RU2747717C1 - Operational measurement and control method using dispersing technology - Google Patents

Abstract

FIELD: discrete measurement.

SUBSTANCE: invention relates to methods of discrete measurement and on-line control when receiving a shape. According to the method for obtaining the desired shape with the conditions on the contour, the actual curve shape data obtained by the measuring module (1) are compared with the required desired shape to obtain the difference in the Z coordinates of the control parameter; the executive module (2) outputs M media per unit of time and uses the Z-coordinate difference control parameter and the media output data to obtain the movement speed of the control executive module; at different speeds of movement of the executive module, the corresponding amount of the medium is withdrawn within the unit of length; based on the filling characteristics of the medium, the size of the medium does not change after application, and the filling characteristics in the X direction and / or in the Y direction can be accumulated in the Z direction based on the base shape approaching the desired shape and then being laid to form the desired shape from the medium. Using this control scheme, the distance between the measuring module and the executive module and the conditions on the contour of the required curve shape are taken into account in order to realize the formation of the required shape.

EFFECT: invention is aimed at controlling the process of obtaining shape.

7 cl, 11 dwg

Description

Technology area

This invention relates to the field of testing and control in mechanical engineering, and in particular to a discrete method of online measurement and control. This invention relates to a discrete method and combines test technology and control technology to ensure media stacking to obtain the desired shape.

State of the art

In recent years, with the advancement of science and technology, the great online analytical processing capabilities have become more and more powerful. Nowadays, the off-line regular analysis method is usually used in the production process, that is, samples are taken every few hours or at a set time and sent to the laboratory for artificial analysis, and then sent according to the analysis value. Due to the long time delay, this largely does not meet the requirements of online monitoring. Online detection technology is gradually evolving to measure and control the required variables in real time. Online detection technology, mainly by collecting some easy-to-measure variables, building a mathematical model with these easy-to-measure variables as input to estimate key variables that are difficult to measure, in order to provide support for process control, quality control , process control and decision making, it also lays the foundation for further quality control and process optimization. Online continuous detection technology is one of the key technologies in the modern process industry and process control. With the development of this technology, online measurement technology is applied in the production system to obtain the actual parameters, and the production target management requirements are achieved by changing the travel speed, timing and output speed of the executive module.

A discrete system is a system in which all or key components of the system have discrete waveforms, and the state of the system changes suddenly at discrete times. Typically, a horizontal sequence of coordinates is acquired at regular time intervals or coordinate intervals, and data collection is performed according to a specific sampling time method, and then system performance is monitored. In real systems, the shorter the time interval, the closer to the actual parameters of the system. With the further development of computer technologies for large-scale computing, the overall system start signal and response to execution become faster and faster, and the response to evolution in discrete dynamical systems also becomes faster and faster. Based on the function of this rapid response system, a discrete method of on-line measurement and control was invented to implement the general idea of managing the detection and control of boundaries and achieve the implementation plan for the required model.

The essence of the invention

The present invention provides an on-line discrete measurement and control method, an equal coordinate interval discrete method, a method to achieve a desired shape by laying a medium through a combination of test technology and control technology. The stages of the technical solution are as follows:

A method for discrete online measurement and control, in which the method includes the following steps:

to obtain the required shape by conditions on the contour, the data of the actual shape of the curve obtained using the measuring module (1) are compared with the required required shape in order to obtain the difference in the Z coordinates of the control parameter;

the executive module (2) outputs M media per unit of time and uses the control parameter of the Z-coordinate difference and the output signal of the media to obtain the speed of movement of the executive control module;

at different speeds of movement of the executive module, the corresponding amount of the medium is output within the unit of length; based on media infill characteristics, the size of the medium does not change after application, and the X and / or Y direction infill characteristics can accumulate in the Z direction based on a base shape approaching the desired shape and then styling to form the desired shape from the medium ;

Using this control scheme, the distance between the measuring module and the executive module and the conditions on the contour of the required curve shape are taken into account in order to realize the formation of the required shape.

A method of discrete measurement and online control, in which the measuring module (1) and the executive module (2) are located in the coordinate system (3) and provide control of the actual shape of the curve (4) and the required shape of the curve (5).

The measuring module (1) and the executive module (2) are fixedly connected to each other at a distance - P.

The execution unit (2) outputs the medium (21), this medium (21) has a filling characteristic, and the size of the medium remains unchanged after application, that is, the Z direction can accumulate filling characteristics in the X direction and / or in the Y direction.

The method provides control of the medium output by obtaining control parameters, thereby ensuring the requirement that the required shape corresponds to the theoretically required shape.

The method further comprises the following steps. During its execution, separate control is carried out in accordance with the existing conditions on the loop: at the left boundary of the loop, the measuring module (1) starts measuring data; after the executive module crosses the left border, the operation of the executive module (2) is controlled so that it works in accordance with the detected data; when the right border is crossed, the measuring module (1) stops working, and the executive module (2) continues to work; the detected data controls the operation of the executive module (2), after the executive module (2) crosses the right border, the work stops.

The method for discrete online measurement and control includes the following steps:

(1) in a flat Cartesian coordinate system XOZ, the measuring module and the executive module are fixedly connected to each other at a distance - P, they can move in the X direction with a variable speed V;

(2) the executive module outputs the medium, the output volume per unit time is M media, and the quantitative parameters of this medium are: X _m , Y _m , Z _m ;

(3) determine the main characteristics of this type of medium, the medium has filling characteristics, after imposition, the size of the medium does not change, that is, all X _m , Y _m , Z _m do not change:

the media are superimposed on each other, starting with at least the first layer, and subsequent layers, until the required height is reached;

or if there is no medium under the medium, then it is automatically cut in the X direction and filled to the bottom, after cutting its Z _m remains unchanged, this medium can be divided into 2 parts or 3 parts or more, it can be continuously divided into parts, until the bottom layer is filled;

the executive module outputs the M medium per unit of time and moves at different speeds, after the M medium enters between the blocks, the general arrangement of the M medium in the X direction is different due to different speeds;

(4) the measurement unit measures the outer surface formed by the medium, including the coordinate values in the Z direction, and simultaneously records the coordinate values in the X and Y directions;

(5) carry out the specified process using a discrete method of measurement and online control:

1) determine the required shape of the curve, set the coordinate system, determine the left X _L and right X _R boundaries of the required shape; the executive module and the measuring module are outside the left boundary X _L ;

2) the executive module and the measuring module move to the left border X _L depending on the speed V ₀ ;

когда выполняется расчет:

сумма записывается как X₀₁, снова измеряют, чтобы получить Z₀₁, соответствующие координаты кривой необходимой формы равны -

в этом порядке выполняют расчет:

и получают данные измерения: X_0i, Z_0i, до точки измерения:

получают данные: X_0(N-1), Z_0(N-1), так что получают всего N точек с координатами;(6) when the measuring module approaches the left border of the curve of the required shape or surface of the required shape, it begins to measure and receive data: X ₀₀ , Z ₀₀ , the corresponding coordinate of the curve of the required shape is

when the calculation is done:

the sum is written as X ₀₁ , measured again to obtain Z ₀₁ , the corresponding coordinates of the curve of the required shape are equal -

in this order, the calculation is performed:

and receive measurement data: X _0i , Z _0i , up to the measuring point:

receive data: X _{0 (N-1)} , Z _{0 (N-1)} , so that get a total of N points with coordinates;

исполнительный модуль выводит среду, а скорость движения измерительного модуля и исполнительного модуля изменяется до V₀₀;(7) the executive module and the measuring module continue to work until the executive module reaches the left X _L border; after moving to the left border, the measuring module measures and receives data X ₁₀ , Z ₁₀ , and the corresponding coordinate of the required shape is

the executive module outputs the medium, and the speed of movement of the measuring module and the executive module is changed to V ₀₀ ;

измерительный модуль измеряет данные X₁₁, Z₁₁, соответствующие координаты кривой необходимой формы составляют

исполнительный модуль выводит среду, а скорость движения измерительного модуля и исполнительного модуля изменяется до V₀₁ the measuring module moves to

the measuring module measures the data X ₁₁ , Z ₁₁ , the corresponding coordinates of the curve of the required shape are

the executive module outputs the medium, and the movement speed of the measuring module and the executive module changes to V ₀₁

посредством измерения получают данные X_1i, Z_1i, и скорость работы измерительного модуля и исполнительного модуля изменяется до V_0i;by analogy, the measuring module moves to

_{data X 1i} , Z _1i are obtained by measurement, and the operating speed of the measuring module and the executive module is changed to V _0i ;

получают данные: X_1(N-1), Z_1(N-1), так получают в общей сложности N точек для генерации параметров управления формой кривой: исполнительный модуль выводит среду; а скорость работы измерительного модуля и исполнительного модуля изменяется до V_0(N-1);to the measuring point:

receive data: X _{1 (N-1)} , Z _{1 (N-1)} , so get a total of N points to generate parameters for controlling the shape of the curve: the executive module outputs the environment; and the speed of the measuring module and the executive module changes to V _{0 (N-1)} ;

(8) repeat the above steps until the measuring module reaches the right border X _R , while the test control measuring module stops measuring, and the executive module continues to work on laying;

(9) continue to work until the moment when the executive module reaches the right border X _R , after which the output of the medium is stopped;

(10) the workflow is completed.

Advantages of the present invention

Measuring master data online, applying appropriate calculation schemes to obtain control methods, control the output of the environment, and then fulfill the requirements to ensure that the required form corresponds to the theoretical form. This method is a practical attempt to provide a theoretical model from the environment. This control method can be applied to painting, 3D printing, soil backfilling and other areas.

Brief Description of Drawings

FIG. 1 is a general block diagram of an operational method for discrete measurement and control according to the present invention;

FIG. 2 is a schematic diagram of an output environment of an execution module according to the present invention;

FIG. 3a is one characteristic diagram of the output environment of the execution unit of the present invention;

FIG. 3b is one of the typical diagrams of the output environment of the execution module according to the present invention;

FIG. 4 is the intent of the measurement value obtained by the measurement unit in the present invention;

FIG. 5 is the intention of the curve of the desired shape and the curve of the actual shape in the present invention;

FIG. 6 is the intention to start the operation of the measurement module and the execution module in an embodiment of the present invention;

FIG. 7 is an embodiment of the present invention, the measurement unit crosses the left border;

FIG. 8 is an embodiment of the present invention, the execution unit crosses the left border;

FIG. 9 is an embodiment of the present invention, the measurement module crosses the right border;

FIG. 10 is an embodiment of the present invention, the execution unit crosses the right border.

Implementation of the invention

In the following, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can more easily understand the advantages and features of the present invention, and the protection scope of the present invention will be more clearly defined.

As shown in FIG. 1-10, a discrete method for on-line measurement and control differs in that this method includes the following steps:

To obtain the required shape with the conditions on the contour, the data of the actual shape of the curve obtained using the measuring module (1) is compared with the required required shape to obtain the difference in the Z coordinates of the control parameter;

The execution unit (2) outputs M media per unit of time and uses the control parameter and media output to obtain the operating speed of the control execution unit.

At different speeds of movement of the executive module, the corresponding amount of the medium is withdrawn within the unit of length; based on media infill characteristics, the size of the medium does not change after application, and the X and / or Y direction infill characteristics can accumulate in the Z direction based on a base shape approaching the desired shape and then styling to form the desired shape from the medium ;

When using this control scheme, it is considered that the distance between the measuring module and the executive module and the conditions on the contour of the required curve shape are taken into account in order to realize the formation of the required shape.

The measuring module (1) and the executive module (2) are located in the coordinate system (3) and provide control of the actual shape of the curve (4) and the required shape of the curve (5).

The measuring module (1) and the executive module (2) are fixedly connected to each other.

The executive module (2) outputs the medium (21), this medium (21) has a filling characteristic, and the size of the medium (21) after application remains unchanged, that is, the Z direction can accumulate filling characteristics in the X direction and / or in the Y direction.

The method implements control at the exit of the environment by obtaining control parameters, thereby achieving the requirement that the required form corresponds to the theoretical form.

It also includes the following stages: in the process of execution, in accordance with the existing boundary conditions, separate control: on the left boundary, the measuring module (1) starts measuring data; after the executive module crosses the left border, the control of the executive module (2) is started based on the detected data; when going beyond the right border, the measuring module (1) stops working, and the executive module (2) still monitors the execution of the executive module (2) based on the detected data, after the executive module (2) crosses the right border, its work stops.

The present invention provides an on-line discrete measurement and control method, which includes the following steps:

(1) As shown in FIG. 1, in the plane Cartesian coordinate system XOZ, the measuring module and the executive module are fixedly connected to each other, the distance between them is equal to P, and both can move in the X direction with a variable speed V.

(2) As shown in FIG. 2, the executive module can output the medium, and the output volume per unit time is equal to M media, and the parameters of the media size are X _m , Y _m , Z _m

(3) As shown in FIG. 3, the main characteristics of this type of medium are determined: the medium has a filling characteristic, and the size does not change after application, that is, X _m , Y _m , Z _m will not change.

As shown in FIG. 3a, the media can be stacked one on top of the other, starting with the first layer and subsequent layers, until the required height is reached.

As shown in FIG. 3b, if there is no medium under the medium, then it is automatically cut off in the X0 direction and filled to the bottom. Its Z _m remains unchanged after cutting. This medium can be divided into 2 parts or 3 parts, and so on, it can be divided continuously until the lower layer medium is full.

The executive module outputs M media per unit of time and moves at different speeds. After the M media fall between the blocks, the overall layout of the M media in the X direction is different due to different speeds.

(4) As shown in FIG. 4, the outer surface formed by the measuring unit and the measuring medium, and the coordinate values in the Z direction and the coordinate values in the X and Y directions during measurement are recorded simultaneously.

(5) In FIG. 5 shows a schematic diagram of the desired shape of the medium curve and the actual shape of the medium curve.

(6) As shown in FIG. 6, the online discrete measurement and control process begins.

In this case, the following is necessary:

1) Determine the required shape of the curve, set the coordinate system and determine the left X _L and right X _R boundaries of the required figure. The execution module and the measuring module are located outside the left Z _L border.

2) The executive module and the measuring module move to the left X _L border depending on the speed V ₀ .

когда перемещается к

то записывают X₀₁, получают Z₀₁ снова путем измерения, соответствующая координата требуемой формы кривой имеет вид

в этом порядке, перемещается к

при измерении будут получать данные - X_0i, Z_0i до точек измерения

и получат данные X_0(N-1), Z_0(N-1), так всего получат N координатных точек.(7) As shown in FIG. 7, when the measuring module passes to the left edge of the curve or surface of the required shape, begins to measure and receive data: X ₀₀ , Z ₀₀ , the coordinate of the corresponding required curve shape is

when it moves to

then write X ₀₁ , get Z ₀₁ again by measuring, the corresponding coordinate of the required curve shape has the form

in that order, moves to

when measuring, they will receive data - X _0i , Z _0i up to measurement points

and get the data X _{0 (N-1)} , Z _{0 (N-1)} , so in total they get N coordinate points.

(8) As shown in FIG. 8, the executive module and the measuring module continue to work until the executive module reaches the X _L left border.

исполнительный модуль выводит среду, а скорость движения измерительного модуля и исполнительного модуля изменяется до V₀₀;After moving to the left border, the measuring module measures the data X ₁₀ , Z ₁₀ , and the corresponding coordinate of the required curve shape is

the executive module outputs the medium, and the speed of movement of the measuring module and the executive module is changed to V ₀₀ ;

измерительный модуль измеряет полученные данные X₁₁, Z₁₁, соответствующая координата требуемой формы кривой

исполнительный модуль выводит среду, а скорость движения измерительного модуля и исполнительного модуля изменяется до V₀₁;The measuring module moves to

the measuring module measures the received data X ₁₁ , Z ₁₁ , the corresponding coordinate of the required curve shape

the executive module outputs the medium, and the speed of movement of the measuring module and the executive module is changed to V ₀₁ ;

измерение получает данные X_1i, Z_1i, рабочая скорость измерительного модуля и исполнительного модуля изменяется до V₀₁ Similarly, the measurement module moves to

the measurement receives the data X _1i , Z _1i , the operating speed of the measuring module and the executive module changes to V ₀₁

получаются данные X_1(N-1), Z_1(N-1), так что получается всего N точек и генерируются параметры управления формы кривой. При выходе среды из исполнительного модуля рабочая скорость измерительного модуля и исполнительного модуля изменяется до V_0(N-1) To the measuring point

_{X 1 (N-1)} , Z _{1 (N-1)} data are obtained, so that a total of N points are obtained and the curve shape control parameters are generated. When the medium leaves the executive module, the operating speed of the measuring module and the executive module changes to V _{0 (N-1)}

(9) Repeat the above steps until the measuring module reaches the right border X _R. As shown in FIG. 9, the test and measurement module stops measuring the data, and the execution module continues to carry out the laying work.

(10) Operation continues until the execution unit reaches the right border X _R , as shown in FIG. 10, then the media output stops.

(11) The workflow is ended.

Claims (33)

1. A method of discrete measurement and online control when receiving a form, characterized in that the method includes the following steps: to obtain the required shape with the conditions on the contour, the data of the actual shape of the curve obtained using the measuring module (1) is compared with the required required shape in order to obtain the difference in the Z coordinates of the control parameter; the executive module (2) outputs M media per unit of time and uses the Z-coordinate difference control parameter and the media output to obtain the speed of movement of the executive control module; at different speeds of movement of the executive module, the corresponding amount of the medium is withdrawn within the unit of length; based on the filling characteristics of the medium, the size of the medium does not change after application, and the filling characteristics in the X direction and / or in the Y direction can be accumulated in the Z direction based on the base shape approaching the desired shape, and then being laid to form the desired shape from the medium; Using this control scheme, the distance between the measuring module and the executive module and the conditions on the contour of the required curve shape are taken into account in order to realize the formation of the required shape. 2. The method according to claim 1, characterized in that the measuring module (1) and the executive module (2) are located in the coordinate system (3) and provide control of the actual shape of the curve (4) and the required shape of the curve (5). 3. The method according to claim 1, characterized in that the measuring module (1) and the executive module (2) are fixedly connected to each other at a distance - P. 4. The method according to claim 1, characterized in that the executive module (2) outputs the medium (21), this medium (21) has a filling characteristic, and the size of the medium remains unchanged after application, that is, the Z direction can accumulate filling characteristics in the X direction and / or in the Y direction. 5. The method according to claim 1, characterized in that the method provides control of the medium output by obtaining control parameters, thereby ensuring the requirement that the required shape corresponds to the theoretically required shape. 6. The method according to claim 1, characterized in that it further comprises the following steps: during execution, separate control is carried out in accordance with the existing conditions on the loop: at the left boundary of the loop, the measuring module (1) starts measuring data; after the executive module crosses the left border, the operation of the executive module (2) is controlled so that it works in accordance with the detected data; when the right border is crossed, the measuring module (1) stops working, and the executive module (2) continues to work; the detected data controls the operation of the executive module (2), after the executive module (2) crosses the right border, the work stops. 7. A method of discrete measurement and online control when receiving a form, characterized in that this method includes the following steps: (1) in a flat Cartesian coordinate system XOZ, the measuring module and the executive module are fixedly connected to each other at a distance equal to P, they can move in the X direction with a variable speed V; (2) the executive module outputs the medium, the output volume per unit time is M media, and the quantitative parameters of this medium are: X _m , Y _m , Z _m ; (3) determine the main characteristics of this type of medium, the medium has filling characteristics, after imposition, the size of the medium does not change, that is, all X _m , Y _m , Z _m do not change: the media are superimposed on each other, starting with at least the first layer, and subsequent layers, until the required height is reached; or if there is no medium under the medium, then it is automatically cut in the X direction and filled to the bottom, after cutting its Z _m remains unchanged, this medium can be divided into 2 parts or 3 parts or more, it can be continuously divided into parts until the bottom layer will not be filled; the executive module outputs the M medium per unit of time and moves at different speeds, after the M medium enters between the blocks, the general arrangement of the M medium in the X direction is different due to different speeds; (4) the measurement unit measures the outer surface formed by the medium, including the coordinate values in the Z direction, and simultaneously records the coordinate values in the X and Y directions; (5) carry out the specified process using a discrete method of measurement and online control: 1) determine the required shape of the curve, set the coordinate system, determine the left X _L and right X _R boundaries of the required shape; the executive module and the measuring module are outside the left boundary X _L ; 2) the executive module and the measuring module are moved to the left border X _L depending on the speed V ₀ ; (6) when the measuring module approaches the left border of the curve of the required shape or surface of the required shape, it starts to measure and receive data: X ₀₀ , Z ₀₀ , the corresponding coordinate of the curve of the required shape is

when the calculation is performed: X ₀₀ + P / N, the sum is written as X ₀₁ , and again measured to obtain Z ₀₁ , the corresponding coordinates of the curve of the required shape are -

in this order, the calculation is performed: X ₀₀ + P * i / N and the measurement data is obtained: X _0i , Z _0i , up to the measurement point: X ₀₀ + P * (N-1) / N, the data is obtained: X _{0 (N- 1)} , Z _{0 (N-1)} , while getting a total of N points with coordinates; (7) the executive module and the measuring module continue to work until the executive module reaches the left X _L border; after moving to the left border, the measuring module measures and receives data X ₁₀ , Z ₁₀ , and the corresponding coordinate of the required curve shape is

the executive module outputs the medium, and the speed of movement of the measuring module and the executive module changes to V ₀₀ , while:

the measuring module moves to X ₁₀ + P / N, the measuring module measures the data X ₁₁ and Z ₁₁ , the corresponding coordinates of the curve of the required shape are

the executive module outputs the medium, and the speed of movement of the measuring module and the executive module changes to V ₀₁ , while:

by analogy, the measuring module moves to X ₁₀ + P * i / N, through the measurement, data X _1i Z _{1i is} obtained, and the operating speed of the measuring module and the executive module changes to V _0i , while:

to the measuring point: X ₁₀ + P * i / N, receive data: X _{1 (N-1)} , Z _{1 (N-1)} , so get a total of N points to generate parameters for controlling the shape of the curve: the executive module outputs the medium ; and the operating speed of the measuring module and the executive module changes to V _{0 (N-1)} , while:

(8) repeat the above steps until the measuring module reaches the right border X _R , while the test control measuring module stops measuring, and the executive module continues to work on laying; (9) continue to work until the executive module reaches the right border X _R , after which the output of the medium is stopped; (10) the workflow is completed.

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