CN105573380A - Auto-disturbance rejection temperature control system of automatic production line spraying and drying process - Google Patents
Auto-disturbance rejection temperature control system of automatic production line spraying and drying process Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 30
- 238000001035 drying Methods 0.000 title claims abstract description 25
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 23
- 238000011217 control strategy Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 27
- 230000008569 process Effects 0.000 claims description 24
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- 230000010363 phase shift Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract 3
- 238000005516 engineering process Methods 0.000 description 4
- 239000003973 paint Substances 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
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- 230000008901 benefit Effects 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
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- 238000005238 degreasing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/30—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature
- G05D23/32—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature with provision for adjustment of the effect of the auxiliary heating device, e.g. a function of time
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Abstract
An auto-disturbance rejection temperature control system of an automatic production line spraying and drying process comprises an upper computer, an auto-disturbance rejection controller, an input signal module, an actuator, a temperature detection module and a controlled object. The temperature detection module is used for detecting a temperature of the controlled object, converting a temperature physical quantity into a temperature electrical signal and converting the temperature electrical signal into a standard electrical signal which is suitable for being received and identified by the auto-disturbance rejection controller. The auto-disturbance rejection controller is used for receiving a control command from the upper computer or input by the input signal module, receiving the temperature standard electrical signal sent by the temperature detection module, generating a corresponding control strategy through operation processing of an internal rapid optimal control function, forming an ideal control signal and finally sending to the actuator through an output port so as to adjust the temperature of the controlled object. By using the control system, a contradiction between rapidity and overshoot of the temperature is well solved; good robustness, good control precision and system stability are possessed; and good popularization and reference and an application prospect are possessed too.
Description
Technical field
The present invention relates to a kind of control system, particularly a kind of active disturbance rejection temperature control system being applicable to automated production wire spraying drying course.
Background technology
In the production line spraying drying courses such as automobile, metallurgy, chemical industry, Workpiece coating process need is through operations such as degreasing, washing, phosphatization, moisture oven dry, basecoat paint, priming paint oven dry, finish paint spraying, finish paint oven dry, in order to ensure the quality of product and save production cost, spraying drying course is very high to temperature control requirement, General Requirements temperature control precision is at least less than+5 DEG C, preferably controls within+2 DEG C; The temperature of automated production wire spraying drying course controls ubiquity large dead time phenomenon, and often require to control having near set temperature value compared with the attemperating unit of large dead time, Problems existing is:
1. for the controll plant of large dead time, maximum feature is that the control action of current applying just will can be reflected to output terminal through time delay after a while, therefore the change that can not reflect internal system is in time exported, the existence of hysteresis property, open cycle system delayed phase is increased, magnitude margin and phase margin reduce, and result makes system stability reduction, dynamic property declines, and directly affects control performance;
2. in addition, generally can there is the larger change of amplitude in the parameter of controlled target temperature, and all these changes all can change the parameter of object model, and this random generation and the change that can not accurately estimate, add temperature controlled difficulty undoubtedly; Uncertain large time-delay process oneself become a great problem of automation field and computer application field;
3. current, the temperature control system of China's automated production wire spraying drying course is still based on traditional PID controller, traditional PID controller can obtain satisfied control effects for general temperature control system, but because the temperature control system spraying drying course is non-linear, Large-lag System, its control inputs and outlet chamber also exist nonlinear uncertainty relation, large time delay also may cause the instability of system, in external interference or when changing in control object parameter, the control effects of conventional linear PID controller can be deteriorated, thus gratifying control effects cannot be obtained.
Summary of the invention
The object of the invention is to control to there is the characteristics such as non-linear, large time delay for PID controller Yin Wendu in traditional control system and be difficult to obtain gratifying control effects problem, design the temperature control system of a kind of production line based on automatic disturbance rejection controller spraying drying course temperature control system based on automatic disturbance rejection controller, to improve the temperature control precision of automated production wire spraying drying course, robustness and stability.
The technical scheme that the present invention takes is: a kind of automated production wire spraying drying course active disturbance rejection temperature control system, comprises host computer, automatic disturbance rejection controller, input signal module, actuator, temperature detecting module and controll plant;
The communication port of described automatic disturbance rejection controller is connected with host computer by PROFIBUS bus cable, the first input end of automatic disturbance rejection controller connects input signal module, second input end of automatic disturbance rejection controller connects temperature detecting module, the output terminal of automatic disturbance rejection controller connects actuator, and the control end of actuator connects controll plant;
Described temperature detecting module comprises Pt100 temperature sensor and temperature transmitter, and the thermopair of Pt100 temperature sensor is placed in the delivery outlet of controll plant, and the temperature information of Pt100 temperature sensor collection carries automatic disturbance rejection controller by temperature transmitter;
Described host computer and automatic disturbance rejection controller are two-way communication relation, its effect: one is to automatic disturbance rejection controller design temperature expectation value, two is the control commands sending startup to control system, stop, and three is the situation of change and the control effects that monitor controll plant temperature;
Described input signal module is used for starting to control system input, stopping control command;
Temperature physical quantity for detecting the temperature of controll plant, and is converted to temperature signal by described Pt100 temperature sensor, then by temperature transmitter, temperature signal is converted to the standard electric signal that applicable automatic disturbance rejection controller receives identification;
Described automatic disturbance rejection controller is the core of control system, for receiving the signal and control command that input from host computer or input signal module, and the temperature standard electric signal that reception temperature transmitter is sent here, through the calculation process of inner high sp eed and optimal control function, produce corresponding control strategy to form desirable control signal and deliver to actuator finally by output port, to regulate the temperature of controll plant;
Described actuator passes through to change the conduction time of controll plant thus the temperature of control controll plant;
Described controll plant is resistance-heated furnace, and its temperature changes with the change of conduction time, and conduction time is longer, and temperature is higher.
Its further technical scheme is: described automatic disturbance rejection controller comprises transient process and TD, expansion state generator ESO and nonlinear feedback controller NLSEF occur;
The input end of described transient process generator TD is connected with host computer by PROFIBUS bus cable, its output terminal connected nonlinearity feedback controller NLSEF, the output terminal of nonlinear feedback controller NLSEF connects actuator, and its first input end connects input signal module;
The input end of described expansion state generator ESO connects the output terminal of temperature transmitter, and expansion state generator ESO 2 road output terminals are wherein connected with nonlinear feedback controller NLSEF, and another 1 road output terminal is connected with second input end of transient process generator TD;
Described transient process generator TD is for receiving the temperature Setting signal of host computer input, and the high sp eed and optimal control function through being arranged at its inside calculates tracking signal V1 and the differential signal V2 of temperature Setting signal;
Described expansion state generator ESO is the core of automatic disturbance rejection controller, one is the temperature actual value y for receiving temperature transmitter conveying, the tracking signal z1 of output temperature actual value y and differential signal z2, tracking error signal e1 and differential error signal e2 unbalanced input feedback controller NLSEF is formed after combining with the tracking signal V1 of temperature Setting signal and differential signal V2, two is receive by the signal of the control signal u of control object after compensating factor b0, the observation signal z3 of the total disturbance of output system;
Described nonlinear feedback controller NLSEF is used for the tracking error signal e1 that inputs according to transient process generator TD and expansion state generator ESO and differential error signal e2, control signal u0 is calculated by high sp eed and optimal control function, and by system disturbance compensate component z3/b0, u0 is compensated, thus obtain the control signal u carrying actuator.
Further: described host computer adopts PC, comprises CP5611 communication control card in PC; The S7-300PLC that its hardware of described automatic disturbance rejection controller adopts Siemens Company to produce, software adopts Active Disturbance Rejection Control algorithm routine.
Described actuator comprises ac solid relay, by changing the conduction angle of the phase shift trigger for thyristor unit of ac solid relay, thus changing the operating voltage of resistance-heated furnace, realizing the control to spraying bake out temperature.
Owing to taking technique scheme, the active disturbance rejection temperature control system of a kind of automatic production line spraying drying course of the present invention has following beneficial effect:
1. active disturbance rejection advanced control theory is applied to PLC control system by the present invention, adopt auto-disturbance rejection technology CONTROLLER DESIGN, with the temperature of auto-control production line spraying drying course, preferably resolve the contradiction between the rapidity of temperature and overshoot, do not rely on by the mathematical model of control object, without the need to considering system linearity and nonlinear problem, comparing traditional PID controller and there is better robustness, better control accuracy and system stability;
2. the present invention is not limited to experiment simulation design, auto-disturbance rejection technology is applied to PLC system and realizes the control of production line spraying drying course temperature, there is good engineer applied be worth and potential economic benefit, control to have to promote preferably to the process optimization of other industry and use for reference and application prospect;
3. the production line spraying drying course simulation test platform constructed by the present invention also as each colleges and universities, School of High Profession Technology's process control experiment platform, also can will provide good experiment porch for College Teachers, scientific research personnel.
Be further described below in conjunction with the technical characteristic of drawings and Examples to a kind of automatic production line spraying drying course active disturbance rejection temperature control system of the present invention.
Accompanying drawing explanation
Fig. 1 is active disturbance rejection temperature control system structured flowchart;
Fig. 2 is active disturbance rejection temperature controller control principle drawing;
Fig. 3 is active disturbance rejection temperature control system main circulating program process flow diagram;
Fig. 4 is active disturbance rejection temperature control system Interruption subroutine flow chart;
Fig. 5 is active disturbance rejection temperature controller algorithm flow chart;
In figure:
101-host computer, 102-automatic disturbance rejection controller, 1021-transient process generator TD, 1022-expansion state generator ESO, 1023-nonlinear feedback controller NLSEF, 103-input signal module, 104-actuator, 105-temperature detecting module, 1051-temperature transmitter, 1052-Pt100 temperature sensor, 106-controll plant.
Embodiment
A kind of automated production wire spraying drying course active disturbance rejection temperature control system, comprises host computer 101, automatic disturbance rejection controller 102, input signal module 103, actuator 104, temperature detecting module 105 and controll plant 106;
The communication port of described automatic disturbance rejection controller is connected with host computer by PROFIBUS bus cable, the first input end of automatic disturbance rejection controller connects input signal module, second input end of automatic disturbance rejection controller connects temperature detecting module, the output terminal of automatic disturbance rejection controller connects actuator, and the control end of actuator connects controll plant;
Described temperature detecting module comprises Pt100 temperature sensor 1052 and temperature transmitter 1051, the thermopair of Pt100 temperature sensor is placed in the delivery outlet of controll plant, and the temperature information of Pt100 temperature sensor collection carries automatic disturbance rejection controller by temperature transmitter;
Described host computer and automatic disturbance rejection controller are two-way communication relation, its effect: one is to automatic disturbance rejection controller design temperature expectation value, two is the control commands sending startup to control system, stop, and three is the situation of change and the control effects that monitor controll plant temperature;
Described input signal module is used for starting to control system input, stopping control command;
Temperature physical quantity for detecting the temperature of controll plant, and is converted to temperature signal by described Pt100 temperature sensor, then by temperature transmitter, temperature signal is converted to the standard electric signal that applicable automatic disturbance rejection controller receives identification;
Described automatic disturbance rejection controller is the core of control system, for receiving the signal and control command that input from host computer or input signal module, and the temperature standard electric signal that reception temperature transmitter is sent here, through the calculation process of inner high sp eed and optimal control function, produce corresponding control strategy to form desirable control signal and deliver to actuator finally by output port, to regulate the temperature of controll plant; Described actuator passes through to change the conduction time of controll plant thus the temperature of control controll plant;
Described controll plant is resistance-heated furnace, and its temperature changes with the change of conduction time, and conduction time is longer, and temperature is higher.
Described automatic disturbance rejection controller comprises transient process generator TD1021, expansion state generator ESO1022 and nonlinear feedback controller NLSEF1023;
The input end of described transient process generator TD is connected with host computer by PROFIBUS bus cable, its output terminal connected nonlinearity feedback controller NLSEF, the output terminal of nonlinear feedback controller NLSEF connects actuator, and its first input end connects input signal module;
The input end of described expansion state generator ESO connects the output terminal of temperature transmitter, and expansion state generator ESO 2 road output terminals are wherein connected with nonlinear feedback controller NLSEF, and another 1 road output terminal is connected with second input end of transient process generator TD;
Described transient process generator TD is for receiving the temperature Setting signal of host computer input, and the high sp eed and optimal control function through being arranged at its inside calculates tracking signal V1 and the differential signal V2 of temperature Setting signal;
Described expansion state generator ESO is the core of automatic disturbance rejection controller, one is the temperature actual value y for receiving temperature transmitter conveying, the tracking signal z1 of output temperature actual value y and differential signal z2, tracking error signal e1 and differential error signal e2 unbalanced input feedback controller NLSEF is formed after combining with the tracking signal V1 of temperature Setting signal and differential signal V2, two is receive by the signal of the control signal u of control object after compensating factor b0, the observation signal z3 of the total disturbance of output system;
Described nonlinear feedback controller NLSEF is used for the tracking error signal e1 that inputs according to transient process generator TD and expansion state generator ESO and differential error signal e2, control signal u0 is calculated by high sp eed and optimal control function, and by system disturbance compensate component z3/b0, u0 is compensated, thus obtain the control signal u carrying actuator.
Described host computer adopts PC, comprises CP5611 communication control card in PC; The S7-300PLC (its CPU is Siemens 315-2DP) that its hardware of described automatic disturbance rejection controller adopts Siemens Company to produce, software adopts Active Disturbance Rejection Control algorithm routine.
Described actuator comprises ac solid relay, by changing the conduction angle of the phase shift trigger for thyristor unit of ac solid relay, thus changing the operating voltage of resistance-heated furnace, realizing the control to spraying bake out temperature.
The control procedure of a kind of automatic production line spraying drying course active disturbance rejection temperature control system of the present invention:
(1) temperature value of expectation is set at host computer WINCC interface, by input signal module start up system, system starts;
(2) detected the temperature of spraying drying course electric furnace by Pt100 temperature sensor, deliver to automatic disturbance rejection controller by temperature transmitter;
(3) inner at automatic disturbance rejection controller, through expansion state generator ESO, signal is processed, and carry out nonlinear feedback combination with through the temperature given value of transient process generator TD process and differential value, eventually pass control strategy and calculate control result;
(4) export the phase shift trigger for thyristor unit controlling output control actuator and ac solid relay, change silicon controlled conduction angle, thus change the voltage at resistance-heated furnace two ends, realize the control to spraying bake out temperature.
Implementation method and the step of automatic disturbance rejection controller algorithm are as follows:
Production line spraying drying course temperature control STEP programming software carries out programming according to Active Disturbance Rejection Control algorithm and runs in PLC and realizes, and adopts structured programming mode, and realizes monitoring in real time by host computer configuration part WINCC; As shown in Figure 3, Interruption subroutine as shown in Figure 4 for the main circulating program flow process of system.
As shown in Figure 5, implementation step is as follows for active disturbance rejection temperature control algorithm:
1st step: TD, the ESO in initialization k moment and controlled quentity controlled variable, that is:
The tracking signal of k moment temperature given value V and differential signal: V1(k), V2(k),
The observation signal of the tracking signal of k moment temperature actual value y, differential signal and the total disturbance of system: z1(k), z2(k), z3(k),
The controlled quentity controlled variable in k moment: u(k);
2nd step: the tracking signal and differential signal, the i.e. v1(k+1 that calculate k+1 moment temperature given value V), v2(k+1);
3rd step: sampling k moment temperature actual value y(k);
4th step: the observation signal calculating the tracking signal of temperature actual value y in k+1 moment, differential signal and the total disturbance of system, i.e. z1(k+1), z2(k+1), z3(k+1);
5th step: according to the result of calculation of the 2nd step, the 4th step, calculates the tracking error signal in k+1 moment and differential error signal, i.e. e1(k+1), e2(k+1);
6th step: calculate k+1 moment controlled quentity controlled variable, i.e. u0(k+1);
7th step: calculation perturbation compensates b0;
8th step: according to the result of calculation of disturbance compensation and the 6th step, calculates the controlled quentity controlled variable u(k+1 of k+1 moment after disturbance compensation);
9th step: upgrade sampling time, i.e. k=k+1.
The algorithm of automatic disturbance rejection controller and data handling procedure: first judge whether given temperature value changes, if changed, recalculate settling time, otherwise continue to use current settling time.Then calculate non-thread value of feedback, and export corresponding controlled quentity controlled variable, this controlled quentity controlled variable is actually the signal will delivering to performer.Next read in temperature value, calculate expansion state generator ESO, thus complete the active disturbance rejection computing of one-period, start the work of next cycle.
In system operation, different temperature desired values can be set at host computer WINCC interface, can by the ruuning situation of picture real-time monitoring system.
Note: robustness refers to that control system is under the Parameter Perturbation of certain (structure, size), maintains the characteristic of some other performance.According to the different definition to performance, stability robustness and performance robustness can be divided into.
Claims (4)
1. an automated production wire spraying drying course active disturbance rejection temperature control system, is characterized in that: comprise host computer (101), automatic disturbance rejection controller (102), input signal module (103), actuator (104), temperature detecting module (105) and controll plant (106);
The communication port of described automatic disturbance rejection controller is connected with host computer by PROFIBUS bus cable, the first input end of automatic disturbance rejection controller connects input signal module, second input end of automatic disturbance rejection controller connects temperature detecting module, the output terminal of automatic disturbance rejection controller connects actuator, and the control end of actuator connects controll plant;
Described temperature detecting module comprises Pt100 temperature sensor (1052) and temperature transmitter (1051), the thermopair of Pt100 temperature sensor is placed in the delivery outlet of controll plant, and the temperature information of Pt100 temperature sensor collection carries automatic disturbance rejection controller by temperature transmitter;
Described host computer and automatic disturbance rejection controller are two-way communication relation, its effect: one is to automatic disturbance rejection controller design temperature expectation value, two is the control commands sending startup to control system, stop, and three is the situation of change and the control effects that monitor controll plant temperature;
Described input signal module is used for starting to control system input, stopping control command;
Temperature physical quantity for detecting the temperature of controll plant, and is converted to temperature signal by described Pt100 temperature sensor, then by temperature transmitter, temperature signal is converted to the standard electric signal that applicable automatic disturbance rejection controller receives identification;
Described automatic disturbance rejection controller is the core of control system, for receiving the signal and control command that input from host computer or input signal module, and the temperature standard electric signal that reception temperature transmitter is sent here, through the calculation process of inner high sp eed and optimal control function, produce corresponding control strategy to form desirable control signal and deliver to actuator finally by output port, to regulate the temperature of controll plant;
Described actuator passes through to change the conduction time of controll plant thus the temperature of control controll plant;
Described controll plant is resistance-heated furnace, and its temperature changes with the change of conduction time, and conduction time is longer, and temperature is higher.
2. a kind of automated production wire spraying drying course active disturbance rejection temperature control system as claimed in claim 1, is characterized in that: described automatic disturbance rejection controller comprises transient process generator TD(1021), expansion state generator ESO(1022) and nonlinear feedback controller NLSEF(1023);
The input end of described transient process generator TD is connected with host computer by PROFIBUS bus cable, its output terminal connected nonlinearity feedback controller NLSEF, the output terminal of nonlinear feedback controller NLSEF connects actuator, and its first input end connects input signal module;
The input end of described expansion state generator ESO connects the output terminal of temperature transmitter, and expansion state generator ESO 2 road output terminals are wherein connected with nonlinear feedback controller NLSEF, and another 1 road output terminal is connected with second input end of transient process generator TD;
Described transient process generator TD is for receiving the temperature Setting signal of host computer input, and the high sp eed and optimal control function through being arranged at its inside calculates tracking signal V1 and the differential signal V2 of temperature Setting signal;
Described expansion state generator ESO is the core of automatic disturbance rejection controller, one is the temperature actual value y for receiving temperature transmitter conveying, the tracking signal z1 of output temperature actual value y and differential signal z2, tracking error signal e1 and differential error signal e2 unbalanced input feedback controller NLSEF is formed after combining with the tracking signal V1 of temperature Setting signal and differential signal V2, two is receive by the signal of the control signal u of control object after compensating factor b0, the observation signal z3 of the total disturbance of output system;
Described nonlinear feedback controller NLSEF is used for the tracking error signal e1 that inputs according to transient process generator TD and expansion state generator ESO and differential error signal e2, control signal u0 is calculated by high sp eed and optimal control function, and by system disturbance compensate component z3/b0, u0 is compensated, thus obtain the control signal u carrying actuator.
3. a kind of automated production wire spraying drying course active disturbance rejection temperature control system as claimed in claim 1 or 2, is characterized in that: described host computer adopts PC, comprises CP5611 communication control card in PC; The S7-300PLC that its hardware of described automatic disturbance rejection controller adopts Siemens Company to produce, software adopts Active Disturbance Rejection Control algorithm routine.
4. a kind of automated production wire spraying drying course active disturbance rejection temperature control system as claimed in claim 3, it is characterized in that: described actuator comprises ac solid relay, by changing the conduction angle of the phase shift trigger for thyristor unit of ac solid relay, thus change the operating voltage of resistance-heated furnace, realize the control to spraying bake out temperature.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108717306A (en) * | 2018-04-11 | 2018-10-30 | 河南城建学院 | A kind of DSG trough type solar heat-collectors vapor (steam) temperature Auto-disturbance-rejection Control |
| CN110032226A (en) * | 2019-05-09 | 2019-07-19 | 陕西理工大学 | The Fuzzy control system and control method of resistance furnace temperature |
| CN111025911A (en) * | 2019-12-25 | 2020-04-17 | 华南理工大学 | Fluorescent powder glue micro-coating system and method based on active disturbance rejection control |
| CN116869256A (en) * | 2023-07-31 | 2023-10-13 | 浙江卓诗尼鞋业有限公司 | Intelligent shoemaking dryer |
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| CN103643027A (en) * | 2013-12-12 | 2014-03-19 | 中国兵器工业新技术推广研究所 | Control method of heat treatment resistance furnace based on linear order-reduction active disturbance rejection control technology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108717306A (en) * | 2018-04-11 | 2018-10-30 | 河南城建学院 | A kind of DSG trough type solar heat-collectors vapor (steam) temperature Auto-disturbance-rejection Control |
| CN110032226A (en) * | 2019-05-09 | 2019-07-19 | 陕西理工大学 | The Fuzzy control system and control method of resistance furnace temperature |
| CN111025911A (en) * | 2019-12-25 | 2020-04-17 | 华南理工大学 | Fluorescent powder glue micro-coating system and method based on active disturbance rejection control |
| CN116869256A (en) * | 2023-07-31 | 2023-10-13 | 浙江卓诗尼鞋业有限公司 | Intelligent shoemaking dryer |
| CN116869256B (en) * | 2023-07-31 | 2024-04-30 | 浙江卓诗尼鞋业有限公司 | Intelligent shoemaking dryer |
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