CN1211718C - Robust track controlling method for air temperature and humidity in artificial climatic box - Google Patents

Robust track controlling method for air temperature and humidity in artificial climatic box Download PDF

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CN1211718C
CN1211718C CN 03105211 CN03105211A CN1211718C CN 1211718 C CN1211718 C CN 1211718C CN 03105211 CN03105211 CN 03105211 CN 03105211 A CN03105211 A CN 03105211A CN 1211718 C CN1211718 C CN 1211718C
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temperature
humidity
constant temperature
gas
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CN1439943A (en
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周玉成
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Abstract

The present invention discloses a robust track control method for the temperature and the humidity of gas in an artificial climate box, which relates to a control method for a gas generation device for detecting the gas of atmospheric environment or harmful gas emitted by a product. After the data of online temperature and humidity in a climate box detected by a temperature sensor and a humidity sensor arranged in the climate box is transmitted to a temperature display instrument having a transmission change output function and a humidity display instrument by the robust track control method, a signal is transmitted to a programmable controller PLC after the data is outputted to a temperature signal transformation module and a humidity signal transformation module, and a sampling value of the signal and a setting value are compared with the PLC in order to execute a robust track program; meanwhile, the temperature of a constant temperature water box and a constant temperature dew point water box is controlled until temperature and humidity meet requirements. Gas which has high precision temperature and humidity and conforms requirements can be generated within a short time, and the robust track control method is very convenient in use and regulate. The robust track control method can be widely applied to the detection of articles containing volatile and harmful gas in a forestry industrial product, a building material or a chemical industry product.

Description

The robust tracking control method of gas humiture in the growth cabinet
Technical field
The present invention relates to the control method of gas humiture in a kind of growth cabinet, be specifically related to a kind of control method that is used for detecting atmospheric environment gas or is used to detect the gas generating unit of forest product industry product, building materials, the contained volatility harmful gas of chemical products.
Background technology
Forest product industry product (as furniture, scale board, medium-density plate, fiberboard etc.), building materials, chemical products etc. are that people's daily life is indispensable, but need to use formaldehyde in the most productions in them.Because formaldehyde is one of primary raw material of synthetic urea-formaldehyde resin adhesive, is a kind of volatile material.When content of formaldehyde in the air surpasses finite concentration, can produce grievous injury to human body.For example: respiratory mucosa and eye mask fester, internal organs, neural pathology etc.When every 100g artificial board formaldehyde burst size during greater than 60~100mg, the formaldehyde in the room air will cause obvious injury to people's eye, nose, respiratory system, or makes the people suffer from skin disease.The zoopery result shows that burst size of methanal exceeds standard and can cause rhinocarcinoma and respiratory system canceration.However, also do not have at present to find to have the synthon more cheap than formaldehyde, that gummed property is more excellent to substitute it.At this situation, the mandatory national standard of China " formaldehyde discharges and limits the quantity of in interior decoration, finishing material wood-based plate and the goods thereof " was in enforcement on January 1 in 2002, half a year transitional period, rose on July 1st, 2002 and will forbid that all products that do not meet this standard sell in China within the border.For this reason, the forest product industry product, the detection of harmful gas just seems extremely important in the building and ornament materials.
For the production that makes above-mentioned material meets national standard, the detection of harmful gas is the pacing items and the important assurance of the low consumption of realize to produce safe, steady, efficient, high-quality in the product, and implement effectively control for environmental protection requirement with to the harmful element of product in the production run, an important prerequisite is exactly the accurate information that will obtain controlled variable.For concrete testing process, at first to obtain the climatic environment of stable a, precise dose, humidity.Be growth cabinet, become when this climate box is, in case, sending into gas a certain amount of and that have a constant temperature, humidity by the outside in the unit interval.Simultaneously, discharge quantitative gas to the outside in the case, under this precondition, temperature, humidity in the case will be in the error ranges that setting value allowed.
Prior art related to the present invention mainly is to make growth cabinet according to dew point method.It is under the constant situation of 7 conditions such as atmospheric pressure, relative temperature, relative humidity, guarantor and dew-point pressure, produces a cover form by experiment.During detection, find by form and to detect used temperature, the value of humidity is set, and carries out the operation of relevant temperature control pump motor of manual shift or the wet pump motor of control, reaches the purpose of regulating temperature and humidity.
The method of humiture in this control climate box, on testing result or control method, all exist many deficiencies, a little less than, the antijamming capability big as error, difficult in maintenance, measurement result lags behind excessively, can not reach the purpose of in good time tracking, regulates also inconvenient.Therefore, realize that there is very large difficulty in High Accuracy Control, the confidence level of its measured value also is on duty mutually.Thereby the temperature of the climate box of many detection harmful gases, humidity all only depend on the deduction control of soft measurement.
As temperature, the humidity control accuracy of harmful gas weather detection case, directly influence contains the accuracy of detection of volatilization harmful gas product, thereby also just the relevant commercial production and the environmental protection of daily life is had very important meaning.
The dew point climate box that generally adopts both at home and abroad detects harmful gas and exists following problems at present:
1) usually the relation that maybe can not survey between the variable of the temperature of climate box, humidity control and a plurality of measurable variable is very complicated, is difficult to obtain high control precision.In many cases, even even this relation all can't set up or set up also may not be available.
Therefore 2) along with the variation of external condition and environment, it is inaccurate that resulting by experiment relation or model also can become, and need revise model, and this itself is exactly under study for action a problem still.
3) measure generally based on data analysis and processing, its physical significance is indeterminate, and general fully by operating personnel's experience, therefore, its accuracy of detection is affected.
4) determine its temperature, humidity set point because dew point detects data form that climate box is based on experiment, in case set the temperature inside the box and dewpoint temperature, then temperature, the humidity in the case has only by very little air inflow and goes to regulate.Reaching the used time of testing conditions is approximately 4 hours, causes energy resource consumption excessive and detection efficiency is low.
Can see by above-mentioned analysis, develop the gas generating unit of simple and practical, reliable and stable and high-precision growth cabinet, be quite significant, and be with a wide range of applications.
Summary of the invention
The present invention is directed to the problem that existing artificial climate box control method exists, the robust tracking control method of gas humiture in a kind of growth cabinet is provided, this robust tracking control method can be carried out in good time effectively tracking Control to the humiture of gas in the growth cabinet, utilize robust tracking control system and supporting control device thereof to control this gas generating unit, can effectively guarantee the precision of gas humiture, and the time that reaches the stable state testing conditions can be shortened effectively, and pass through the man-machine interface monitoring of computer operating system and show testing process, the printout result can greatly facilitate the user and use and regulate this gas generating unit.
The invention provides following technical scheme, a kind of gas generating unit by the automatic tracking Control growth cabinet of robust tracking control system, reach the robust tracking control method of gas humiture in the automatic tracking Control growth cabinet, the gas generating unit of described growth cabinet, comprise growth cabinet, constant temperature water tank, constant temperature does not have oily magnetic drive pump motor, constant temperature dew point water tank, the constant temperature dew point does not have oily magnetic drive pump motor, the condensation unit, the climate box heat exchanger, steam heat-exchanger, the heat pump motor, spray vapour device feature, the climate box heat exchanger is arranged in the growth cabinet, be provided with the constant temperature water tank heating resistor in the constant temperature water tank, constant temperature dew point water tank connects the condensation unit, constant temperature does not have oily magnetic drive pump motor and connects climate box heat exchanger and constant temperature water tank by pipeline, the constant temperature dew point does not have oily magnetic drive pump motor and connects steam heat-exchanger and constant temperature dew point water tank by pipeline, the heat pump motor connects the air intake of steam heat-exchanger, the venthole of steam heat-exchanger connects spray vapour device by needle valve, spray vapour device is arranged in the growth cabinet, also be provided with humidity sensor and temperature sensor in the climate box, and become temperature display meter and the humidity display instrument send output function by having, the temperature-humidity signal modular converter that connects the robust tracking control system, the robust tracking control system also comprises Programmable Logic Controller PLC and operational computations machine
This robust tracking control method is as follows: be arranged on the temperature in the climate box, after humidity sensor detects the data of temperature and humidity online in the climate box, be sent to have and become temperature display meter and the humidity display instrument of sending output function, the humiture Displaying Meter becomes data to send exports to the temperature-humidity signal modular converter, and switching signal passed to Programmable Logic Controller PLC, PLC has just obtained the sampled value of the temperature and humidity of system after with signal Processing, when the user is provided with the value of the temperature and humidity of gas in the climate box from the operational computations machine, and after passing to Programmable Logic Controller PLC by configuration program, Programmable Logic Controller PLC can compare back execution robust tracking program according to the actual value and the setting value of the online temperature and humidity in the climate box, and control the temperature of constant temperature water tank and constant temperature dew point water tank in real time, the temperature and humidity of gas satisfies the requirement of setting in climate box, Programmable Logic Controller PLC also is responsible for control dew point humidification heat pump motor simultaneously, the condensation unit, constant temperature does not have the normal operation that oily magnetic drive pump motor and constant temperature dew point do not have oily magnetic drive pump motor, the control signal of biography and receiving computer under the Programmable Logic Controller PLC conduct simultaneously, carry out required judgement, the operation of tracking and program
Described robust tracking control program, be to be based upon under the prerequisite of considering external environment, condition, atmospheric pressure and disturbing factor, a class that takes out from the temperature and humidity control system of growth cabinet contains the model of the multivariable nonlinearity uncertain system of uncertain factor:
x · = f ( x ) + q ( x , θ ( t ) ) + [ g ( x ) + g ( x ) Q ( x , θ ( t ) ) ] uLL - - - ( 1.1 a )
y=h(x) LL(1.1b)
Wherein: state variable x ∈ R n, input u ∈ R, output y ∈ R, unknown parameter θ (t) for the time become piecewise continuous, and value compacts on the Ω in one, f (x) and g (x) they are nominal or not by the analytic vector of disturbance, and g (x) ≠ 0, and be right _ x ∈ R n, h (x) is R nOn real function, Q (x θ) is fixed number nonvanishing function, promptly has: Q (x, θ (t))>0 or Q (x, θ (t))<0, right _ θ ∈ Ω, x ∈ R n, suppose that q (x, θ (t)) is a vector function, and and function Q (x, θ (t)) comprised all uncertainties of system, our robust tracking control program is exactly to seek the half smooth overall situation (part) state feedback controller, making for given ideal output y dHave Lim + → ∞ ( y - y d ) = 0 , Y wherein dBe ideal output (setting value), Y is a real-time measurement values, guarantees that simultaneously closed-loop system is a bounded, and all sets up for _ θ ∈ Ω, after through the several times computing, until appearance Lim + → ∞ ( y - y d ) = 0 The time, program will be carried out formula (1.1) always and keep this state,
Its control method draws following two kinds of results:
1) become when unknown parameter is, value is compacted on the Ω in a unknown, and occurs with linear forms, the strict feedback condition of parameter is set up, but the nominal input-output linearization, for given ideal output, provided the design of the self tuning controller of the progressive tracking of local robust
2) when unknown parameter is, become, with non-linear form occur and value in a known Ω that compacts, other condition is as 1), provided the design of the static controller of the progressive tracking of local robust.
The humidity sensor that is adopted can be the macromolecule humidity-sensitive capacitor.
The temperature sensor that is adopted can be the Pt100 temperature sensor.
Because the present invention has used the robust tracking control method, this robust tracking control method can be carried out timely monitor and adjusting to the humiture in the growth cabinet, temperature sensor and humidity sensor are used for the online temperature and humidity in the detection case, and the conversion by the temperature-humidity signal modular converter, send Programmable Logic Controller PLC at last to, the PLC process is to just having obtained system temperature after the signal Processing, the sampled value of humidity, with the standard value of setting relatively after, carry out the robust tracking program, control the constant temperature water tank heating resistor simultaneously in good time, condensation unit and adjusting heat pump motor, constant temperature does not have the operation that oily magnetic drive pump motor and constant temperature dew point do not have oily magnetic drive pump motor, temperature in case, humidity reaches the setting requirement, the whole operation Control and Monitor System with computing machine as man machine operation interface, operation, monitoring, use, very convenient until printing monitoring result, humiture precision curve from the screen in the Direct observation climate box, be convenient to grasp the steady state (SS) of gas, the modelling of its robust tracking control program, take out a class and contained the nonlinear multivariable systems model of uncertain factor, can timely adjustment and the tracking Control climate box in the temperature and humidity of gas, improved the precision of the humiture gas of climate box, shorten climate box and reached the time of detecting used stable humiture gas condition, its detected design sketch as shown in Figure 3, the humiture stabilization process of gas shortened to 1.5-2 hour by former 4 hours and promptly can reach the detection requirement.
The present invention is described in detail below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 concerns synoptic diagram for the position that interconnects of each parts of the present invention.
Fig. 2 is an electrical principle block diagram of the present invention.
Fig. 3 is that the humiture of gas in the climate box of the present invention reaches the curve of stability figure that detects when requiring.
Fig. 4 is the cover page of computer control system.
Fig. 5 is the main interface of computer control system.
Fig. 6 is the subscriber administration interface of computer control system.
Fig. 7 is the main interface of computer control system.
Fig. 8 is the parameter setting interface of computer control system.
Fig. 9 is the main interface of computer control system.
Embodiment
As Fig. 1, shown in Figure 2, a kind of gas generating unit by the automatic tracking Control growth cabinet of robust tracking control system, reach the robust tracking control method of gas humiture in the automatic tracking Control growth cabinet, the gas generating unit of described growth cabinet, mainly comprise growth cabinet 1, constant temperature water tank 3, constant temperature does not have oily magnetic drive pump motor 5, constant temperature dew point water tank 4, the constant temperature dew point does not have oily magnetic drive pump motor 6, condensation unit 10, climate box heat exchanger 2, steam heat-exchanger 7, heat pump motor 8, spray vapour device 12 parts such as grade, climate box heat exchanger 2 is arranged in the growth cabinet 1, be provided with the constant temperature water tank heating resistor in the constant temperature water tank 3, constant temperature dew point water tank 4 connects condensation unit 10, constant temperature does not have oily magnetic drive pump motor 5 and connects climate box heat exchanger 2 and constant temperature water tank 3 by pipeline, the constant temperature dew point does not have oily magnetic drive pump motor 6 and connects steam heat-exchanger 7 and constant temperature dew point water tank 4 by pipeline, heat pump motor 8 connects the air intake of steam heat-exchanger 7, the venthole of steam heat-exchanger 7 connects spray vapour device 12 by needle valve 11, spray vapour device 12 is arranged in the growth cabinet 1, also be provided with humidity sensor and temperature sensor in the climate box 1, and become temperature display meter 15 and the humidity display instrument 9 send output function by having, the temperature-humidity signal modular converter that connects the robust tracking control system, robust tracking control system 13 also comprises Programmable Logic Controller PLC and operational computations machine 14
This robust tracking control method is as follows: be arranged on the temperature in the climate box, after humidity sensor detects the data of temperature and humidity online in the climate box, be sent to have and become temperature display meter and the humidity display instrument of sending output function, the humiture Displaying Meter becomes data to send exports to the temperature-humidity signal modular converter, and switching signal passed to Programmable Logic Controller PLC, PLC has just obtained the sampled value of the temperature and humidity of system after with signal Processing, when the user is provided with the value of the temperature and humidity of gas in the climate box from the operational computations machine, and after passing to Programmable Logic Controller PLC by configuration program, Programmable Logic Controller PLC can compare back execution robust tracking program according to the actual value and the setting value of the online temperature and humidity in the climate box, and control the temperature of constant temperature water tank and constant temperature dew point water tank in real time, the temperature and humidity of gas satisfies the requirement of setting in climate box, Programmable Logic Controller PLC also is responsible for control dew point humidification heat pump motor simultaneously, the condensation unit, constant temperature does not have the normal operation that oily magnetic drive pump motor and constant temperature dew point do not have oily magnetic drive pump motor, the control signal of biography and receiving computer is carried out required judgement under the Programmable Logic Controller PLC conduct simultaneously, the operation of tracking and program.
Its robust tracking control program, be to be based upon under the prerequisite of factors such as considering external environment, condition, atmospheric pressure and interference, a class that takes out from the temperature and humidity control system of growth cabinet contains the model of the multivariable nonlinearity uncertain system of uncertain factor:
x · = f ( x ) + q ( x , θ ( t ) ) + [ g ( x ) + g ( x ) Q ( x , θ ( t ) ) ] uLL - - - ( 1.1 a )
y=h(x) LL(1.1b)
Wherein: state variable x ∈ R n, input u ∈ R, output y ∈ R, unknown parameter θ (t) for the time become piecewise continuous, and value compacts on the Ω in one, f (x) and g (x) they are nominal or not by the analytic vector of disturbance, and g (x) ≠ 0, and be right _ x ∈ R n, h (x) is R nOn real function, Q (x θ) is fixed number nonvanishing function, promptly has: Q (x, θ (t))>0 or Q (x, θ (t))<0, right _ θ ∈ Ω, x ∈ R n, suppose that q (x, θ (t)) is a vector function, and and function Q (x, θ (t)) comprised all uncertainties of system, our robust tracking control program is exactly to seek the half smooth overall situation (part) state feedback controller, making for given ideal output y dHave Lim + → ∞ ( y - y d ) = 0 , Y wherein dBe ideal output (setting value), Y is a real-time measurement values, guarantees that simultaneously closed-loop system is a bounded, and all sets up for _ θ ∈ Ω, after through the several times computing, until appearance Lim + → ∞ ( y - y d ) = 0 The time, program will be carried out formula (1.1a, 1.1b) always and keep this state,
Its control method draws following two kinds of results:
1) become when unknown parameter is, value is compacted on the Ω in a unknown, and occurs with linear forms, the strict feedback condition of parameter is set up, but the nominal input-output linearization, for given ideal output, provided the design of the self tuning controller of the progressive tracking of local robust
2) when unknown parameter is, become, with non-linear form occur and value in a known Ω that compacts, other condition is as 1), provided the design of the static controller of the progressive tracking of local robust.
Its humidity sensor is the macromolecule humidity-sensitive capacitor.
Its temperature sensor is the Pt100 temperature sensor.
In the solution of the present invention, constant temperature water tank 3 provides the circulating hot water of uniform temperature for growth cabinet 1, guarantee the temperature of climate box gas, the condensation unit guarantees the water temperature of constant temperature dew point water tank, the gas of certain humidity is provided for climate box 1 to guarantee gas heat exchanger 7, guarantee the humidity of gas in the weather casing, the robust tracking control system is by detecting the temperature and humidity of gas in the climate box, detected value is compared with setting value, carry out the robust tracking control program simultaneously, and adjusting and pilot-gas generating means, in climate box till the requirement of the humiture coincidence detection condition of gas.
The method of operating and the course of work that it is concrete are exemplified below:
If detect the content of formaldehyde of certain product, the temperature that should set climate box is 23 ℃; Humidity is 45%, open computing machine, double-click the icon on the computer desktop, system at first enters cover page, as shown in Figure 4, click " affirmation " (not having password when dispatching from the factory), system is with metering-in control system master interface, metering-in control system master interface after 2 seconds, " system management " of clicking the upper left corner menu drop-down menu occurs as shown in Figure 5, clicks " user management " in the drop-down menu, and following interface will appear in system: as shown in Figure 6, in dialog box, add the personnel that can use this equipment, after interpolation is finished, click " withdrawing from " button, main interface is got back to by system, as shown in Figure 7, fill in: the experiment people, the censorship unit, the censorship name of product, time; Design temperature, humidity, above-mentioned every fill in finish after, click " passing under the parameter " button, system will eject dialog box as shown in Figure 8, would you please confirm whether your selected parameter is correct, checks the parameter that you set again, as incorrect, then click " reseting ", system turns back to the parameter interface is set; As correctly, ask click OK, interface as shown in Figure 9 will appear in system, click " startup " button, system start-up, and enter real-time observation interface (diagram is slightly)." manual " knob is screwed into " automatically " position (set), equipment operation.In this interface, can check the ruuning situation of system, also can enter the historical data interface, check historical data, or enter the history curve interface and check history curve by the window management menu.
After experimental period length satisfies and obtains sample gas, click " operation control " menu, select " stopping " and click in drop-down menu, system is with out of service.Click " printing " menu bar, selection will be printed in drop-down menu form or curve are so far promptly finished once experiment.
After passing under the parameter, system sends the parameter of setting to PLC.PLC will receive instantaneous value in setting value and the climate box do poor:
Lim + → ∞ ( Y - Y d ) = D
Then its value conveying type (1.1a, 1.1b) is carried out tracking Control, after 1.5~2 hours, climate box reaches to detect and requires as shown in Figure 3.
The band change of using among the present invention send the humiture Displaying Meter of output function to have:
(1) output meter is sent in demonstration of MD640 temperature and change: precision prescribed is 3%, and range and zero point, concrete drift will be proofreaied and correct in use at 0~100 ℃.
(2) output meter is sent in MC640 humidity display and change: precision prescribed is 3%, and range and zero point, concrete drift will be proofreaied and correct in use at-5~55 ℃.
(3) output is sent in the humidity change: according to the variation range of ambient humidity, select the humidity transmitter of suitable range for use, error is in 1%, and general macromolecule moisture sensor can reach requirement.
(4) output is sent in the temperature change: according to the variation range of ambient humidity, select the temperature transmitter of suitable range for use, error is in 1%, and general thermal resistance, thermocouple sensor can reach requirement.The operation control system of whole gas generating unit, all, very easy to use by computer operation and monitoring.
Compare with existing temperature, moisture control system, the present invention has following clear superiority:
1) system precision height: the temperature control precision in the climate box can reach 1%; The humidity control accuracy can reach 3%.And existing control temperature can only reach 3%; Humidity can only reach 7%.
2) response time is fast: the time that reaches the testing conditions requirement from start needs 1.5~2 hours.And the existing time that reaches testing conditions needs 4~6 hours.
3) can be reliable and stable: adopt the CPU and the analog quantity load module of conventional instrument and SIEMANS company, climate box can be worked throughout the year.
4) applied widely: adjustable temperature range of the present invention is-5 ℃~55 ℃; The humidity adjustable extent is 20%~85%.
5) adopt computer control: have extraordinary human-computer interaction interface, operate quite simple,
6) the related detection data are by form, and curve representation comes out.
7) energy resource consumption is low: the climate box that the present invention makes is about about 600W at the power consumption of operate as normal.
8) price is low: the cost price of a cover robust tracking control system is approximately 1.2 ten thousand Renminbi.

Claims (3)

1. gas generating unit by the automatic tracking Control growth cabinet of robust tracking control system, reach the robust tracking control method of gas humiture in the automatic tracking Control growth cabinet, the gas generating unit of described growth cabinet, comprise growth cabinet, constant temperature water tank, constant temperature does not have oily magnetic drive pump motor, constant temperature dew point water tank, the constant temperature dew point does not have oily magnetic drive pump motor, the condensation unit, the climate box heat exchanger, steam heat-exchanger, the heat pump motor, spray vapour device feature, the climate box heat exchanger is arranged in the growth cabinet, be provided with the constant temperature water tank heating resistor in the constant temperature water tank, constant temperature dew point water tank connects the condensation unit, constant temperature does not have oily magnetic drive pump motor and connects climate box heat exchanger and constant temperature water tank by pipeline, the constant temperature dew point does not have oily magnetic drive pump motor and connects steam heat-exchanger and constant temperature dew point water tank by pipeline, the heat pump motor connects the air intake of steam heat-exchanger, the venthole of steam heat-exchanger connects spray vapour device by needle valve, spray vapour device is arranged in the growth cabinet, also be provided with humidity sensor and temperature sensor in the climate box, and become temperature display meter and the humidity display instrument send output function by having, the temperature-humidity signal modular converter that connects the robust tracking control system, the robust tracking control system also comprises Programmable Logic Controller PLC and operational computations machine
This robust tracking control method is characterised in that: be arranged on the temperature in the climate box, after humidity sensor detects the data of temperature and humidity online in the climate box, be sent to have and become temperature display meter and the humidity display instrument of sending output function, the humiture Displaying Meter becomes data to send exports to the temperature-humidity signal modular converter, and switching signal passed to Programmable Logic Controller PLC, PLC has just obtained the sampled value of the temperature and humidity of system after with signal Processing, when the user is provided with the value of the temperature and humidity of gas in the climate box from the operational computations machine, and after passing to Programmable Logic Controller PLC by configuration program, Programmable Logic Controller PLC can compare back execution robust tracking program according to the actual value and the setting value of the online temperature and humidity in the climate box, and control the temperature of constant temperature water tank and constant temperature dew point water tank in real time, the temperature and humidity of gas satisfies the requirement of setting in climate box, Programmable Logic Controller PLC also is responsible for control dew point humidification heat pump motor simultaneously, the condensation unit, constant temperature does not have the normal operation that oily magnetic drive pump motor and constant temperature dew point do not have oily magnetic drive pump motor, the control signal of biography and receiving computer under the Programmable Logic Controller PLC conduct simultaneously, carry out required judgement, the operation of tracking and program
Described robust tracking control program, be to be based upon under the prerequisite of considering external environment, condition, atmospheric pressure and disturbing factor, a class that takes out from the temperature and humidity control system of growth cabinet contains the model of the multivariable nonlinearity uncertain system of uncertain factor:
x=f(x)+q(x,θ(t))+[g(x)+g(x)Q(x,θ(t))]uLL(1.1a)
y=h(x) LL(1.1b)
Wherein: state variable x ∈ R n, input u ∈ R, output y ∈ R, unknown parameter θ (t) for the time become piecewise continuous, and value compacts on the Ω in one, f (x) and g (x) they are nominal or not by the analytic vector of disturbance, and g (x) ≠ 0, and be right _ x ∈ R n, h (x) is R nOn real function, Q (x θ) is fixed number nonvanishing function, promptly has: Q (x, θ (t))>0 or Q (x, θ (t))<0, right _ θ ∈ Ω, x ∈ R n, suppose that q (x, θ (t)) is a vector function, and and function Q (x, θ (t)) comprised all uncertainties of system, our robust tracking control program is exactly to seek the half smooth overall situation (part) state feedback controller, making for given ideal output y dHave Lim + → ∞ ( y - y d ) = 0 , Y wherein dBe ideal output (setting value), Y is a real-time measurement values, guarantees that simultaneously closed-loop system is a bounded, and all sets up for _ θ ∈ Ω, after through the several times computing, until appearance Lim + → ∞ ( y - y d ) = 0 The time, program will be carried out formula (1.1) always and keep this state,
Its control method draws following two kinds of results:
1) become when unknown parameter is, value is compacted on the Ω in a unknown, and occurs with linear forms, the strict feedback condition of parameter is set up, but the nominal input-output linearization, for given ideal output, provided the design of the self tuning controller of the progressive tracking of local robust
2) when unknown parameter is, become, with non-linear form occur and value in a known Ω that compacts, other condition is as 1), provided the design of the static controller of the progressive tracking of local robust.
3. the robust tracking control method of gas humiture in the growth cabinet according to claim 1, it is characterized in that: the humidity sensor that is adopted is the macromolecule humidity-sensitive capacitor.
4. the robust tracking control method of gas humiture in the growth cabinet according to claim 1, it is characterized in that: the temperature sensor that is adopted is the Pt100 temperature sensor.
CN 03105211 2003-02-21 2003-02-21 Robust track controlling method for air temperature and humidity in artificial climatic box Expired - Fee Related CN1211718C (en)

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