CN208076958U - A kind of quantitative control system based on Fuzzy Adaptive PID - Google Patents

Abstract

The utility model discloses a quantitative control system based on fuzzy self-adaptive PID, which comprises a microprocessor, an ADC module, a Kalman filter, a pressure sensor module, a power supply module, a keyboard input module, a man-machine interaction interface and an actuator, a power supply The output terminal of the module is connected with the input terminal of the Kalman filter, the pressure sensor module and the microprocessor respectively, the output terminal of the pressure sensor module is connected with the input terminal of the ADC module, and the output terminal of the ADC module is connected with the input terminal of the Kalman filter The output end of the Kalman filter is also connected with the input end of the microprocessor, and the output end of the microprocessor is respectively connected with the human-computer interaction interface, the actuator and the keyboard input module. The system has simple structure, strong ability to adapt to the environment, and excellent control strategy, which can well meet the needs of the pharmaceutical industry.

Description

A Quantitative Control System Based on Fuzzy Adaptive PID

technical field

The utility model relates to the technical field of quantitative control systems, in particular to a quantitative control system based on fuzzy adaptive PID.

Background technique

The pharmaceutical industry is an important part of my country's national economy. In my country, the production technology of the pharmaceutical industry is still relatively backward, lacking advanced supporting facilities, and currently there are no reliable quality control methods and means to serve the pharmaceutical industry.

In view of this, the utility model provides a quantitative control system based on fuzzy adaptive PID. The system uses Kalman filter and fuzzy adaptive PID controller. In the process of quantitative control of drugs, the pressure sensor will have deviations between the pressure output results and the actual value due to various external reasons. After the output results are filtered by the Kalman filter, the clutter can be better filtered out, and the output is stable and stable. The purer pressure signal makes the measured value closer to the actual value. The fuzzy adaptive PID controller will use fuzzy reasoning to adjust the PID parameters according to the deviation between the actual dropping amount and the expected dropping amount, and control the next dropping amount so as to achieve the expected dropping amount.

Utility model content

The purpose of the utility model is to overcome the deficiencies of the prior art and provide a quantitative control system based on fuzzy self-adaptive PID. The system has a simple structure, strong ability to adapt to the environment, and excellent control strategy, which can well meet the needs of the pharmaceutical industry .

The technical scheme that realizes the utility model purpose is:

A quantitative control system based on fuzzy adaptive PID, including a microprocessor, an ADC module, a Kalman filter, a pressure sensor module, a power module, a keyboard input module, a man-machine interface and an actuator, and the output terminals of the power module are respectively It is connected with the input end of the Kalman filter, the pressure sensor module and the microprocessor, the output end of the pressure sensor module is connected with the input end of the ADC module, the output end of the ADC module is connected with the input end of the Kalman filter, and the Kalman filter The output end of the device is also connected with the input end of the microprocessor, and the output end of the microprocessor is respectively connected with the human-computer interaction interface, the actuator and the keyboard input module.

Described microprocessor comprises fuzzy adaptive PID controller, LCD interface, the first GPIO interface, the second GPIO interface; The output end of Kalman filter and power module is connected with the input end of fuzzy adaptive PID controller respectively ; The output end of the fuzzy self-adaptive PID controller is connected to the human-computer interaction interface through the LCD interface, connected to the actuator through the first GPIO interface, and connected to the keyboard input module through the second GPIO interface.

Described microprocessor is MK60 type microprocessor.

The human-computer interaction interface is an LCD display.

The ADC module is an ADC module based on the ADS1218 chip.

The ADC module includes a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, and a seventh capacitor , the eighth capacitor, the first crystal oscillator and the ADS1218 chip; one end of the first resistor is connected to the pressure sensor module, and the other end is respectively connected to one end of the first capacitor, one end of the second capacitor, and pin 3 of the ADS1218 chip AINO; The other end of the first capacitor is grounded; one end of the second resistor is connected to the pressure sensor module, and the other end is respectively connected to the other end of the second capacitor, one end of the third capacitor, and pin 4 AINI of the ADS1218 chip; the other end of the third capacitor One end is grounded; one end of the fifth capacitor and one end of the third resistor are respectively grounded; the other end of the fifth capacitor is connected to the 14th pin VRCAP of the ADS1218 chip; the other end of the third resistor is connected to the 17th pin RDAC of the ADS1218 chip ;The 24th pin RESET of the ADS1218 chip is respectively connected to one end of the fourth resistor and one end of the sixth capacitor; the other end of the fourth resistor is connected to 3.3V voltage; the other end of the sixth capacitor is grounded; the 25th pin of the ADS1218 chip XIN is respectively connected to one end of the first crystal oscillator and one end of the seventh capacitor; pin 26 XOUT of the ADS1218 chip is respectively connected to the other end of the first crystal oscillator and one end of the eighth capacitor; the other end of the seventh capacitor and the eighth capacitor The other end of the fourth capacitor is grounded; one end of the fourth capacitor is connected to the 47th pin VREF+ and the 46th pin VREFOUT of the ADS1218 chip; the 48th pin VREF- of the ADS1218 chip, the 45th pin AGND, and the other end of the fourth capacitor grounded.

Beneficial effects: the system adopts the Kalman filter to effectively process the noise of the pressure sensor, better filters out the clutter, and can accurately track the pressure signal. By using the fuzzy adaptive PID controller to change its control strategy in real time, the PID parameters can be changed effectively, so as to control the accuracy of the dropping amount. Compared with traditional quantitative control equipment, this system has simple structure, strong adaptability to the environment, and excellent control strategy, which can well meet the needs of the pharmaceutical industry.

Description of drawings

Fig. 1 is a kind of quantitative control system based on fuzzy self-adaptive PID of the utility model and feels structural block diagram;

Fig. 2 is the circuit diagram of ADC module;

Fig. 3 is the fuzzy adaptive PID controller structure;

Fig. 4 is the work flowchart of fuzzy adaptive PID controller;

In the figure, 1. ADC module 2. Kalman filter 3. MK60 microprocessor 4. Fuzzy adaptive PID controller 5. LCD interface 6. Human-computer interaction interface 7. First GPIO interface 8. Actuator 9. Keyboard Input module 10. Second GPIO interface 11. System power supply 12. Pressure sensor module.

Detailed ways

The utility model will be further elaborated below in conjunction with the accompanying drawings and embodiments, but the utility model is not limited thereto.

Example:

As shown in Figure 1, a quantitative control system based on fuzzy adaptive PID includes MK60 microprocessor 3, ADC module 1, Kalman filter 2, pressure sensor module 12, system power supply 11, keyboard input module 9, human Machine interaction interface 6 and actuator 8, the output end of system power supply 11 is connected with the input end of Kalman filter 2, pressure sensor module 12 and MK60 microprocessor 3 respectively, the output end of pressure sensor module 12 is connected with ADC module 1 The input end is connected, the output end of the ADC module 1 is connected with the input end of the Kalman filter 2, the output end of the Kalman filter 2 is also connected with the input end of the MK60 microprocessor 3, and the output end of the MK60 microprocessor 3 is connected with the input end of the MK60 microprocessor 3 respectively. The human-computer interaction interface 6, the actuator 8 and the keyboard input module 9 are connected.

Described MK60 microprocessor 3 comprises fuzzy adaptive PID controller 4, LCD interface 5, the first GPIO interface 7, the second GPIO interface 10; Adapt to the input terminal connection of the PID controller 4; the output terminal of the fuzzy adaptive PID controller 4 is connected with the human-computer interaction interface 6 through the LCD interface 5, connected with the actuator 8 through the first GPIO interface 7, and connected with the actuator 8 through the second GPIO interface 10 Connect with keyboard input module 9.

The human-computer interaction interface 6 is an LCD display.

The ADC module 1 is an ADC module based on the ADS1218 chip.

As shown in Figure 2, the ADC module 1 includes a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1, a second capacitor C2, a third capacitor C3, a Four capacitors C4, fifth capacitor C5, sixth capacitor C6, seventh capacitor C7, eighth capacitor C8, first crystal oscillator Y1 and ADS1218 chip; one end of the first resistor R1 is connected to the pressure sensor module 12, and the other end is respectively connected to the first One end of the first capacitor C1, one end of the second capacitor C2, and the No. 3 pin AINO of the ADS1218 chip are connected; the other end of the first capacitor C1 is grounded; one end of the second resistor R2 is connected to the pressure sensor module 12, and the other end is respectively connected to the first The other end of the second capacitor C2, one end of the third capacitor C3, and the No. 4 pin AINI of the ADS1218 chip are connected; the other end of the third capacitor C3 is grounded; one end of the fifth capacitor C5 and one end of the third resistor R3 are respectively grounded; The other end of the five-capacitor C5 is connected to the 14th pin VRCAP of the ADS1218 chip; the other end of the third resistor R3 is connected to the 17th pin RDAC of the ADS1218 chip; the 24th pin RESET of the ADS1218 chip is respectively connected to the fourth resistor R3 One end and one end of the sixth capacitor C6 are connected; the other end of the fourth resistor R4 is connected to 3.3V voltage; the other end of the sixth capacitor C6 is grounded; the 25th pin XIN of the ADS1218 chip is respectively connected to one end of the first crystal oscillator Y1, the seventh One end of the capacitor C7 is connected; the No. 26 pin XOUT of the ADS1218 chip is respectively connected to the other end of the first crystal oscillator Y1 and one end of the eighth capacitor C8; the other end of the seventh capacitor C7 and the other end of the eighth capacitor C8 are grounded; One end of the four-capacitor C4 is respectively connected to the 47th pin VREF+ and the 46th pin VREFOUT of the ADS1218 chip; the 48th pin VREF- and the 45th pin AGND of the ADS1218 chip, and the other end of the fourth capacitor C4 is grounded.

As shown in Figure 3, when the system is in use, the keyboard input module 9 is used to input the weight of the medicine to be weighed, and the man-machine interface 6 uses an LCD display to output the weight of the medicine in the current medicine bottle and draw it in real time. The weight growth curve; the actuator 8 is used to control the amount of the dropped medicine; the weight value collected by the pressure sensor module 12 is converted by the ADC module 1 and then input to the Kalman filter 2, the following is the work of the Kalman filter 2 process:

First, use the process model of the system to predict the next state of the system. Assuming that the system state at time k is X(k), the current state can be predicted from the previous state according to the system model:

X(k|k-1)＝AX(k-1|k-1)+Bu(k) (1)

Among them, X(k|k-1) is the prediction of the state of the previous moment to the state of the current moment, X(k-1|k-1) is the optimal result of the state of the previous moment, and u(k) is the state of the current moment amount of control.

The state of the system has been updated, and now the error estimation covariance matrix of the system needs to be updated, and P(k|k-1) is used to represent the error estimation covariance matrix:

P(k|k-1)=A*P(k-1|k-1)A'+Q (2)

Where P(k|k-1) is the prediction of this state from the previous state at time k, and P(k-1|k-1) is the error estimation covariance corresponding to X(k-1|k-1) matrix, Q represents the covariance of the system process noise.

Now we have the prediction result, and then we correct it according to the measured value of the current state to get the optimal estimator X(k|k)

X(k|k)=X(k|k-1)+Kg(k)*(Z(k)-HX(k|k-1)) (3)

Kg(k) in formula (3) is unknown, so it needs to be solved, and formula (4) is derived:

Kg(k)=P(k|k-1)*H'/(H*P(k|k-1)*H'+R) (4)

Up to now, we have obtained the optimal value X(k|k) of the system state at time k. In order to make the Kalman filter continue, we need to update the corresponding P(k| k)

P(k|k)＝(1-Kg(k)*H)*P(k|k-1) (5)

The weight value optimized by the Kalman filter 2 is input to the fuzzy adaptive PID controller 4 . The fuzzy adaptive PID controller 4 is based on the membership degree assignment table of each fuzzy subset and the fuzzy control model of each parameter, and uses fuzzy synthesis reasoning to design the fuzzy matrix table of PID parameters, and finds out the correction parameters and substitutes them into the following formula for calculation:

k _p ＝k _p ′+{e _i ,ec _i } _p

k _i ＝k _i ′+{e _i ,ec _i } _i

k _d ＝k _d ′+{e _i ,ec _i } _d

During online operation, the control system completes online self-calibration of PID parameters by processing the results of fuzzy logic rules, looking up tables and computing.

The control expectation output by the fuzzy adaptive PID controller is input to the actuator module, and the execution module controls the quantitative control of the drug by controlling the size of the drug outlet.

Claims (6)

1. a quantitative control system based on fuzzy self-adaptive PID, is characterized in that, comprises microprocessor, ADC module, Kalman filter, pressure sensor module, power supply module, keyboard input module, man-machine interface and actuator, The output terminal of the power module is connected to the input terminal of the Kalman filter, the pressure sensor module and the microprocessor respectively, the output terminal of the pressure sensor module is connected to the input terminal of the ADC module, and the output terminal of the ADC module is connected to the input terminal of the Kalman filter The output end of the Kalman filter is also connected with the input end of the microprocessor, and the output end of the microprocessor is respectively connected with the human-computer interaction interface, the actuator and the keyboard input module. 2. a kind of quantitative control system based on fuzzy adaptive PID according to claim 1, is characterized in that, described microprocessor comprises fuzzy adaptive PID controller, LCD interface, the first GPIO interface, the second GPIO interface; the output ends of the Kalman filter and the power module are respectively connected to the input ends of the fuzzy adaptive PID controller; the output ends of the fuzzy adaptive PID controller are connected to the human-computer interaction interface through the LCD interface, and through the first GPIO interface Connect with the actuator, and connect with the keyboard input module through the second GPIO interface. 3. a kind of quantitative control system based on fuzzy adaptive PID according to claim 1, is characterized in that, described microprocessor is MK60 type microprocessor. 4. A kind of quantitative control system based on fuzzy adaptive PID according to claim 1, characterized in that, the human-computer interaction interface is an LCD display. 5. a kind of quantitative control system based on fuzzy adaptive PID according to claim 1, is characterized in that, described ADC module is the ADC module based on ADS1218 chip. 6. a kind of quantitative control system based on fuzzy self-adaptive PID according to claim 1, is characterized in that, described ADC module comprises first resistance, second resistance, the 3rd resistance, the 4th resistance, the first Capacitor, second capacitor, third capacitor, fourth capacitor, fifth capacitor, sixth capacitor, seventh capacitor, eighth capacitor, first crystal oscillator and ADS1218 chip; one end of the first resistor is connected to the pressure sensor module, and the other end Connect to one end of the first capacitor, one end of the second capacitor, and AINO pin 3 of the ADS1218 chip; the other end of the first capacitor is grounded; one end of the second resistor is connected to the pressure sensor module, and the other end is respectively connected to the second capacitor The other end of the third capacitor, one end of the third capacitor, and the 4th pin AINI of the ADS1218 chip are connected; the other end of the third capacitor is grounded; one end of the fifth capacitor and one end of the third resistor are respectively grounded; the other end of the fifth capacitor is connected to the ADS1218 The 14th pin VRCAP of the chip is connected; the other end of the third resistor is connected to the 17th pin RDAC of the ADS1218 chip; the 24th pin RESET of the ADS1218 chip is respectively connected to one end of the fourth resistor and one end of the sixth capacitor; The other end of the four resistors is connected to 3.3V voltage; the other end of the sixth capacitor is grounded; the 25th pin XIN of the ADS1218 chip is respectively connected to one end of the first crystal oscillator and one end of the seventh capacitor; the 26th pin XOUT of the ADS1218 chip is respectively Connect with the other end of the first crystal oscillator and one end of the eighth capacitor; the other end of the seventh capacitor and the other end of the eighth capacitor are grounded; one end of the fourth capacitor is respectively connected to pin 47 VREF+ and pin 46 of the ADS1218 chip VREFOUT connection; the 48th pin VREF- of the ADS1218 chip, the 45th pin AGND, and the other end of the fourth capacitor are grounded.