CN208076958U - A kind of quantitative control system based on Fuzzy Adaptive PID - Google Patents
A kind of quantitative control system based on Fuzzy Adaptive PID Download PDFInfo
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- CN208076958U CN208076958U CN201721496342.2U CN201721496342U CN208076958U CN 208076958 U CN208076958 U CN 208076958U CN 201721496342 U CN201721496342 U CN 201721496342U CN 208076958 U CN208076958 U CN 208076958U
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Abstract
The utility model discloses a kind of quantitative control systems based on Fuzzy Adaptive PID, including microprocessor, ADC module, Kalman filter, pressure sensor module, power module, keyboard input module, human-computer interaction interface and actuator, the output end of power module respectively with Kalman filter, pressure sensor module is connected with the input terminal of microprocessor, the output end of pressure sensor module and the input terminal of ADC module connect, the output end of ADC module and the input terminal of Kalman filter connect, Kalman filter output end is also connect with the input terminal of microprocessor, the output end of microprocessor respectively with human-computer interaction interface, actuator is connected with keyboard input module.The system structure is simple, and accommodative ability of environment is strong, control strategy is excellent, can be good at meeting pharmaceuticals industry demand.
Description
Technical field
The utility model is related to quantitative control system technical field, specifically a kind of quantifying based on Fuzzy Adaptive PID
Control system.
Background technology
Pharmaceuticals industry is the important component of Chinese national economy.In China, pharmaceuticals industry production technology, which also compares, to be fallen
Afterwards, lack advanced auxiliary facility, be at present pharmaceuticals industry service there is no reliable method of quality control and means.
In view of this, the utility model provides a kind of quantitative control system based on Fuzzy Adaptive PID.This system is adopted
With Kalman filter and Fuzzy Self-adaptive PID.During the quantitative control of drug, pressure sensor can be due to
Extraneous a variety of causes, pressure output result and actual value generate deviation, after output result is filtered by Kalman filter,
Can preferable filtering clutter, output stablize and purer pressure signal, so that measured value is closer to actual value.It is fuzzy
Self-adaptive PID controller, with fuzzy reasoning, can carry out pid parameter according to actually falling dose and it is expected to fall the deviation of dose
Adjustment, control next time fall dose, fall dose to reach desired.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, and provide a kind of based on Fuzzy Adaptive PID
Quantitative control system, the system structure is simple, accommodative ability of environment is strong, control strategy is excellent, can be good at meeting medicine
Industry requirement.
Realizing the technical solution of the utility model aim is：
A kind of quantitative control system based on Fuzzy Adaptive PID, including microprocessor, ADC module, Kalman filtering
Device, pressure sensor module, power module, keyboard input module, human-computer interaction interface and actuator, the output end of power module
It is connect respectively with the input terminal of Kalman filter, pressure sensor module and microprocessor, the output of pressure sensor module
End is connect with the input terminal of ADC module, and the output end of ADC module and the input terminal of Kalman filter connect, Kalman filtering
Device output end is also connect with the input terminal of microprocessor, the output end of microprocessor respectively with human-computer interaction interface, actuator and
Keyboard input module connects.
The microprocessor, including Fuzzy Self-adaptive PID, LCD interfaces, the first GPIO interface, the 2nd GPIO
Interface；The output end of Kalman filter and power module is connect with the input terminal of Fuzzy Adaptive PID controller respectively；Mould
The output end of self-adaptive fuzzy PID controller is connect by LCD interfaces with human-computer interaction interface, and the first GPIO interface and execution are passed through
Device connects, and is connect with keyboard input module by the second GPIO interface.
The microprocessor is MK60 type microprocessors.
The human-computer interaction interface is LCD display.
The ADC module is the ADC module based on ADS1218 chips.
The ADC module, including first resistor, second resistance, 3rd resistor, the 4th resistance, the first capacitance, the second electricity
Appearance, third capacitance, the 4th capacitance, the 5th capacitance, the 6th capacitance, the 7th capacitance, the 8th capacitance, the first crystal oscillator and ADS1218 cores
Piece；One end of first resistor is connect with pressure sensor module, the other end respectively with one end of the first capacitance, the second capacitance one
No. 3 pin AINO connections at end, ADS1218 chips；The other end of first capacitance is grounded；One end of second resistance is passed with pressure
Sensor module connect, the other end respectively with the other end of the second capacitance, one end of third capacitance, ADS1218 chips No. 4 pins
AINI connections；The other end of third capacitance is grounded；One end of 5th capacitance, one end of 3rd resistor are grounded respectively；5th capacitance
The other end connect with No. 14 pin VRCAP of ADS1218 chips；The other end of 3rd resistor with No. 17 of ADS1218 chips
Pin RDAC connections；No. 24 pin RESET of ADS1218 chips connect with one end of one end of the 4th resistance, the 6th capacitance respectively
It connects；Another termination 3.3V voltages of 4th resistance；The other end of 6th capacitance is grounded；XIN points of No. 25 pins of ADS1218 chips
It is not connect with one end of one end of the first crystal oscillator, the 7th capacitance；No. 26 pin XOUT of ADS1218 chips respectively with the first crystal oscillator
The other end, the 8th capacitance one end connection；The other end of 7th capacitance, the other end ground connection of the 8th capacitance；4th capacitance
One end is connect with No. 47 pin VREF+ of ADS1218 chips, No. 46 pin VREFOUT respectively；No. 48 pipes of ADS1218 chips
The other end ground connection of foot VREF-, No. 45 pin AGND, the 4th capacitance.
Advantageous effect：This system uses Kalman filter and has carried out effective processing to the noise of pressure sensor,
Clutter preferably has been filtered out, can accurately track pressure signal.Change its control in real time by using Fuzzy Self-adaptive PID
System strategy, effectively changes pid parameter, to which control falls the precision of dose.Opposite traditional quantitative control equipment,
This system is simple in structure, accommodative ability of environment is strong, control strategy is excellent, can be good at meeting pharmaceuticals industry demand.
Description of the drawings
Fig. 1 is that a kind of quantitative control system based on Fuzzy Adaptive PID of the utility model feels structure diagram；
Fig. 2 is the circuit diagram of ADC module；
Fig. 3 is Fuzzy Self-adaptive PID structure；
Fig. 4 is the work flow diagram of Fuzzy Self-adaptive PID；
In figure, 2. Kalman filter 3.MK60 microprocessors of 1.ADC modules, 4. Fuzzy Adaptive PID controller
The 2nd GPIO of 6. 9. keyboard input module 10. of human-computer interaction interface 7. first GPIO interface, 8. actuator of 5.LCD interfaces connects
Mouth 11. system power supply, 12. pressure sensor module.
Specific implementation mode
The utility model is further elaborated with reference to the accompanying drawings and examples, but is not the limit to the utility model
It is fixed.
Embodiment：
As shown in Figure 1, a kind of quantitative control system based on Fuzzy Adaptive PID, including MK60 microprocessors 3, ADC moulds
It block 1, Kalman filter 2, pressure sensor module 12, system power supply 11, keyboard input module 9, human-computer interaction interface 6 and holds
Row device 8, the output end of system power supply 11 respectively with Kalman filter 2, pressure sensor module 12 and MK60 microprocessors 3
Input terminal connects, and the output end of pressure sensor module 12 connect with the input terminal of ADC module 1, the output end of ADC module 1 and
The input terminal of Kalman filter 2 connects, and 2 output end of Kalman filter is also connect with the input terminal of MK60 microprocessors 3,
The output end of MK60 microprocessors 3 is connect with human-computer interaction interface 6, actuator 8 and keyboard input module 9 respectively.
The MK60 microprocessors 3, including Fuzzy Self-adaptive PID 4, LCD interfaces 5, the first GPIO interface 7,
Second GPIO interface 10；The output end of Kalman filter 2 and system power supply 11 respectively with Fuzzy Self-adaptive PID 4
Input terminal connects；The output end of Fuzzy Self-adaptive PID 4 is connect by LCD interfaces 5 with human-computer interaction interface 6, passes through
One GPIO interface 7 is connect with actuator 8, is connect with keyboard input module 9 by the second GPIO interface 10.
The human-computer interaction interface 6 is LCD display.
The ADC module 1 is the ADC module based on ADS1218 chips.
As shown in Fig. 2, the ADC module 1, including first resistor R1, second resistance R2,3rd resistor R3, the 4th electricity
Hinder R4, the first capacitance C1, the second capacitance C2, third capacitance C3, the 4th capacitance C4, the 5th capacitance C5, the 6th capacitance C6, the 7th
Capacitance C7, the 8th capacitance C8, the first crystal oscillator Y1 and ADS1218 chip；One end of first resistor R1 and pressure sensor module 12
Connection, No. 3 pin AINOs of the other end respectively with one end of the first capacitance C1, one end of the second capacitance C2, ADS1218 chips connect
It connects；The other end of first capacitance C1 is grounded；One end of second resistance R2 is connect with pressure sensor module 12, the other end respectively with
No. 4 pin AINI connections of the other end of the second capacitance C2, one end of third capacitance C3, ADS1218 chips；Third capacitance C3
The other end ground connection；One end of 5th capacitance C5, one end of 3rd resistor R3 are grounded respectively；The other end of 5th capacitance C5 with
No. 14 pin VRCAP connections of ADS1218 chips；The other end of 3rd resistor R3 and No. 17 pin RDAC of ADS1218 chips
Connection；No. 24 pin RESET of ADS1218 chips are connect with one end of one end of the 4th resistance R3, the 6th capacitance C6 respectively；
Another termination 3.3V voltages of 4th resistance R4；The other end of 6th capacitance C6 is grounded；No. 25 pin XIN of ADS1218 chips
It is connect respectively with one end of one end of the first crystal oscillator Y1, the 7th capacitance C7；No. 26 pin XOUT of ADS1218 chips respectively with
One end connection of the other end, the 8th capacitance C8 of first crystal oscillator Y1；The other end of 7th capacitance C7, the other end of the 8th capacitance C8
Ground connection；One end that 4th electricity C4 holds is connect with No. 47 pin VREF+ of ADS1218 chips, No. 46 pin VREFOUT respectively；
No. 48 pin VREF- of ADS1218 chips, the other end ground connection of No. 45 pin AGND, the 4th capacitance C4.
As shown in figure 3, the system is in use, keyboard input module 9 is used for inputting the weight of required drug of weighing, man-machine friendship
Mutual interface 6 uses LCD display, for exporting the weight of drug in current medicine bottle, and real-time rendering weight growth curve figure；
Actuator 8 is then for controlling the size for falling dose；The gravimetric value that pressure sensor module 12 acquires is after the conversion of ADC module 1
It is input to Kalman filter 2, is the course of work of Kalman filter 2 below：
Carry out forecasting system NextState first with the process model of system, the system mode for being located at the k moment is X (k),
Then current state can be predicted by laststate according to system model：
X (k | k-1)=AX (k-1 | k-1)+Bu (k) (1)
Wherein X (k | k-1) is prediction of the state of last moment to present moment state, and X (k-1 | k-1) it is last moment
The optimal result of state, u (k) are the controlled quentity controlled variable of present moment state.
The state of system has been updated over, it is now desired to the estimation error covariance matrix of more new system, with P (k | k-1) table
Show estimation error covariance matrix：
P (k | k-1)=A*P (k-1 | k-1) A '+Q (2)
Wherein P (k | k-1) is the prediction at the k moment by laststate to this state, and P (k-1 | k-1) is X (k-1 | k-1)
Corresponding estimation error covariance matrix, Q indicate the covariance of systematic procedure noise.
We have obtained prediction result now, and then we are modified to obtain according to the measured value of obtained present status
Optimal estimator X (k | k)
X (k | k)=X (k | k-1)+Kg (k) * (Z (k)-HX (k | k-1)) (3)
Kg (k) is unknown in formula (3), then needs just to solve it, just draws (4) formula：
Kg (k)=P (k | k-1) * H '/(H*P (k | k-1) * H '+R) (4)
Till now, the optimal value X (k | k) of the system mode at we and the k moment obtained, in order to allow Kalman filter
It constantly goes on, it would be desirable to update the corresponding P of X (k | k) (k | k)
P (k | k)=(1-Kg (k) * H) * P (k | k-1) (5)
The gravimetric value optimized by Kalman filter 2 is input to Fuzzy Self-adaptive PID 4.Fuzzy Adaptive PID
Degree of membership assignment table and each parameter fuzzy Controlling model of the controller 4 according to each fuzzy subset, are designed using fuzzy synthetic reason
The fuzzy matrix table of pid parameter finds corrected parameter and substitutes into following formula calculating:
kp=kp′+{ei,eci}p
ki=ki′+{ei,eci}i
kd=kd′+{ei,eci}d
During on-line operation, control system handled by the result to fuzzy logic ordination, is tabled look-up and operation, complete
The self-tuing on line of pairs of pid parameter.
The control expectation of Fuzzy Self-adaptive PID output is input to executor module, and execution module is by controlling out
The size of medicine mouth bore carries out the quantitative control of drug.
Claims (6)
1. a kind of quantitative control system based on Fuzzy Adaptive PID, which is characterized in that including microprocessor, ADC module, card
Thalmann filter, pressure sensor module, power module, keyboard input module, human-computer interaction interface and actuator, power module
Output end connect respectively with the input terminal of Kalman filter, pressure sensor module and microprocessor, pressure sensor mould
The output end of block and the input terminal of ADC module connect, and the output end of ADC module and the input terminal of Kalman filter connect, card
Thalmann filter output end is also connect with the input terminal of microprocessor, the output end of microprocessor respectively with human-computer interaction interface,
Actuator is connected with keyboard input module.
2. a kind of quantitative control system based on Fuzzy Adaptive PID according to claim 1, which is characterized in that described
Microprocessor, including Fuzzy Self-adaptive PID, LCD interfaces, the first GPIO interface, the second GPIO interface；Kalman filters
The output end of wave device and power module is connect with the input terminal of Fuzzy Self-adaptive PID respectively；Fuzzy Adaptive PID Control
The output end of device is connect by LCD interfaces with human-computer interaction interface, is connect with actuator by the first GPIO interface, is passed through second
GPIO interface is connect with keyboard input module.
3. a kind of quantitative control system based on Fuzzy Adaptive PID according to claim 1, which is characterized in that described
Microprocessor, be MK60 type microprocessors.
4. a kind of quantitative control system based on Fuzzy Adaptive PID according to claim 1, which is characterized in that described
Human-computer interaction interface, be LCD display.
5. a kind of quantitative control system based on Fuzzy Adaptive PID according to claim 1, which is characterized in that described
ADC module, be the ADC module based on ADS1218 chips.
6. a kind of quantitative control system based on Fuzzy Adaptive PID according to claim 1, which is characterized in that described
ADC module, including first resistor, second resistance, 3rd resistor, the 4th resistance, the first capacitance, the second capacitance, third capacitance,
4th capacitance, the 5th capacitance, the 6th capacitance, the 7th capacitance, the 8th capacitance, the first crystal oscillator and ADS1218 chips；First resistor
One end is connect with pressure sensor module, the other end respectively with one end of the first capacitance, one end of the second capacitance, ADS1218 cores
No. 3 pin AINO connections of piece；The other end of first capacitance is grounded；One end of second resistance is connect with pressure sensor module,
The other end is connect with No. 4 pin AINI of the other end of the second capacitance, one end of third capacitance, ADS1218 chips respectively；Third
The other end of capacitance is grounded；One end of 5th capacitance, one end of 3rd resistor are grounded respectively；The other end of 5th capacitance with
No. 14 pin VRCAP connections of ADS1218 chips；The other end of 3rd resistor and No. 17 pin RDAC of ADS1218 chips connect
It connects；No. 24 pin RESET of ADS1218 chips are connect with one end of one end of the 4th resistance, the 6th capacitance respectively；4th resistance
Another termination 3.3V voltages；The other end of 6th capacitance is grounded；No. 25 pin XIN of ADS1218 chips are brilliant with first respectively
One end connection of one end, the 7th capacitance for shaking；No. 26 pin XOUT of ADS1218 chips respectively with the other end of the first crystal oscillator,
One end of 8th capacitance connects；The other end of 7th capacitance, the other end ground connection of the 8th capacitance；One end of 4th capacitance respectively with
No. 47 pin VREF+ of ADS1218 chips, No. 46 pin VREFOUT connections；No. 48 pin VREF-, 45 of ADS1218 chips
The other end ground connection of number pin AGND, the 4th capacitance.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113586417A (en) * | 2021-09-01 | 2021-11-02 | 淮阴工学院 | Air compressor grading control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113586417A (en) * | 2021-09-01 | 2021-11-02 | 淮阴工学院 | Air compressor grading control system and method |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181109 Termination date: 20191110 |
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| CF01 | Termination of patent right due to non-payment of annual fee |