CN219676479U - PID synchronous positioning control system for stage mechanical suspender equipment - Google Patents
PID synchronous positioning control system for stage mechanical suspender equipment Download PDFInfo
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Abstract
The utility model provides a PID synchronous positioning control system for stage mechanical suspender equipment, and belongs to the field of stage mechanical equipment. The system comprises a man-machine interaction system, a variable frequency speed regulation system, an execution detection feedback system and a PLC main control system, wherein the PLC main control system comprises a CPU, a PID controller, a counter module, an interface module, an analog quantity input module, a digital quantity input module and a digital quantity output module.
Description
Technical Field
The utility model belongs to the technical field of stage mechanical equipment, and particularly relates to a PID synchronous positioning control system for stage mechanical suspender equipment.
Background
In recent years, with the improvement of the material culture level, the stage performance artistic form is more and more complicated, and the requirements of people on the stage art are also more and more high. At present, the boom type equipment is mainly and frequently used in a stage theater, the equipment generally requires a plurality of equipment to synchronously operate, the synchronous positioning precision of the boom type equipment directly influences the artistic effect of stage performance, and meanwhile, the stability, the accuracy, the safety and the advancement of the stage mechanical equipment control system are also directly reflected.
The existing domestic and foreign stage mechanical control systems mostly use a PLC as a main control system to control the output of a frequency converter and receive feedback information to analyze and process and issue the next operation parameters. The control method can only manually adjust the operation parameters of the same type of driving equipment, and when the operation error of the equipment is large, the equipment cannot automatically correct the deviation, correct the operation state and seriously influence the accuracy of a control system.
The PID controller can effectively correct the deviation between the input initial value and the output feedback value of the controlled object according to the combination of the proportion, the integral and the derivative so that the controlled object reaches an ideal running state. The control object of the stage mechanical boom class equipment is an uncertain object and is suitable for PID control. Therefore, it is necessary to research a stage mechanical PID synchronous positioning control system based on a PLC and a frequency converter on the original control system.
Disclosure of Invention
The utility model aims to improve the synchronous positioning precision of stage mechanical suspender equipment and the robustness of a control system, and solves the problems that the control system of the stage mechanical suspender equipment cannot automatically correct deviation and correct the running state and influence the accuracy of the control system only by manually adjusting the running parameters of the same type of driving equipment at present.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:
a stage machinery boom class equipment PID synchronous positioning control system, comprising:
the man-machine interaction system is used for issuing a control instruction to control and monitor the stage mechanical boom equipment and realizing the pre-selection, the motion parameter setting, the equipment grouping, the scene operation and the scene sequence operation of the stage mechanical equipment, and comprises a main operation table, a mobile operation table and a touch screen, wherein the control authority of the mobile operation table and the touch screen is limited and locked by the main operation table;
the variable-frequency speed regulating system is used for stepless speed regulation so as to control a plurality of stage mechanical suspender equipment to synchronously run, and comprises a frequency converter;
the execution detection feedback system comprises an execution element and a detection feedback element, wherein the execution element is used for executing the operation action of the stage mechanical boom equipment, and the detection feedback element is used for detecting and feeding back the operation speed and the position of the execution element;
the PLC main control system is used for calculating, processing and storing various data transmitted back by the frequency converter and the detection feedback element, and comprises a CPU, a PID controller, a counter module, an interface module, an analog quantity input module, a digital quantity input module and a digital quantity output module, wherein the counter module is used for acquiring a feedback value of the detection feedback element, the analog quantity input module is used for acquiring an analog quantity speed value of a main operation console, the digital quantity input module is used for acquiring a digital quantity value of the speed and the position of the execution element, and the digital quantity output module is used for outputting the digital quantity value for controlling the speed and the position of the execution element;
the main operation desk, the mobile operation desk and the touch screen are respectively in communication connection with the CPU through an industrial Ethernet via a network switch, the frequency converter is in communication connection with the CPU through PROFIBUSDP, the frequency converter controls the driving execution element, the detection feedback element transmits the collected running speed and position information of the execution element to the CPU through the counter module, the PID controller and the digital quantity input module are respectively connected with the CPU, the interface module is in communication connection with the CPU through PROFINET, and the analog quantity input module and the digital quantity output module are respectively connected with the interface module.
Further, the man-machine interaction system further comprises a remote operation and maintenance center, the remote operation and maintenance center is in communication connection with the CPU through the network switch by the industrial Ethernet, and the remote operation and maintenance center realizes remote diagnosis, maintenance and monitoring of the whole control system by the Web server function.
Further, the executing element is a motor, and the detection feedback element is an encoder.
Further, the main operation platform comprises two industrial personal computers which are in redundant configuration.
The beneficial technical effects of the utility model are as follows: the PID synchronous positioning control system for the stage mechanical suspender equipment effectively improves the synchronous positioning precision of the stage mechanical suspender equipment by arranging the PID controller, enhances the robustness of the whole control system, has important significance on the running stability, safety and reliability of the stage mechanical suspender equipment, and simultaneously, the synchronous positioning precision meets the new standards of the current domestic and international stage machinery.
Drawings
FIG. 1 is a block diagram of the overall structure of a PID synchronous positioning control system for a stage mechanical boom type apparatus of the present utility model;
FIG. 2 is a schematic structural diagram of a PID synchronous positioning control system for stage mechanical boom equipment of the present utility model;
the marks in the figure: the system comprises a 1-mobile operation platform, a 2-main operation platform, a 3-CPU, a 4-counter module, a 5-digital input module, a 6-PROFINET, a 7-interface module, an 8-digital output module, a 9-frequency converter, a 10-remote operation and maintenance center, a 11-touch screen, a 12-industrial Ethernet, a 13-network switch, a 14-analog input module and a 15-PROFIBUS-DP.
Detailed Description
The present utility model will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
Examples
Referring to fig. 1 and 2, the embodiment provides a PID synchronous positioning control system for stage mechanical boom equipment, which comprises a man-machine interaction system, a variable frequency speed regulation system, an execution detection feedback system and a PLC main control system; the man-machine interaction system is used for issuing a control instruction to control and monitor stage mechanical suspender equipment, so that pre-selection, motion parameter setting, equipment grouping, scene operation and scene sequence operation of the stage mechanical equipment are realized; the variable frequency speed regulating system is used for stepless speed regulation so as to control a plurality of stage mechanical suspender equipment to synchronously run; the execution detection feedback system comprises an execution element and a detection feedback element, wherein the execution element is used for executing the operation action of the stage mechanical boom equipment, and the detection feedback element is used for detecting and feeding back the operation speed and the position of the execution element; the PLC main control system is the core of the whole control system and is used for calculating, processing and storing various data transmitted back by the variable-frequency speed regulation system and the detection feedback element.
Specifically, the man-machine interaction system comprises a main operation table 2, a mobile operation table 1, a touch screen 11 and a remote operation and maintenance center 10, wherein the main operation table 2 consists of two industrial computers, an operation rocker and an emergency stop button, the two industrial computers are in redundant configuration and can be switched to each other, one of the industrial computers is switched to the other to operate when in failure, and the stable operation of the system is ensured; the movable operation table 1 is used for realizing operation of stage mechanical boom equipment nearby or at a place where most of operation processes can be observed, so that the stage mechanical boom equipment is convenient to debug and mount; the touch screen 11 is mainly used for realizing portable operation and can conveniently control stage mechanical suspender equipment in a long distance; the control authority of the mobile operation console 1 and the touch screen 11 is limited and locked by the main operation console 2 so as to fully ensure the operation safety of the system, and the remote operation and maintenance center 10 realizes remote diagnosis, maintenance and monitoring of the whole control system through a Web server function. The main console 2, the mobile console 1, the touch panel 11, and the remote operation and maintenance center 10 are communicatively connected to the CPU3 via the network switch 13 through the industrial ethernet 12.
Specifically, the variable-frequency speed regulation system comprises a frequency converter 9, and data transmission is carried out between the frequency converter 9 and the PLC through a PROFIBUS15 DP. When the stage mechanical suspender equipment synchronously operates, stepless speed regulation is required by the frequency converter 9. The main function of the frequency converter 9 is to convert alternating current with fixed voltage and frequency into three-phase alternating current which is continuously adjustable within a certain range.
In this embodiment, in order to meet the requirement of synchronous operation of stage mechanical boom equipment, and adapt to the requirement of input and output of stage mechanical boom equipment and the requirement of control performance, the frequency converter 9 selects the nod SK530E series products. The frequency converter 9 calls the DPRD_DAT instruction to read the internal register address, calls the DPWD_DAT instruction to write the internal register address, then carries out data processing through the PID controller to enable the control system to reach the optimal state, and finally sends a control instruction to the frequency converter 9 through the CPU3 to realize the accurate control of the executive component.
Specifically, the executing element is a motor, the detection feedback element is an encoder, the stage mechanical suspender equipment detects the speed and the position of the motor in real time through the encoder, and the encoder carries out data transmission through the counter module 4.
Specifically, the PLC main control system comprises a CPU3, a PID controller, a counter module 4, an interface module 7, an analog quantity input module 14, a digital quantity input module 5 and a digital quantity output module 8, wherein the counter module 4 is used for acquiring a feedback value of a detection feedback element, the analog quantity input module 14 is used for acquiring an analog quantity speed value of a rocker operated by the main operation console 2, the digital quantity input module 5 is used for acquiring a digital quantity value of the speed and the position of the motor, and the digital quantity output module 8 is used for outputting and controlling the digital quantity value of the speed and the position of the motor; the PID controller and the digital quantity input module 5 are respectively connected with the CPU3, the interface module 7 is in communication connection with the CPU3 through the PROFINET6, and the analog quantity input module 14 and the digital quantity output module 8 are respectively connected with the interface module 7.
In the embodiment, the CPU3 selects Siemens S7-300 series products, is a medium-sized modularized PLC, has a large amount of integrated functions, can simply realize distributed and general network capacity, is flexible, can freely expand control tasks, and is cheaper than S7-1200 and S7-1500, and economical and practical. 1 set of counter module 4 is selected, and the model is FM350; the analog input module 14 is 1 set, the model is SM331AI, the digital input module 5 is 6 sets, the model is SM321DI matched with S7-300, the digital output module 8 is 4 sets, and the model is SM322DO matched with S7-300.
When the stage mechanical suspender type equipment synchronously operates, the operation mode, the operation position target and the operation speed parameter of the same type of motor are selected and set through the man-machine interaction system, and then the operation mode, the operation position target and the operation speed parameter are issued to the PLC main control system. In order to improve synchronous positioning accuracy and system robustness of motors of the same type of stage mechanical suspender equipment, a PID controller is arranged in a PLC main control system, a feedback value y (t) of the motors is input by an encoder through a counter module 4, the feedback value y (t) is compared with a given value x (t) to obtain a deviation e (t) of the feedback value y (t) and the given value x (t), a PID control algorithm in the PID controller is used for correcting control signals, a final output signal u (t) is obtained through calculation, and the final output signal u (t) is transmitted to a frequency converter 9 through a CPU3, so that synchronous operation of a plurality of motors of the same type is controlled.
Test case
Using the embodiment, and taking a company's club project as an example, the design parameters and performance are shown in Table 1. In the engineering project of the club of the company, the boom equipment 40 sets are included, synchronous operation of the boom equipment sets is required to be realized, the synchronous operation precision is not lower than +/-2 mm, the accurate positioning can be realized, and the operation stop precision is not lower than +/-1 mm.
TABLE 1 design parameters and Performance of a golden Sichuan club engineering PID control System
The synchronous positioning operation testing method comprises the following steps:
respectively selecting 4 sets, 6 sets and 8 sets of suspender equipment, firstly synchronously descending for 10m at the speed of 0.4m/s, 0.6m/s and 0.8m/s under the control condition of correcting feedback errors by a PID controller, and measuring the distance from a starting position to a stopping position; and then the test piece is lifted by 10m and returns to the original position, the stop position point is recorded, and the test result is shown in table 2.
Table 2 synchronous positioning PLC control operation test for boom type equipment
The test conditions are unchanged, the control system is changed, a PID controller is added under the control condition taking the PLC control system as a core, feedback values of executing equipment such as an encoder and the like are corrected, a control instruction is issued again, synchronous operation control is carried out on selected boom equipment of the same type, and the test results are shown in table 3.
Table 3 boom like device synchronous positioning PLC and PID control run test
As can be seen from analysis of tables 2 and 3, the absolute displacement error of the PID synchronous positioning control system of the stage mechanical boom equipment with the PID controller is obviously lower than that of the PLC control system without the PID control algorithm, and as the number of equipment increases, the absolute displacement error is larger and larger, which means that the increase of the number of equipment can affect the synchronous positioning precision of the boom equipment. As can be seen from the absolute displacement errors tested in the tables 2 and 3, the PID synchronous positioning control system for the stage mechanical boom equipment can effectively improve the synchronous positioning accuracy of the boom equipment, can still accurately position the boom equipment after the equipment number and the running speed are changed, has higher positioning accuracy than that of the system without a PID controller, and shows that the system effectively improves the robustness of the control system.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (4)
1. PID synchronous positioning control system of stage machinery jib class equipment, characterized by comprising:
the man-machine interaction system is used for issuing a control instruction to control and monitor the stage mechanical boom equipment and realizing the pre-selection, the motion parameter setting, the equipment grouping, the scene operation and the scene sequence operation of the stage mechanical equipment, and comprises a main operation table, a mobile operation table and a touch screen, wherein the control authority of the mobile operation table and the touch screen is limited and locked by the main operation table;
the variable-frequency speed regulating system is used for stepless speed regulation so as to control a plurality of stage mechanical suspender equipment to synchronously run, and comprises a frequency converter;
the execution detection feedback system comprises an execution element and a detection feedback element, wherein the execution element is used for executing the operation action of the stage mechanical boom equipment, and the detection feedback element is used for detecting and feeding back the operation speed and the position of the execution element;
the PLC main control system is used for calculating, processing and storing various data transmitted back by the frequency converter and the detection feedback element, and comprises a CPU, a PID controller, a counter module, an interface module, an analog quantity input module, a digital quantity input module and a digital quantity output module, wherein the counter module is used for acquiring a feedback value of the detection feedback element, the analog quantity input module is used for acquiring an analog quantity speed value of a main operation console, the digital quantity input module is used for acquiring a digital quantity value of the speed and the position of the execution element, and the digital quantity output module is used for outputting the digital quantity value for controlling the speed and the position of the execution element;
the main operation desk, the mobile operation desk and the touch screen are respectively in communication connection with the CPU through an industrial Ethernet via a network switch, the frequency converter is in communication connection with the CPU through a PROFIBUS DP, the frequency converter controls the driving execution element, the detection feedback element transmits the collected running speed and position information of the execution element to the CPU through the counter module, the PID controller and the digital quantity input module are respectively connected with the CPU, the interface module is in communication connection with the CPU through the PROFINET, and the analog quantity input module and the digital quantity output module are respectively connected with the interface module.
2. A stage mechanical boom like equipment PID synchronous positioning control system according to claim 1, characterized in that: the man-machine interaction system also comprises a remote operation and maintenance center which is in communication connection with the CPU through the network switch by the industrial Ethernet, and the remote operation and maintenance center is used for realizing remote diagnosis, maintenance and monitoring of the whole control system by the Web server function.
3. A stage mechanical boom like equipment PID synchronous positioning control system according to claim 1, characterized in that: the executing element is a motor, and the detection feedback element is an encoder.
4. A stage mechanical boom like equipment PID synchronous positioning control system according to claim 1, characterized in that: the main operation platform comprises two industrial personal computers which are in redundant configuration.
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| CN202320795557.3U CN219676479U (en) | 2023-04-12 | 2023-04-12 | PID synchronous positioning control system for stage mechanical suspender equipment |
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| CN202320795557.3U CN219676479U (en) | 2023-04-12 | 2023-04-12 | PID synchronous positioning control system for stage mechanical suspender equipment |
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