CN115185202A - A semi-physical simulation cloud control experimental system and its working method - Google Patents

Abstract

The invention provides a semi-physical simulation cloud control experiment system and a working method thereof, wherein the semi-physical simulation cloud control experiment system comprises local equipment, gateway equipment and a cloud platform control algorithm; the local equipment is a local upper computer to load model simulation software and complete the deployment of an operating system, and the equipment is controlled really to run the same cloud platform control algorithm; the gateway equipment completes the uplink and the down-transmission of the local simulation equipment data and the control algorithm logic on the cloud platform; data of local real control devices; meanwhile, a calculation engine is deployed in the gateway equipment, so that the gateway equipment executes an edge calculation function and performs data preprocessing; the cloud platform control algorithm deploys a control algorithm in a cloud platform to realize cloud control, the control algorithm realizes a control function on a system at a cloud end, adopts a control algorithm program, and downloads the control algorithm program to gateway equipment. By applying the technical scheme, cloud control and semi-physical simulation can be promoted to be combined, and the construction of a virtual laboratory is promoted.

Description

A hardware-in-the-loop simulation cloud control experimental system and its working method

technical field

The invention relates to the technical field of semi-physical simulation, in particular to a cloud control experimental system for semi-physical simulation and a working method thereof.

Background technique

With the development of cloud computing technology, cloud control systems have gradually appeared in various fields. In the future, cloud control systems will become one of the indispensable functions in the Internet field. With the continuous development of simulation technology, semi-physical simulation Technology is also growing in popularity.

Compared with local control, the cloud control system is not constrained by hardware and can truly realize remote control. Through the cloud control platform, even complex industrial systems can complete related tasks and collaborations. The application scenarios of cloud control are usually industrial sites. However, there is still no unified standard for theoretical research on cloud control system architecture model and communication problems, and there is no specific judgment on the concept of cloud control system, and the relevant theoretical system has not yet been formed. challenges remain formidable.

At present, the research on cloud control system at home and abroad is still in its infancy, and the specific definition, construction system, related technology, and algorithm and communication problems of cloud control have attracted much attention.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a cloud control experiment system for semi-physical simulation and its working method, to promote the combination of cloud control and semi-physical simulation, and to promote the construction of virtual laboratory.

In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a semi-physical simulation cloud control experiment system, including local equipment, gateway equipment and cloud platform control algorithm; the local equipment is a local host computer to load model simulation software and complete. For the deployment of the operating system, the real control device such as a programmable logic controller deploys a computing engine in the real control device to make it run the same cloud platform control algorithm; the gateway device completes the local simulation device data and the control algorithm logic on the cloud platform The data of the local real control device, such as the switch status information of the device; the data transmission method includes wired and wireless connection methods, such as Ethernet, local area network, and a computing engine is deployed in the gateway device to enable the gateway device to execute edge The cloud platform control algorithm deploys the control algorithm in the cloud platform to realize cloud control, and the control algorithm realizes the control function of the system in the cloud, The control algorithm program is adopted and downloaded to the gateway device; the local host computer and control device are connected to the cloud platform through the gateway device, and the local control device is monitored and controlled through the control algorithm deployed on the cloud platform, including the equipment's Operation monitoring, real-time data collection, analysis of equipment status and display of historical data.

The invention also provides a working method of a semi-physical simulation cloud control experimental system, which adopts the semi-physical simulation cloud control experimental system, including the following steps:

1) By building the model of the target control system in the local host computer model software, building the operating environment, realizing the simulation, and then building the simulation model;

2) Connect the local control device communication interface with the simulation operating environment communication interface in the software, simulate and control the real control device through the software simulation operating environment, and complete the communication connection through a wireless communication connection;

3) The deployment of cloud platform control algorithms and man-machine configuration, the user writes the system control logic algorithm in the cloud control algorithm program, realizes the control of the semi-physical simulation system in the cloud, and the user completes the algorithm programming according to the actual situation and function, In addition, the man-machine interface configuration is carried out to realize the display and monitoring of the real-time state of the semi-physical simulation;

4) After establishing the communication connection and completing the related configuration, the system starts to carry out data transmission interaction;

5) The gateway device performs the edge computing function, and pre-processes part of the data through the algorithm and computing engine deployed inside the gateway;

6) The gateway device performs data transmission, including downloading the cloud data and uploading the local data to the cloud algorithm database;

7) The system realizes the cloud control function of semi-physical simulation.

其中t为此刻的时间，e(t)为误差：r(t)与y(t)之差；比例环节输出为K_pe(t)，K_p为比例增益；积分环节输出为

K_i为积分增益；微分环节输出为

K_d为微分增益。In a preferred embodiment, the cloud platform control algorithm is specifically a PID control algorithm, and the PID control algorithm includes a proportional link, an integral link and a differential link; the PID control output is:

Where t is the time at the moment, e(t) is the error: the difference between r(t) and y(t); the output of the proportional link is K _p e(t), and K _p is the proportional gain; the output of the integral link is

K _i is the integral gain; the output of the differential link is

K _d is the differential gain.

Compared with the prior art, the present invention has the following beneficial effects:

1. By adopting the control system of the method of the present invention, a virtual laboratory can be constructed according to requirements, and relevant experiments can be carried out without using physical objects, thereby saving costs.

2. Using the method of the present invention, edge computing can improve the real-time performance of the system, reduce bandwidth usage, and improve the efficiency of system data transmission and processing.

Description of drawings

Fig. 1 is the working flow chart of the preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of the system structure of a preferred embodiment of the present invention;

FIG. 3 is a schematic block diagram of a PID control algorithm according to a preferred embodiment of the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and embodiments.

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terms used herein are for the purpose of describing particular embodiments only and are not intended to limit exemplary embodiments in accordance with the present application; as used herein, unless the context clearly dictates otherwise, the singular forms are also intended to include Plural forms, furthermore, should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and/or combinations thereof.

A hardware-in-the-loop simulation cloud control experimental system, referring to Figures 1 and 2, mainly includes local equipment, gateway equipment and cloud platform control algorithms:

Described local equipment: It is mainly the local host computer to load the model simulation software and complete the deployment of the operating system, the real control equipment such as programmable logic controller (Programmable Logic Controller, PLC), to form a local semi-physical simulation system, and can Deploy the computing engine in the real control device so that it can run the same cloud platform control algorithm;

The gateway device: realizes the level of data transmission, and completes the uplink and downlink of local simulation device data and control algorithm logic on the cloud platform. The data of the local real control device, such as the switch status information of the device, etc. Data transmission methods include wired/wireless connection methods, such as Ethernet, local area network, etc. At the same time, a computing engine is deployed in the gateway device, so that the gateway device can perform edge computing functions and perform data preprocessing, such as screening and processing junk data. During transmission, it can enhance the real-time data transmission of the system and reduce the load of the cloud system.

The cloud platform control algorithm deploys the control algorithm in the cloud platform to realize cloud control, and the control algorithm can realize the control function of the system in the cloud, adopts the control algorithm program, and can be downloaded to the gateway device.

Connect the local host computer and control equipment to the cloud platform through the gateway device, and monitor and control the local control equipment through the control algorithm deployed on the cloud platform, including equipment operation monitoring, real-time data collection, analysis of equipment status, Display historical data, etc.

The work process includes:

1) Build a model of the target control system in the local host computer model software, build an operating environment, and realize simulation, such as the establishment of mathematical models such as inverted pendulums, drones, and air compressors, and then build simulation models;

2) Connect the local control equipment communication interface with the simulation operating environment communication interface in the software, realize the data interaction of software and hardware, achieve the semi-physical simulation function, and be able to simulate and control the real control equipment through the software simulation operating environment, The communication connection can be completed through wireless communication connection;

3) The deployment of cloud platform control algorithms and man-machine configuration, the user writes the system control logic algorithm in the cloud control algorithm program, realizes the control of the semi-physical simulation system in the cloud, and the user completes the algorithm programming according to the actual situation and function, In addition, the man-machine interface configuration is carried out to realize the display and monitoring of the real-time state of the semi-physical simulation;

PID control algorithm: a closed-loop control algorithm that integrates proportional, integral and differential links. It can quickly and accurately correct the system and is widely used in industrial production control.

Its schematic diagram is shown in Figure 3:

in:

t is the time at the moment;

r(t) is the current given value;

y(t) is the current actual measured value of the system;

e(t) is the error: the difference between r(t) and y(t);

The output of the proportional link is K _p e(t), and K _p is the proportional gain;

K_i为积分增益；The output of the integral link is

K _i is the integral gain;

Kd为微分增益；The output of the differential link is

Kd is the differential gain;

Then the output of PID control is

4) After establishing the communication connection and completing the related configuration, the system starts to carry out data transmission interaction;

5) The gateway device performs the edge computing function, and pre-processes part of the data through the algorithm and computing engine deployed inside the gateway;

For example, the data cleaning method is used for data preprocessing, and through data cleaning, the missing values of the obtained data are filled, the data is checked for duplication, missing or abnormal problems, and the inconsistency of the data is corrected;

6) The gateway device performs data transmission, including downloading the cloud data and uploading the local data to the cloud algorithm database;

7) The system realizes the cloud control function of semi-physical simulation.

Claims (3)

1. a cloud control experiment system of semi-physical simulation, it is characterized in that comprising local equipment, gateway equipment and cloud platform control algorithm; Described local equipment is local host computer to load model simulation software and complete the deployment of operating system, real control A device such as a programmable logic controller deploys a computing engine in the real control device to make it run the same cloud platform control algorithm; the gateway device completes the local simulation device data and the upload and release of the control algorithm logic on the cloud platform; local The data of the actual control device, such as the switch status information of the device; the data transmission method includes wired and wireless connection methods, such as Ethernet, LAN, and a computing engine is deployed in the gateway device to enable the gateway device to perform edge computing functions and data preprocessing , such as screening and processing garbage data, and then transmitting; the cloud platform control algorithm deploys the control algorithm in the cloud platform to realize cloud control, and the control algorithm realizes the control function of the system in the cloud, adopts the control algorithm program, and downloads It is transmitted to the gateway device; the local host computer and control device are connected to the cloud platform through the gateway device, and the local control device is monitored and controlled through the control algorithm deployed on the cloud platform, including equipment operation monitoring and real-time data collection. , Analyze equipment status and display historical data. 2. the working method of the cloud control experimental system of a kind of semi-physical simulation, it is characterized in that adopting the cloud control experimental system of a kind of semi-physical simulation described in above-mentioned claim 1, comprises the following steps: 1) By building the model of the target control system in the local host computer model software, building the operating environment, realizing the simulation, and then building the simulation model; 2) Connect the local control device communication interface with the simulation operating environment communication interface in the software, simulate and control the real control device through the software simulation operating environment, and complete the communication connection through a wireless communication connection; 3) The deployment of cloud platform control algorithms and man-machine configuration, the user writes the system control logic algorithm in the cloud control algorithm program, realizes the control of the semi-physical simulation system in the cloud, and the user completes the algorithm programming according to the actual situation and function, In addition, the man-machine interface configuration is carried out to realize the display and monitoring of the real-time state of the semi-physical simulation; 4) After establishing the communication connection and completing the related configuration, the system starts to carry out data transmission interaction; 5) The gateway device performs the edge computing function, and pre-processes part of the data through the algorithm and computing engine deployed inside the gateway; 6) The gateway device performs data transmission, including downloading the cloud data and uploading the local data to the cloud algorithm database; 7) The system realizes the cloud control function of semi-physical simulation. 3. the working method of the cloud control experimental system of a kind of hardware-in-the-loop simulation according to claim 2, is characterized in that, described cloud platform control algorithm is specifically PID control algorithm, and described PID control algorithm comprises proportional link, integral link and differential link; PID control output is

Where t is the time at the moment, e(t) is the error: the difference between r(t) and y(t); the output of the proportional link is K _p e(t), and K _p is the proportional gain; the output of the integral link is

K _i is the integral gain; the output of the differential link is

K _d is the differential gain.

Images