CN217689879U

CN217689879U - Self-adaptive bionic wrist temperature control system

Info

Publication number: CN217689879U
Application number: CN202222102114.XU
Authority: CN
Inventors: 魏宇飞; 郑宝举
Original assignee: Beijing Qingfei Technology Co ltd
Current assignee: Beijing Qingfei Technology Co ltd
Priority date: 2022-01-24
Filing date: 2022-08-10
Publication date: 2022-10-28
Anticipated expiration: 2032-08-10

Abstract

The utility model discloses a self-adaptation bionical wrist temperature control system, including control panel, switch components and parts, heating film, temperature acquisition module, silica gel wrist, the control panel passes through the IO port with the switch components and parts link to each other, the switch components and parts with the switch of heating film links to each other, heating film, temperature acquisition module all link to each other with the silica gel wrist, the output port of temperature acquisition module links to each other with the AD acquisition port of control panel; control panel output heating control signal control opening of switch components and parts, control when switch components and parts are opened heating film switch's start-up, heating film heats the silica gel wrist after starting, the temperature acquisition module is used for gathering the temperature of silica gel wrist and transmits extremely the control panel. The utility model discloses a switch of control heating film realizes the heating control to the silica gel wrist, reaches the simulation demand of human wrist temperature, has fine self-adaptation characteristic.

Description

Self-adaptive bionic wrist temperature control system

Technical Field

The utility model relates to a temperature control technical field, concretely relates to bionical wrist temperature control system of self-adaptation.

Background

In many wearing equipment application occasions, all need test with the help of human emulation skin, in order to reach better test effect, need heat the condition that reaches the human temperature of simulation to human emulation skin, at this in-process, need adopt the temperature control means to control the heating.

The temperature control relates to multidisciplinary technologies such as materials, thermodynamics, sensors, control algorithms and the like, is influenced by a plurality of factors, and the existing control model is nonlinear, is difficult to control accurately in real time and has the characteristics of large delay, large inertia, nonlinearity and uncertainty. Most of temperature control adopts a traditional PID controller and a self-adaptive PID controller, the control quantity of the traditional PID controller is heating current and voltage, heating power and speed are changed through parameter adjustment, and the system is relatively complex; temperature control is performed by controlling the heating switch time, but the control parameters are adjusted by calculating the heating time without considering the change of the heat dissipation condition of the system, and if the external environment changes greatly, the control is greatly fluctuated. The existing adaptive PID controller mostly adopts a least square method to calculate PID parameters in real time, or collects heating speed and historical data to carry out optimized dynamic calculation of the parameters, and the control mode is complex. Due to the influence of the external environment temperature, the situation that a wrist wears a test instrument and the like, the external heat dissipation is in a changing state, the nonlinear, delay and inertia factors require the system to have good self-adaptive characteristics, and when the traditional PID controller is applied to wrist temperature control, the problems of large fluctuation and low precision exist; if the adaptive PID controller is adopted, the problems of complex control mode and high cost exist, and the popularization and the application in the market are difficult.

Disclosure of Invention

The purpose of the invention is as follows: the utility model aims to provide a bionical wrist temperature control system of self-adaptation to prior art not enough, the switch through control heating film realizes the heating control to the silica gel wrist, reaches the simulation demand of human wrist temperature, has fine adaptive characteristic.

The technical scheme is as follows: the utility model discloses a self-adaptation bionical wrist temperature control system, including control panel, switch components and parts, heating film, temperature acquisition module, silica gel wrist, the control panel pass through the IO port with the switch components and parts link to each other, the switch components and parts with the switch of heating film links to each other, heating film, temperature acquisition module all link to each other with the silica gel wrist, the output port of temperature acquisition module links to each other with the AD acquisition port of control panel; control panel output heating control signal control opening of switch components and parts, control when switch components and parts are opened heating film switch's start, heating film heats the silica gel wrist after starting, the temperature acquisition module is used for gathering the temperature of silica gel wrist and transmits extremely the control panel.

Further perfecting the technical scheme, the switch element is a relay or silicon-controlled switch.

Further, the heating film is a polyimide heating film.

Further, the temperature acquisition module is a PT1000 thermistor.

Further, the control panel adopts the STM32 singlechip.

Furthermore, the control panel is connected with an upper computer through an RS232 serial port, the upper computer outputs temperature control temperature, temperature control starting and stopping signals to the control panel, and the temperature acquisition module acquires the current temperature of the silica gel wrist and transmits the current temperature to the control panel; the control panel is provided with a PID controller, the input end of the PID controller receives the current temperature, the temperature control temperature, the heating time and the heat dissipation time, the output end of the PID controller outputs the new heating time, and the control panel generates a heating control signal according to the new heating time.

Has the beneficial effects that: compared with the prior art, the utility model discloses based on the partial temperature control of human wrist of simulation, adopt simulation people's wrist temperature on the bionic skin of relay or controllable silicon on-off control heating film piece heating, through high accuracy PT1000 thermistor collection temperature, the precision can reach 0.1 degree. The utility model provides a system adopts the mode of switching element control constant voltage heating, and the on-off time of only control heating converts the control object into control time, small, low power dissipation, with low costs, easily marketing. By adopting the PID controller, the heating condition is considered, the change of heat dissipation is also considered, the heating time and the heat dissipation time are integrated, the heating time parameter is adjusted in real time, the optimal state is quickly adjusted along with the change of the environment, and the PID controller has good self-adaptive characteristic.

Drawings

Fig. 1 is a schematic block circuit diagram of the present invention;

fig. 2 is a control effect diagram of the present invention.

Detailed Description

The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.

The adaptive bionic wrist temperature control system shown in fig. 1 comprises an upper computer, a control panel, a relay or controllable silicon, a heating film, a silica gel wrist and a thermistor. The upper computer is interconnected with the control panel, the control panel is connected with the heating film through a relay or a controllable silicon, the heating film and the thermistor are both connected with the silica gel wrist, and the control panel is connected with an output port of the thermistor through an AD acquisition port; the upper computer is used for parameter setting and passes down to the control panel, and control signal is exported to relay or controllable silicon to the control panel according to the parameter of upper computer, and relay or controllable silicon links to each other with heating film and is used for controlling the start-up, the closing of heating film, heats the silica gel wrist after the heating film starts, and thermistor is used for gathering the temperature of silica gel wrist and transmits to the control panel, and the control panel is uploaded the temperature that thermistor gathered to the upper computer.

The host computer is mainly used for realizing user interaction functions, and comprises opening and closing temperature control, setting temperature control temperature and displaying the temperature in real time. The control panel adopts the STM32 singlechip, realizes with host computer communication, carries out PID controller's control, gathers the temperature and control heating. The relay or the thyristor is mainly used for switching on and switching off the heating film. The heating film adopts a polyimide heating film, and has good flexibility and thermal conductivity. The thermistor adopts a high-precision PT1000 thermistor, and the precision can reach 0.1 degree. The silica gel wrist adopts the silica gel material, and the wrist area is less, and heat conductivity, compliance and thermal diffusivity are more even, and control effect is obvious.

Control programs for implementing PID controllers have been disclosed in github, and specific websites are: https:// github. Com/zhengbuaaa/projects-/blob/main. C # L2.

The process of temperature control by using the control board comprising the PID controller is as follows:

1. the upper computer completes user interaction and parameter setting, and relevant parameters are downloaded to the control panel through the RS232 serial port;

2. the control panel collects the thermistor in real time according to the parameters transmitted by the upper computer, converts the thermistor into real-time temperature, compares the real-time temperature with the set temperature control temperature to obtain a temperature difference e, outputs heating time by adopting a PID (proportion integration differentiation) controller, and controls a relay or a switch of a silicon controller through a switch IO (input/output) port;

3. the relay or the controllable silicon controls a power switch of the heating film to realize temperature control, the thermistor collects the wrist temperature in real time, and the control panel records the accumulated heating time t1;

4. after the heating control time t is up, the relay or the controllable silicon is closed, and the heating is closed;

5. recording heat dissipation time t2;

6. the control panel inputs the new temperature differences e, t1 and t2 to the PID controller, and the PID controller outputs the next heating control time t;

7. and (4) controlling the opening time of the relay or the silicon controller by the control panel according to the heating control time t to carry out heating control, and returning to the step (3) for circulation.

The calculation process of the PID controller output heating time is as follows:

1. t = k × e, heating time t is calculated according to the temperature difference e, k is a relation coefficient, and k is dynamically calculated according to the temperature difference e, the heating time t1 and the heat dissipation time t2;

2. firstly, calculating initial k0= e 0/(t 1+ t 2), namely, the initial basic parameters;

3. calculating k1= k0 (t 1-t 2/(t 1+ t 2)) from the second acquired data, updating the parameter k according to the new t1 and t2;

4. calculating a new heating time t = k × e;

5. and continuously circulating for 2 to 5 times to achieve accurate temperature control.

The PID controller oscillates in the initial stage, but tends to be stable more and more along with the increase of the cycle number, and can follow the system in time when being greatly influenced by the outside, so that the PID controller has strong robustness. Fig. 2 shows the result of setting 35 degrees of control, which fluctuates up and down to 35 degrees from the beginning of heating to the basic steady state.

As mentioned above, although the present invention has been shown and described with reference to certain preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a bionical wrist temperature control system of self-adaptation which characterized in that: the temperature control device comprises a control panel, a switch component, a heating film, a temperature acquisition module and a silica gel wrist, wherein the control panel is connected with the switch component through an IO port, the switch component is connected with a power switch of the heating film, the heating film and the temperature acquisition module are both connected with the silica gel wrist, and an output port of the temperature acquisition module is connected with an AD acquisition port of the control panel; control panel output heating control signal control opening of switch components and parts, control when switch components and parts are opened heating film switch's start, heating film heats the silica gel wrist after starting, the temperature acquisition module is used for gathering the temperature of silica gel wrist and transmits extremely the control panel.

2. The adaptive biomimetic wrist temperature control system of claim 1, wherein: the switch component is a relay or silicon controlled switch.

3. The adaptive biomimetic wrist temperature control system of claim 1, wherein: the heating film is a polyimide heating film.

4. The adaptive biomimetic wrist temperature control system according to any one of claims 1 to 3, wherein: the temperature acquisition module is a PT1000 thermistor.

5. The adaptive biomimetic wrist temperature control system of claim 4, wherein: the control panel adopts the STM32 singlechip.

6. The adaptive biomimetic wrist temperature control system of claim 5, wherein: the control panel is connected with an upper computer through an RS232 serial port, the upper computer outputs temperature control temperature, temperature control starting and stopping signals to the control panel, and the temperature acquisition module acquires the current temperature of the silica gel wrist and transmits the current temperature to the control panel; the control panel is provided with a PID controller, the input end of the PID controller receives the current temperature, the temperature control temperature, the heating time and the heat dissipation time, the output end of the PID controller outputs the new heating time, and the control panel generates a heating control signal according to the new heating time.