1 、V 2 、V 3 、V 5 、…V n Calculating and recording the average deceleration of the sliding of the window in each divided travel segment
A 1 、A 2 、A 3 、A 4 、A 5 、…A n 。
3. The method for controlling the position of the automatic window of the fume hood as claimed in claim 1, wherein the third specific method comprises the following steps: according to the current window position P of the window i Current running speed V i Calculating the speed of the window sliding through each subsequent stroke section node one by one until the final speed is 0, namely stopping the window;
the calculation window passes through each travel section S m Rear node velocity V m The calculating method of (2):
wherein
V m-1 The node speed of the previous stroke section is the initial speed entering the current stroke section, and the initial operation is the running speed V i ；
A m Recording the deceleration value of each corresponding stroke segment for the system;
S m the corresponding distance of each travel section or the remaining travel in the current travel section recorded by the system is counted
When in use
When the predicted stop position is in the stroke section S m Internal;
calculating the final stop position of the predicted window as
Wherein C is a position correction factor.
4. The method for controlling the position of the automatic window of the novel fume hood according to claim 1, wherein the fourth specific method comprises the following steps: recording the subsequent stroke S passed by the sliding window i To S i+j Run time T of i 、T i+1 、T i+2 、T i+3 、T i+4 、…T i+j Wherein T is i The time of the remaining travel of the current travel section; velocity V through each subsequent trip segment node i 、V i+1 、V i+2 、V i+3 、V i+4 、…V i+j+1 (ii) a Calculating and recording the average deceleration of each subsequent stroke
A i 、A i+1 、A i+2 、A i+3 、A i+4 、…A i+j 。
5. The method as claimed in claim 4, wherein said V is a V-shape i Is the current operating speed.
6. The novel control method for the automatic window position of the fume hood as claimed in claim 1, wherein the concrete method of the fifth step is as follows: such as error
The previous trip segment deceleration data is maintained if
Comparing the deceleration values in the corresponding travel segments recorded at the previous time and the next time one by one, e.g. data difference
Adjusting the predicted position correction value C = P r -P t E.g. data differences
The segments of the run of the relevant part are replaced one by one
The deceleration data.
7. The novel control method for the automatic window position of the fume hood as claimed in claim 1, wherein the sixth specific method in the step is as follows: such as
The motor operation is immediately stopped and the system is run by inertia to a predetermined position.
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| CN202210786966.7A CN115234123B (en) | 2022-07-04 | 2022-07-04 | Control method for automatic window position of fume hood |
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| CN202210786966.7A CN115234123B (en) | 2022-07-04 | 2022-07-04 | Control method for automatic window position of fume hood |
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