电子皮带秤配料系统的模糊PID控制
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摘要
随着科学技术的不断发展,电子皮带秤配料系统已在煤炭、化工、烟草、冶金、建材等行业中广泛应用。目前大多数皮带秤配料系统仍然是采用传统的PID控制算法,灵敏度较高,,可以说在理论上调节是能做到无误差的,或者说在误差较小的范围内的确很有优势,但是出现较大误差时,其动态特性并不是很理想,超调量一般较大。所以,本课题设计了一套更为合理高效的电子皮带秤配料料系统,本设计主要针对皮带秤配料系统中配料这一环节,采用模糊PID和传统PID控制相结合的方法。同时用PLC控制和组态软件对皮带秤配料系统中配料这一环节实现自动控制,可以调节误差较大时,超调量也较大的问题。
本课题主要内容包括皮带秤的原理与组成,系统的总体设计,模糊控制算法结合本系统的分析以及采用MATLAB进行模糊PID控制仿真。
首先,在论文中阐述了现有皮带秤的现状及实际工艺中遇到的难点问题,给出自己的设计方案。在保证系统称量精度及控制精度的前提下,选择合理的软硬件配置。从而提高系统的统总体设计方案和基本组成；配料皮带秤的工作原理及总体控制方案；称重传感器和测速传感器的选择；电机调速方式的选择等；
然后,在第三章中阐述模糊PID的设计。通过系统分析结合配料系统的现场实际工作情况,由模糊控制技术的理论,给出模糊控制结构框图。根据模糊控制器的设计步骤,设计出与传统PID相结合的模糊PID控制器。解决了皮带秤配料系统的控制及误差调节问题,从而提高配料系统的配料速度及精度。
论文中用两章的篇幅分别介绍了PLC控制和MATLAB仿真,第四章讲述系统电气部分的组成以及PLC控制使输煤现场的配料系统按要求自动完成下料、称重、配比全过程。第五章应用MATLAB仿真软件中的Simulink图形化工具平台对配料秤仪表采用的模糊PID控制进行了仿真。从仿真波形图上可以看出,引入模糊控制后,在系统受到干扰出现偏差时调节效果很好。
通过该系统的研究,有效地解决了电子皮带秤的控制精度及配料速度问题。大大提高了系统的计量精度和配料速度。在很大程度上降低了工人劳动强度,最终提高了生产率和产品质量。
With continuous development of science and technology, belt scale batching system has been widely used in various industries such as coal, chemical industry and building material. But most of batching and weighing systems still used normal PID control algorithm at present whose parameters are adjusted according to transition process time of step response and have highsensitivity. System of fixed parameters has good adjustment quality, can realize error-free adjustment theoretically and has its real advantage within the range of small error, but its dynamic feature isn't ideal and over-adjustment quantity is normally large when the error is large. At present, foreign and domestic electronic belt scale batching system can't solve this problem, so this task designs a reasonable and efficient electronic belt :scale batching system. For batching section, the system uses fuzzy_PID complex control technology and power control and configuration software technology based on PLC, realizes automatic batching process control of belt scale batching system and can effectively solve over-adjustment problem of system under the condition of large error. Main contents of the paper include overall structure design of the system, establishment of mathematic model, research on control algorithm.
At first the paper describes overall structure design plan of the system. The plan, from the view of technological process of system, suggests reasonable software and hardware configuration of system. This not only improves weighing accuracy and control accuracy of the system, but also greatly increases reliability of the system. It is convenient to realize them. The contents of relevant chapters include overall design plan and basic composition of the system, operation principle, control model and main technical parameters of the system, composition and principle of batching belt scale, selection of load cell and speed measurement transducer, selection of speed regulation of motor, anti-jamming design and grounding design of the system.
Then the system describes the realization of fuzzy_PID combine control system in detail and applies both fuzzy control technology and traditional PID adjustment technology to batching control. That is to say, experience on site technological process is established by analysis of batching system, fuzzy control structure and algorithm of batching system is put forward according to fuzzy control principle, fuzzy PID combine controller is formed by matching original PID control algorithm so as to improve control and adjustment effect of electronic belt scale batching system and to further increase batching accuracy and batching speed of the system.
The paper then describes main composition of electric control part of the system and the method of using PLC to realize harmonious control of coal feeding power on site so as to make batching system able to automatically finish all processes of loading, weighing and batching, and discusses weighing drop compensation issues.
Finally research and development of the system effectively solve control accuracy issue of belt scale the dynamic weighing scale, further increases weighing accuracy and batching speed of the system, greatly decreases labor intensity and improves productivity and product quality.
本课题主要内容包括皮带秤的原理与组成,系统的总体设计,模糊控制算法结合本系统的分析以及采用MATLAB进行模糊PID控制仿真。
首先,在论文中阐述了现有皮带秤的现状及实际工艺中遇到的难点问题,给出自己的设计方案。在保证系统称量精度及控制精度的前提下,选择合理的软硬件配置。从而提高系统的统总体设计方案和基本组成；配料皮带秤的工作原理及总体控制方案；称重传感器和测速传感器的选择；电机调速方式的选择等；
然后,在第三章中阐述模糊PID的设计。通过系统分析结合配料系统的现场实际工作情况,由模糊控制技术的理论,给出模糊控制结构框图。根据模糊控制器的设计步骤,设计出与传统PID相结合的模糊PID控制器。解决了皮带秤配料系统的控制及误差调节问题,从而提高配料系统的配料速度及精度。
论文中用两章的篇幅分别介绍了PLC控制和MATLAB仿真,第四章讲述系统电气部分的组成以及PLC控制使输煤现场的配料系统按要求自动完成下料、称重、配比全过程。第五章应用MATLAB仿真软件中的Simulink图形化工具平台对配料秤仪表采用的模糊PID控制进行了仿真。从仿真波形图上可以看出,引入模糊控制后,在系统受到干扰出现偏差时调节效果很好。
通过该系统的研究,有效地解决了电子皮带秤的控制精度及配料速度问题。大大提高了系统的计量精度和配料速度。在很大程度上降低了工人劳动强度,最终提高了生产率和产品质量。
With continuous development of science and technology, belt scale batching system has been widely used in various industries such as coal, chemical industry and building material. But most of batching and weighing systems still used normal PID control algorithm at present whose parameters are adjusted according to transition process time of step response and have highsensitivity. System of fixed parameters has good adjustment quality, can realize error-free adjustment theoretically and has its real advantage within the range of small error, but its dynamic feature isn't ideal and over-adjustment quantity is normally large when the error is large. At present, foreign and domestic electronic belt scale batching system can't solve this problem, so this task designs a reasonable and efficient electronic belt :scale batching system. For batching section, the system uses fuzzy_PID complex control technology and power control and configuration software technology based on PLC, realizes automatic batching process control of belt scale batching system and can effectively solve over-adjustment problem of system under the condition of large error. Main contents of the paper include overall structure design of the system, establishment of mathematic model, research on control algorithm.
At first the paper describes overall structure design plan of the system. The plan, from the view of technological process of system, suggests reasonable software and hardware configuration of system. This not only improves weighing accuracy and control accuracy of the system, but also greatly increases reliability of the system. It is convenient to realize them. The contents of relevant chapters include overall design plan and basic composition of the system, operation principle, control model and main technical parameters of the system, composition and principle of batching belt scale, selection of load cell and speed measurement transducer, selection of speed regulation of motor, anti-jamming design and grounding design of the system.
Then the system describes the realization of fuzzy_PID combine control system in detail and applies both fuzzy control technology and traditional PID adjustment technology to batching control. That is to say, experience on site technological process is established by analysis of batching system, fuzzy control structure and algorithm of batching system is put forward according to fuzzy control principle, fuzzy PID combine controller is formed by matching original PID control algorithm so as to improve control and adjustment effect of electronic belt scale batching system and to further increase batching accuracy and batching speed of the system.
The paper then describes main composition of electric control part of the system and the method of using PLC to realize harmonious control of coal feeding power on site so as to make batching system able to automatically finish all processes of loading, weighing and batching, and discusses weighing drop compensation issues.
Finally research and development of the system effectively solve control accuracy issue of belt scale the dynamic weighing scale, further increases weighing accuracy and batching speed of the system, greatly decreases labor intensity and improves productivity and product quality.
引文
[1]A. Haj-Ali and H. Ying The Structure of a Class of Mandani Fuzzy Controllers with Nonlinear Input Fuzzy Sets 2003 IEEE international conference on fuzzy systems 523-52.
[2]Jia-Xin Chen, Wei Li Application of fuzzy control PID algorithm intemperature controlling systems Machine Learning and Cybernetics,2003 International Conference on 2601 2604 Vol.4
[3]Mohand Mokhtari, Michel Marie MATLAB与SIMULINK. I程应用(赵彦玲吴淑红译)北京电子工业出版社2002
[4]余永权,曾碧,单片机模糊逻辑控制,北京北京航空航天大学出版社,1999
[5]张化光,何希勤,模糊自适应控制理论及其应用,北京北京航空航大人学出版社,2002.
[6]汤兵勇,路林古,T.文杰,模糊控制理论与应用技术,北京,清华人学出版社,2002.
[7]申颖.PID调节器在电子皮带秤配煤系统中的应用[J].计量技术.2001,4
[8]徐万红,金伟,李芬.皮带秤配料系统的智能综合控制田.沈阳工业大学学报,1998,20：15一17
[9]何金田等.传感器原理与应用[M].洛阳：河南科学技术出版社1996
[10]侯国章.测试与传感技术[M].哈尔滨：哈尔滨工业大学出版社,1998
[11]孙春华.谈电子皮带秤设计中称重传感器的选用[J].衡器.1997,2：21-23
[12]OMPRON CQMIH可编程控制器操作手册
[13]韩安荣.通用变频器及其应用(第二版)[M].北京：机械工业出版社,,2000
[14]张松春等.电子控制设备抗干扰技术及其应用[M].北京：机械工业出版社,1994
[15]陶永华.新型PID控制及其应用[M].北京：机械工业出版社,,2002
[16]何平.模糊控制器的设计及应用[M].北京：科学出版社,1997
[17]李十勇.模糊控制和智能控制理论与应用[M].哈尔滨：哈尔滨工业大学出版社,1990
[18]罗才生等.皮带秤[M].中国计量出版社,1992P：1-11
[19]严荣涛.国产微机皮带秤的现状和发展[J].中国电力,1995(07)P：28-32
[20]方原柏.电子皮带秤[M].冶金工业出版社,2007
[21]蔡自兴.智能控制[M].电子工业出版社,2004
[22]高君.配料系统运行中应注意的问题[J].水泥,1998(5)
[23]陶永华.PID控制原理和自整定策略[J].工业仪表和自动化装置,1997(4)P：60-64
[24]李十勇模糊控制·神经控制和智能控制论[M].哈尔滨工业大学出版社,2004
[25]何平等.模糊控制器的设计及应用[M].科学出版社,2002
[26]韩瑞珍等.模糊推理自整定PID控制器[J].自动化仪表,2001,22(10)P：24-25
[27]胡包钢等.模糊PID控制技术研究发展回顾及其面临的若干重要问题[J].自动化学报,2001,27(4)P：567-584
[28]李华.用模糊控制实现PID参数自整定的研究[J]甘肃科学学报,1998,10(1)P：71-74
[2]Jia-Xin Chen, Wei Li Application of fuzzy control PID algorithm intemperature controlling systems Machine Learning and Cybernetics,2003 International Conference on 2601 2604 Vol.4
[3]Mohand Mokhtari, Michel Marie MATLAB与SIMULINK. I程应用(赵彦玲吴淑红译)北京电子工业出版社2002
[4]余永权,曾碧,单片机模糊逻辑控制,北京北京航空航天大学出版社,1999
[5]张化光,何希勤,模糊自适应控制理论及其应用,北京北京航空航大人学出版社,2002.
[6]汤兵勇,路林古,T.文杰,模糊控制理论与应用技术,北京,清华人学出版社,2002.
[7]申颖.PID调节器在电子皮带秤配煤系统中的应用[J].计量技术.2001,4
[8]徐万红,金伟,李芬.皮带秤配料系统的智能综合控制田.沈阳工业大学学报,1998,20：15一17
[9]何金田等.传感器原理与应用[M].洛阳：河南科学技术出版社1996
[10]侯国章.测试与传感技术[M].哈尔滨：哈尔滨工业大学出版社,1998
[11]孙春华.谈电子皮带秤设计中称重传感器的选用[J].衡器.1997,2：21-23
[12]OMPRON CQMIH可编程控制器操作手册
[13]韩安荣.通用变频器及其应用(第二版)[M].北京：机械工业出版社,,2000
[14]张松春等.电子控制设备抗干扰技术及其应用[M].北京：机械工业出版社,1994
[15]陶永华.新型PID控制及其应用[M].北京：机械工业出版社,,2002
[16]何平.模糊控制器的设计及应用[M].北京：科学出版社,1997
[17]李十勇.模糊控制和智能控制理论与应用[M].哈尔滨：哈尔滨工业大学出版社,1990
[18]罗才生等.皮带秤[M].中国计量出版社,1992P：1-11
[19]严荣涛.国产微机皮带秤的现状和发展[J].中国电力,1995(07)P：28-32
[20]方原柏.电子皮带秤[M].冶金工业出版社,2007
[21]蔡自兴.智能控制[M].电子工业出版社,2004
[22]高君.配料系统运行中应注意的问题[J].水泥,1998(5)
[23]陶永华.PID控制原理和自整定策略[J].工业仪表和自动化装置,1997(4)P：60-64
[24]李十勇模糊控制·神经控制和智能控制论[M].哈尔滨工业大学出版社,2004
[25]何平等.模糊控制器的设计及应用[M].科学出版社,2002
[26]韩瑞珍等.模糊推理自整定PID控制器[J].自动化仪表,2001,22(10)P：24-25
[27]胡包钢等.模糊PID控制技术研究发展回顾及其面临的若干重要问题[J].自动化学报,2001,27(4)P：567-584
[28]李华.用模糊控制实现PID参数自整定的研究[J]甘肃科学学报,1998,10(1)P：71-74
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