JPH01159040A - Method and apparatus for measuring, mixing and distributing liquid - Google Patents

Abstract

PURPOSE:To realize an improvement of measurement accuracy, an enlarge ment of measurement range, and a shortening and fixing of measurement time by carrying out a fuzzy inference etc., based on observed values obtained in the course of measurement and by varying sequentially a flow rate of a liquid to be measured with a special flow rate control valve. CONSTITUTION:In a closed loop control method for measurement of a liquid, a fuzzy control, a learning control or an optimal control of a liquid to be measured with a flow rate control valve 7 is carried out based on observed values of deviations and their differentials with respect to time between measurement values set arbitrarily beforehand and those really measured with measurement sensors 4 weighing the liquid. As the flow rate control valve 7, a control valve driven by a motor 11, which has a property of small and linear flow rate change with respect to a valve lift and, furthermore, a large maximum allowable flow rate, is used. It becomes possible, as a results, to shorten a measurement time while keeping an accuracy of measurement and to carry out a wide range measurement without being influenced by flow rate fluctuations due to disturbances.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method and device for measuring, mixing and distributing liquids, and more specifically, performs fuzzy inference etc. based on observed quantities obtained during measurement, The present invention relates to a liquid metering, mixing and dispensing method and device that improves metering accuracy, expands metering range, and shortens metering time by successively changing the flow rate of an object to be measured using a flow rate control valve.

Furthermore, the present invention relates to a liquid measuring, mixing and dispensing device that uses the above-mentioned method and device to measure and cumulatively measure various types of liquids, mix them to form a new mixed liquid, and distribute the mixed liquid to a plurality of containers. .

[Conventional technology]

In liquid measurement, there are various types of measurement detectors, such as weight type (load cell, etc.), pressure type (differential pressure transmitter, etc.), and volumetric type (oval flow meter, etc.).

However, in both methods, the premise is that the flow rate is constant as metering control, and there has been no closed-loop metering control method that continuously varies the flow rate.

Additionally, the following techniques have been implemented as a method for improving measurement accuracy.

(2) A technique in which the flow rate in a flow rate control valve is divided into two stages, and the flow rate is switched to a lower flow rate side near the metering set value for measurement (for example, Japanese Patent Application Laid-Open No. 148019/1983).

(2) The measurement stop condition includes the amount of inflow (also called the amount of head), and a technique for predicting this amount and stopping the measurement in advance for measurement (for example, Japanese Patent Application Laid-Open No. 57-29114).

However, in conventional metering control, although the flow rate is kept constant or the flow rate is divided into two stages and switched as described above, the metering is carried out by fixing 2tffl within a certain range, which has the following drawbacks.

(1) Measurement accuracy: Accuracy may not be guaranteed due to flow rate fluctuations due to disturbances or due to differences in liquid physical properties (viscosity, etc.).

For example, in the case of gravity transfer, the remaining amount of the object to be measured in the upstream container (hereinafter, this remaining amount is referred to as the head difference) causes a flow velocity fluctuation in the object to be measured flowing out.
If the change in head difference is large, the flow velocity will go outside a certain range of conditions, and accuracy will deteriorate.

Additionally, this results in restrictions during changes in the head difference of the upstream container, and in order to maintain the head difference within a predetermined range, it is necessary to stop metering or replenish raw materials appropriately to the upstream container. This leads to secondary loss of raw materials.

(2) Measuring range: Since the flow rate is restricted, the ratio between the minimum measurable value and the maximum measurable value is usually about 1:5.

Even with the two-step flow rate setting type, the maximum is about 1:10.

The reason why the weighing range is so narrow is that even when the weighing is stopped,
There is an inflow amount due to the response delay of the system, and this amount is determined by the flow velocity, so if the measurement setting value is small, this amount will exceed the guaranteed accuracy range, and as a result, the measurement range will be limited.

In a manufacturing plant that handles a wide variety of products, a maximum weighing range of approximately 1:100 is required even for the same raw material, and several types of weighing devices must be selected depending on the weighing set value range.

(3) Measuring time 2. Measuring time is influenced by the metering setting value.

If the metering setting value is small, the metering time will be short; if it is large, the metering time will be long.

If the measurement setting value is small, the operating time of the system will vary, making it impossible to guarantee measurement accuracy and leading to a narrowing of the measurement range.

Furthermore, from the perspective of the entire system that mixes multiple types of weighed objects to produce new products, the manufacturing capacity is affected by the weighing time, and in particular, in pipeless mobile manufacturing systems, the conveyance capacity will be restricted.

The present applicant has recently solved the above drawbacks and realized high-accuracy measurement that is not affected by flow velocity fluctuations caused by disturbances, secured a wide measurement range, and achieved short-time measurement without being influenced by the magnitude of instrument settings. In order to provide a liquid measuring method that achieves this, we have developed and applied for the following technology.

In other words, in a closed-loop liquid metering method in which the flow rate is changed by an arbitrarily set metering set value and a fed-back actual metered value, fuzzy A liquid measuring method characterized in that the initial opening degree of the valve before the start of metering is determined by making inferences, and the fuzzy control is performed based on the actual measured values that are sequentially observed to change the valve opening degree ( Special application 1986-1
No. 06412).

In addition, conventional measuring devices applied to measuring, mixing, and dispensing devices for multiple types of liquids have not been equipped with a variable flow rate in order to achieve highly accurate metering, but have limited the flow rate for each liquid. Respective metering devices (including metering tanks, metering detectors, flow control valves, etc.) were used.

In addition, in conventional liquid metering, mixing and dispensing devices, when liquids are metered and mixed from multiple supply containers to one liquid receiving container, a measuring device is attached to each supply container. .

For example, when a volumetric measuring system is used, as shown in FIG. 11, two measuring devices are used for two liquids, and a two-loop control function is provided for predictive control of inflow.

JP-A-57-163426 discloses a "liquid preparation device J" and a "liquid supply method", and although the flow rates of multiple liquids are measured by a common measuring device in these publications, the amount of 7 iL is Each limiting liquid supply means is controlled by an independent control loop.

The reason for this is that since the flow rate of the liquid varies depending on the liquid foot in the supply container, the valve flow rate characteristics, the physical properties of the liquid, etc., highly accurate metering cannot be expected with the same control ability.

The same applies to the tank metering system, and the shutoff valves of the actuators attached to each prefecture must be controlled by independent loop control systems.

In addition, in order to achieve highly accurate metering, there is a method of installing valves with different flow rates in parallel and switching at a predetermined metering deviation, but even in this case, ill? 18 m As a Noh performance,
Two loops of control are required.

Here, we use the expression 2-loop control function because, for example, when using a distributed control device, weighing can be processed within one control device, and two control devices are required. This is because it cannot be said that it is. However, from the point of view of human output points and software, it can be said that there are two control devices.

Also, conventionally, the liquid 51 star mixing device and the 81 meter distributing device were
The presentation and control devices were completely unrelated and were carried out separately. Also, is the measurement accuracy also volumetric? IL'! Gauge and valve O
This was mainly due to N10 FF control.

Furthermore, in batch manufacturing processes that mix and dissolve many powders in addition to many liquids, cumulative measurements may not be possible in the same container because the physical properties of these liquids and powders are different. many.

Therefore, in that case, a plurality of mixing containers or receiving containers (weighing hoppers, measuring tanks) as shown in FIG. The production system has a separate receiving container (a weighing hopper or a measuring tank) for liquid types and rice seeds that cannot be mixed. For this reason, a mixing container (preparation tank) for reaction, preparation, etc. is further downstream.
is required, resulting in a complex system.

In manufacturing systems with fixed mixing containers (preparation tanks) for reaction preparation, etc., when manufacturing a wide variety of products, it is necessary to install equipment according to the content of the products, especially for high-precision weighing. As mentioned above, there are many liquid receiving containers (measuring tanks).
, a mixing container (preparation tank) and its attached piping metering device, control device, attached valves, etc. are required. In this case, such equipment may result in devices that are used in some types but not in others, resulting in a very wasteful system and increasing the initial cost of the equipment. Furthermore, although multi-purpose manufacturing systems have been in demand in recent years, fixed manufacturing systems require changes to the piping system and associated equipment, making them even more complex. (For example, Japanese Patent Application Laid-open No. 1983-
No. 74715, JP-A-56-155412, JP-A-5
7-72015 and Japanese Patent Application Laid-Open No. 54-81559).

Therefore, in recent years, mobile punch manufacturing systems that move mixing containers (metering tank, preparation tank) have been proposed.

However, when this system is adopted in a conventional manufacturing system, the measurement time differs depending on the size of the measurement setting value, and if the measurement setting value is large, it takes time to weigh, and it takes time to transport containers in a mobile manufacturing system. will be subject to restrictions. For this reason, in conventional packaging systems, the required number of weighing devices is installed in order not to limit the transportation time.
This is contrary to the advantages of mobile manufacturing systems.

In addition, such a system results in an even longer stay at the station (requires a large number of weighing devices due to the range of weighing settings, limitations on weighing time, weighing accuracy conditions, etc.) (increases operating time for pipe connections, etc.).

For example, in the manufacturing process of photographic photosensitive material l'4, since the photosensitive material is handled, it must be kept light-shielded, the system becomes more complex due to an increase in the number of piping connections, and changes in the conveyance cycle affect the performance of the product. Cast a shadow.

Furthermore, as a measuring and dispensing device for mixed liquid, as shown in FIGS. 11 and 12, the metering control system is completely unrelated to the measuring and mixing device, and each distribution container (receiving container) has a measuring device. Therefore, simple and rough measurement and control methods such as liquid level meters or time measurement were used.

[Problem to be solved by the invention]

Liquid metering using closed-loop control using fuzzy control is a much superior method compared to conventional methods, and it is not affected by flow velocity fluctuations due to disturbances and can measure a wide measuring range in a short time. made it possible.

However, if the size of the flow control valve is large depending on the size of the flow control valve used, it will take a long time to measure to achieve the last minute measurement accuracy, and if the size of the flow control valve is small, the overall Weighing time was required to weigh.

Therefore, the first purpose of the present invention is to
By using a new flow control valve with excellent performance in combination with the closed-loop control described above, the measurement accuracy can be maintained, the measurement time can be further shortened, and the measurement time can be reduced without being affected by flow velocity fluctuations caused by disturbances. First, it is an object of the present invention to provide a liquid measuring, mixing and dispensing method using a liquid liver suction method that enables metering over a wide measuring range.

In addition, the conventional measuring mixing and dispensing apparatus for various types of liquids (including when handling powder at the same time) has the following drawbacks because a total of nine controls are performed on the assumption that the supply flow rate is constant.

■ Measurement accuracy: Accuracy may not be guaranteed due to fluctuations in flow velocity due to disturbances or changes in the physical properties of the liquid.

In the case of gravity transfer of liquid, for example, the flow rate of the outflowing liquid varies depending on the amount of liquid remaining in the supply container, but if the remaining amount changes significantly, the flow rate will exceed a certain range of conditions.
Poor weighing accuracy.

Additionally, this means that it is necessary to limit the amount of liquid in the supply container within a certain range and ensure that the amount of liquid in the container is always above a certain level, which causes loss of remaining liquid in the supply container and increases running costs. Ta. This phenomenon is the same for powder,
For reference, powders are transported by different devices depending on their physical properties; for example, granular powders have good fluidity, so a damper or the like is used, while powders with poor fluidity use a screw feeder or the like. However, the flow of powder cannot be uniformly determined by this alone, and the flow changes depending on the lumpiness of the powder, the shape of the powder, and disturbances such as vibration, which affects measurement accuracy.

■ Measuring range: The measuring range is narrow.

The reason for this is that even if the metering is stopped, there is an inflow amount due to the response delay of the system, and this amount is determined by the supply flow rate. Therefore, when the flow rate is constant, by narrowing the metering range,
Guarantees an acceptable flow rate. Therefore, even if the same liquid is to be measured, if the measurement setting values are significantly different, a measuring device with an appropriate measurement range is required for each, and the number of measurements increases.

■Measuring time 2.Measuring time is affected by the weighing setting value. If the metering setting value is small, the metering time will be short; if it is large, the metering time will be long. Therefore, a measuring device with a measuring time suitable for the manufacturing cycle is required depending on the measurement setting value, and the number of devices increases.

Furthermore, for the reasons mentioned above, conventional liquid metering, mixing and dispensing devices require a large number of independently controlled metering devices to be installed for each supply container, and are installed at each optimal metering time due to manufacturing capacity limitations. This made the system complicated and required a large number of measuring bags. Moreover, as a dispensing device, the measuring accuracy was not particularly high, resulting in a large amount of liquid being wasted, and a long measuring time was required.

Therefore, the second object of the present invention has been made based on the above circumstances, and the present invention has been made by using a liquid measuring and mixing device using fuzzy control (Japanese Patent Application No. 115894/1989), which the present applicant had previously applied for. The liquid metering, mixing and distributing device of the invention achieves highly accurate metering that is unaffected by flow rate fluctuations caused by disturbances or changes in the physical properties of the object to be measured, secures a wide metering range, and adjusts the size of the metering setting value. Achieving short-time weighing without being affected is the same as the first objective,
Furthermore, by configuring measuring, mixing and dispensing equipment for various types of liquids into a consistent system, we are able to increase the number of units in equipment, increase production capacity, and reduce raw material loss. The object of the present invention is to provide a method and device for measuring, mixing, and dispensing liquids that have high economic effects such as: (1) reducing maintenance man-hours by reducing the number of devices; (2) reducing failures by improving reliability by reducing the number of devices; and (2) reducing running costs by reducing raw material loss.

[Means for Solving the Problems] The above-mentioned objects of the present invention are as follows: (1) Deviation between an arbitrarily set measurement setting value and an actual measurement value from a measurement detector that measures an object to be measured, and the deviation over time. A closed-loop liquid metering control method that performs fuzzy control, learning control, or optimal control of a liquid flow control valve from the observed amount of change, the method controlling the flow rate with respect to the valve lift as the liquid flow control valve. 1. A method for metering, mixing and dispensing liquids, characterized by using a motor-controlled flow control valve having a small rate and linear properties and a large maximum flow rate.

(2) Observing the measurement of a supply container containing a liquid, a flow control valve attached to the supply container, a liquid receiving container for receiving the liquid, and an object to be measured attached to the liquid receiving container or the supply container. Fuzzy control and learning of the flow control valve is performed based on the measured value set at any time and the actual measured value from the measured value from the measured value and the observed amount of deviation and the amount of change over time of the deviation. A closed-loop metering control device for liquids and powders that performs control or optimal control, in which a liquid flow rate control valve uses an electric motor as the power for lifting and lowering the valve, and the rotation of the electric motor is controlled by a feed screw mechanism and a connecting plate. A valve shaft is attached to the connecting plate, and the valve shaft moves up and down as the connecting plate goes up and down, and the artificial side valve box and the inlet center are connected to the valve shaft. an outlet side valve box connected to the side valve box; a space for accommodating a cylindrical or conical valve head that adjusts the gap with the tapered truncated conical valve face; provided in the outlet side valve box; The valve head shape is determined so that the rate of change in flow rate is small and linear with respect to the valve lift, and the valve opening surface formed between the valve head surface and the valve seat is fully opened. 1. A liquid metering, mixing and dispensing device, characterized in that it is a flow rate control valve provided in the artificial side valve box with a valve lift up to the extent that the valve lift reaches .

(3) The supply container is plural, the liquid receiving container is single or plural, and the metering control device has a switching device for switching the output to a predetermined flow rate control valve (
2) A metering, mixing and dispensing device for the liquid described above.

(4) This is achieved by the liquid metering, mixing and dispensing device according to claim (3), characterized in that at least one of the liquid receiving containers has a moving device.

In the present invention, in the fuzzy inference, a directly observed or calculated quantity and a quantity subjected to low-pass filter processing are used for control calculation processing, taking into account the dynamic characteristics of the measurement detector.

When using fuzzy control as a control method, the axis corresponding to the physical quantity is expressed semi-logarithmically for the membership function in fuzzy inference.

The initial opening of the flow rate control valve is determined by performing fuzzy inference based on the flow rate characteristics of the valve and the metering set value. After that, the operation amount is calculated using the fuzzy control method and output to the operation terminal.

In the present invention, a motor-controlled flow control valve that has a small and linear property of changing the flow rate with respect to the valve lift and has a large maximum flow rate is specifically defined as a flow control valve.
An electric motor is used as the power for raising and lowering the valve, and the rotation of the electric motor is converted into linear movement by a feed screw mechanism and a connecting plate,
A valve shaft is attached to the connecting plate, and the valve shaft moves up and down as the connecting plate goes up and down. An inlet valve box centered on the valve shaft and an outlet valve connected to the inlet valve box. A housing space for a cylindrical or conical valve head that adjusts the gap with the tapered truncated conical valve face is provided in the outlet side valve box,
The valve head shape is determined so that the valve opening area formed between the valve head surface and the valve seat has a small and linear rate of change in flow rate with respect to the valve lift, and the valve seat opening is fully opened. This is a flow control valve characterized in that the inlet valve box is provided with a valve lift of up to 100 mm (see Japanese Patent Application No. 62-188734).

Hereinafter, embodiments of claims (1) and (2) of the present invention will be explained in detail with reference to the drawings.

FIG. 1 illustrates a measuring device portion of a liquid metering, mixing and dispensing device which is the main point of the present invention and is applied to one embodiment of the present invention.

Regarding the case where the material filled in the supply container l on the upstream side is transferred to the liquid receiving container 2, and the weight is measured using the weighing detector (load cell) 4 attached to the liquid receiving container 2 (or the supply container 1). state

The piping route between the supply container 1 and the liquid receiving container 2 includes a flow rate control valve 7 that varies the flow rate, and a DRV (drain valve) 9.5.
A PV (stop valve) 8 and a CDV (cleaning waste liquid valve) 10 are arranged. A load cell 4 serving as a weighing detector for observing the weight of the object to be weighed is arranged in the liquid receiving container 2 (or supplying container 1), and the load cell 4 is connected to the weighing control device 3 through a load cell amplifier 5. There is.

Further, the metering control device 3 is connected to a servo driver 6 and a flow rate control valve 7 that constitute an operating device.

The quality of the object to be measured by the liquid measuring device configured as described above is determined by setting the metering setting value in the metering control device 3 and controlling the DRV.
(Drain valve) 9, CDV (Cleaning waste valve) 1
0 is switched to the metering system line to start. When the metering control device 3 instructs to start metering, the SPV (stop valve) 8 is opened, and the servo driver is operated from the metering control device 'v, 3 so that the flow rate control valve 7 has a predetermined opening degree. The position command is transmitted to servo motor 1.
1 to set the valve port of the flow rate control valve 7 at the indicated position and adjust the opening degree, and the liquid in the supply container 1 begins to be transferred to the liquid receiving container 2.

The measurement detector 4 of the liquid receiving container 2 (or the supply container 1) detects the weight of the transferred liquid, and feeds back the value to the measurement control device 3 through the load cell amplifier 5.

The weighing control device 3 calculates the deviation from the set value and the amount of change in the deviation over time from this actual weight value, and based on fuzzy control, learning control, or optimal control, issues a valve opening command ( A new opening command (position command) is calculated to the flow rate control valve 7, and the flow rate is changed.

As described above, based on the observed amount of the metering detector 4, the flow rate control valve 7
The opening degree is controlled in a closed loop (FIG. 2), and as a result, it is approximated continuously or at predetermined time intervals, and when the metering deviation becomes small, the flow rate control valve 7 throttles the opening degree, and the flow rate becomes minute. Therefore, the amount of inflow after the measurement stops becomes smaller.
The measurement accuracy is improved regardless of flow velocity fluctuations caused by disturbances such as head differences. As the flow control method, in addition to the method of adjusting the valve opening described here, a method of controlling the pressure by providing a pressurizing means on the supply container side may be used.

Further, in the metering control device 3 of the present invention, the operation of the flow control valve 7 changes depending on the meter setting value and the process system in the metering range, and the metering control device can perform metering regardless of the size of the metering setting value. This expands the measurement range. However, this is within the static accuracy of the metering detector 4, and if the metering detector 4 is installed in the liquid receiving container 2, it will be an additive metering, and if it is installed in the supply container 1, it will be a subtractive metering. Furthermore, in terms of needle foot time,
The operation pattern of the flow control valve 7 changes, and regardless of the magnitude of the measurement setting value, almost the same short-time measurement can be performed.

Next, a liquid measuring method used in the present invention will be explained.

FIG. 2 shows a case where the control process related to the weighing method used in the present invention is fuzzy controlled.

In FIGS. 1 and 2, when the metering set value is given to the metering control device 3, the metering control device 3 calculates the initial opening degree of the valve by fuzzy inference from the flow rate characteristics of the valve shown in FIG. The metering control device 3 instructs the servo motor 11 of the flow rate control valve 7 through the servo driver 6 to set the initial opening degree at the same time as accounting starts. This causes the liquid to flow into supply container 1.
The actual measured value of the load cell 4 changes. In addition, the weighing control device 3 repeatedly measures the actual weighing value from the load cell amplifier 5 at a predetermined control cycle, and the fuzzy calculation section (3-1> in the weighing control device 3 calculates the weighing set value and the actual weighing value. In addition to calculating the deviation from the total 5i value and the amount of change over time in the deviation, the observed amount is calculated by applying low-pass filter processing to these amounts, and inference calculation of the valve opening degree is performed based on a predetermined fuzzy rule. At this time, the membership function based on fuzzy inference is created in the form shown in Figure 4, in which the division of the axes corresponding to each physical quantity of the amount of deviation and the amount of change in deviation over time is made into smaller sections of small physical quantities, such as semi-logarithm. This is for the purpose of improving measurement accuracy and short-time measurement.If the amount of deviation is large, it is not necessary to have good controllability, but if the amount of deviation is small, it is necessary to improve control accuracy. This also applies to the -order filter processing function, which uses the deviation amount of the first-order filter when the deviation amount, etc. is small, and relaxes the dynamic characteristics of the weighing detector. Improve weighing accuracy.

Next, FIG. 5 is a side sectional view of one embodiment of the flow control valve of the present invention.

The rotation of the servo motor 11 causes the feed screw 12 to rotate and move the connecting plate 13 up and down. A valve shaft 14 is attached to the connecting plate 13, and the valve shaft 14 moves up and down as the connecting plate 13 moves up and down.

A cylindrical or conical valve head 16 is provided in the outlet side valve box 17 at the tip of the tapered trapezoidal contact surface 15, and the valve! The rate of change in the flow rate with respect to the valve lift formed between the surface of the l116 and the valve seat 18 is such that the rate of change in the flow rate with respect to the valve lift H is small and linear, as shown in graph (C) in Figure 3. nibento 1
6 shapes are defined.

Valve lift height 19 (If) until the opening of the valve seat 18 is fully opened.
is provided in the inlet side valve box 20, and a servo motor 11 is used as the power for raising and lowering the valve.

As the means for raising and lowering the valve, a combination of the electric motor drive υ1 and the feed screw mechanism has been described here, but other methods may be used as long as the electric signal is converted into linear motion. For example, the connecting plate 13 may be directly moved by an air servo cylinder. A method of raising and lowering may also be used.

The details of the valve head 16 are as shown in FIGS. 6(a) and (b).
The shape of the valve head is shaped into an elongated conical shape (a) or cylindrical shape (a) so that the rate of change in flow relative to the valve lift is small and linear, as shown in FIG.

Next, an embodiment of claim (3) of the present invention will be explained with reference to FIG.

A plurality of supply containers 21a and 21b are filled with raw materials, and a load cell is used as a measurement detector attached to a single liquid receiving container, the mixing container 22 (the first liquid receiving container and the second supply container). 4 is installed, and there are two distribution containers (secondary liquid receiving containers) 32a and 32b downstream. The two liquids in the supply containers 21a and 21b are measured, and the mixed liquid is distributed to downstream distribution containers 32a and 32b.

Manufacturing conditions (conditions for measuring the liquid in the supply container 21a, then measuring the liquid in the supply container 21b, etc.) are specified to the metering control device 3.

A metering set value is set in the metering control device 3, and DRv (drain valves) 9a, 9b and CDV (cleaning, waste liquid valve) 10 are switched to the metering system line. When the start of metering is instructed, the spv (stop valve) 8 is opened, and the servo driver 6 is sent from the metering control device 3 so that the flowmeter control valve 7a attached to the supply container 21a has a predetermined opening degree. A position command is transmitted to the servo motor to set the valve boat of the flow control valve 7 at the commanded position, adjust the opening degree, and cause the flow of the raw material.

As a result, the raw materials in the supply container 21a are transferred to the mixing container 22.
begins to be transferred to

The weighing detector load cell 4 of the mixing container 22 detects the weight of the transferred raw material, and feeds back the value to the weighing control device 3 through the load cell amplifier 5.

The metering control device 3 calculates the deviation from the set value, the amount of change in the deviation over time, etc. from this actual measured value, and based on the fuzzy control method, issues an opening command (position command) that will give the next appropriate flow velocity. ) and change the flow rate.

As mentioned above, based on the observed amount of the weighing detector load cell 4,
The opening degree of the flow rate control valve 7a is controlled in a closed loop at a predetermined control cycle, and as a result, the flow rate is controlled.

When the metering deviation becomes smaller, the flow rate control valve 7a narrows its opening and the flow rate becomes minute. When the deviation and the amount of change over time of the deviation become smaller and the deviation becomes less than a certain value, the needle will stop hooking and the 5PV
8a is closed, and the flow rate control valve 7a moves in the fully closed direction. At this time, the flow velocity is minute and the amount of inflow is minute. Therefore, after the measurement stops, the falling stars become smaller,
Metering accuracy is improved independent of flow rate fluctuations. Further, in the measurement range, the operation of the flow rate control valve 7a changes depending on the measurement setting value and the process system, and regardless of the magnitude of the measurement setting value, the same measuring device can perform measurement, thereby expanding the measurement range. However, it is within the static accuracy of the weighing detector.

Also, during the metering time, the operation pattern of the flow rate control valve 7a changes, and regardless of the magnitude of the metering setting value, almost the same short-time metering can be performed.

Next, the metering control device 3 switches to metering the liquid in the supply container 21b rather than the supply container 21a. The switching device 26 switches from the flow rate limiting valve 7a on the tank 21a side to the flow meter control valve 7b on the tank 21b side. The measurement setting value is set in advance, and the same control as above is performed in accordance with the measurement start command to perform measurement. The control functions within the control device are the same, and only the output signals to the flow rate control valves 7b and 5Pvab at the operating end are switched by the switching device 26.

The liquid is transferred to the mixing container 22 by sharing the connecting pipe 23. The meaning of this connecting pipe is to increase the diameter of the pipe and allow the remaining liquid in the pipe to fall naturally. Therefore, in order to improve measurement accuracy, it is necessary that the length of this connecting pipe be as short as possible. However, there is also a method of connecting each to the mixing vessels 22 without using the main connecting pipe. In this case, the size of the mixing container 22 is limited, and when receiving a plurality of liquids, there is an equipment problem in that piping configuration is difficult.

The above explanation is an example of additive metering (method of storing and measuring liquid in a mixing container), and the DRV9a in the figure,
9b, CDVIOSC [V24 (cleaning start valve), AD
V25 (air bleed valve) is a valve for incidental cleaning, waste liquid, etc.

Therefore, for example, in the case where the liquid in the supply container 21a is measured, then cleaned, and then the liquid in the supply container 21b is measured, if only the piping is cleaned after measuring the liquid in the supply container 21a, the CDVl 0 Switch to the waste liquid side, and
24 and wash. At this time, ADV25 is closed, 5
PV8a and SP8b are also closed. After cleaning for a certain predetermined time, the CTV 24 is closed and the ADV 25 is opened.

Thereafter, the ADV 25 is closed and the next supply container 21b is weighed.

Next, after the mixing container serving as a liquid receiving container cumulatively measures and receives the liquid in the supply containers 21a and 21b, a mixing step is started. After completing the predetermined mixing conditions, the distribution volume Wi, which is the downstream liquid receiving container,
The liquid is distributed from the mixing container 22, which is a supply container, according to the conditions defined in f32a and f32b. Total ffi it,
! The control device 3 changes the measurement of the measurement detector 4 to a subtraction measurement function and opens the bottom valve of the mixing container 2, which is a supply container. As a result, the flow control valves 27a, 27 attached to the receiving container
The mixing container 22 is filled with liquid up to a point b, which causes a change in the weight of the mixing container 22. Therefore, the metering control device 3 automatically performs a subtractive weighing function with the current weight apparently above and zero, and is switched to the flow control valve 27a or 27b by the switching device 26 immediately before dispensing to the downstream container. The distributing operation is completely the same as the time counting function of an adder, and the measuring operation is performed with a predetermined distributing star as the target. In the case of this example, only the flow rate control valve 27a performs the metering operation, and the remaining stars are distributed using the flow rate control valve 27b, thereby improving the metering accuracy i).

FIG. 8 shows its control block diagram.

In the present invention, a large number of liquid types may be measured in the same mixing container (first liquid receiving container and second supplying container). However, in terms of the system, the optimum number of flow rate control valves to be controlled by the same metering control device is about eight.

Although there is a system configuration using a connecting pipe, if ultra-high precision metering is required where the remaining amount in the pipe is a particular problem, the pipe may be connected to the liquid receiving container independently.

Regarding the geometrical arrangement of the flow rate control valve for distribution, since the arrangement is shown in FIG. 7, it is necessary to shorten the distance between the bottom valve of the mixing container (also the supply container) and the flow rate control valve as much as possible.

In the present invention, a load cell is used as an example of a measurement detector for measurement, but other detectors may also be used. For example, there are pressure detectors such as differential pressure transmitters, various level meters, and the like. Here, the measurement range depends on the static accuracy of the detector.

The components of claims (3) and (4) of the present invention will be explained in detail.

(1) Supply container: A container that stores the supply liquid to be metered.

In the case of measuring and mixing, this corresponds to the raw material tank, and in the case of dispensing, it corresponds to the mixing container. The capacity of the container requires a scale suitable for manufacturing. In the present invention, there is no limit to the remaining amount of the supply container,
Theoretically, it is possible to measure until the remaining amount is 0. In addition, any liquid can be measured to 0 remaining amount as long as it is not affected by the physical properties of the liquid, such as viscosity, and has physical properties that allow it to flow out.

(2) Flow rate control valve: There are a number of flow rate control valves corresponding to the number of supply containers, and by changing the opening degree of the valve, the supply flow rate can be varied over a wide range. When handling powder at the same time,
Dampers, screw feeders, and rotary types are suitable for powder.

Further, each flow rate characteristic of the flow rate control valve does not cause any outflow of the raw material at around 0% of rotation speed or valve opening, but generates a flow rate around 10%.

These flow rate control valves are driven by, for example, an AC servo motor.A stop valve is used as a shutoff valve to stop the flow, but in the case of powder, a shutter gate is used.

(3) Mixing container (corresponds to the secondary supply container in the case of distribution using the primary receiving container): A container with a capacity suitable for the manufacturing scale. For liquids that can be mixed, measure by cumulative measurement.

If the liquids are washed after each transfer, even if they cannot be mixed, they can be measured individually in the same container. Mixing is performed by installing a stirrer.

(4) Weighing detector: Installed in the receiving container or the supply container, or in the case of Figures 7 and 8, the mixing container, and one measuring detector measures and mixes liquid and powder from multiple supply containers. This refers to the part that detects the measured value of liquid distribution. Cumulative weighing (
Addition/relative M,) is possible. Tank measurement methods such as load cells, differential pressure transmitters, and level meters are used. The weighing detector is
Sometimes it is attached to the mixing container, and sometimes the mixing container is placed on a weighing platform.

(5) Metering control device: It is a closed-loop control metering control device that changes the flow rate, starting from a large flow fat.
This is closed-loop control in which the deviation and the temporal change in the deviation are calculated from the measured value, and the flow rate is changed by, for example, fuzzy control. This control may be based on learning control or optimal control. This allows for high precision over a wide measuring range.
Weighing is completed in an extremely short time. In addition, by installing a switching device, multiple liquids, powders, and their mixtures can be cumulatively measured (
Both addition and subtraction) are possible, and the optimum number of supply containers to be subjected to this is approximately 8. This allows the number of devices to be reduced.

(6) Switching device: Control valves for multiple supply containers and distribution containers (secondary liquid receiving containers) and other powder flow rate regulators with - drive control devices. It is a device and is part of the configuration of a metering control device. This eliminates the need to install a metering control section and a drive control section for each arsenic flow control valve.

(7) Moving device: A moving device for transporting a liquid receiving container or a mixing container (primary liquid receiving container and secondary supply container). Examples of the transport means include automatic guided vehicles, conhairs, and the like. In addition, there are cases in which the container itself is provided with a transport function, and cases in which the container is separated from a moving device for getting on and off the container.

(8) Distribution container (secondary liquid receiving container): This is a container that receives the mixed liquid as needed, and an appropriate number is installed depending on the manufacturing system. A moving device may be provided depending on the case.

The basic components of claim (4) of the present invention are as described above, but the main point of the present invention is to use a closed-loop metering control device using fuzzy control or the like that varies the flow rate,
The metering control device has an output switching device for a large number of flow rate control valves, the mixing container (liquid receiving container) has a moving device, and the metering and mixing and metering and dispensing are performed by one metering control device. be.

In addition, the present invention can be used not only for measuring liquids (liquids and powders), so various auxiliary devices may be installed for cleaning etc. For example, a supply container, a liquid receiving container (for powder If the water is included, a spray ball, etc. will be installed in the receiving container), and a switching valve will be installed in the middle of the piping.

Furthermore, hot water is circulated from a constant temperature bath to maintain heat.

The embodiment of claim (4) of the present invention will be explained in more detail with reference to the drawings.

In addition, in this embodiment, the mixing container is equipped with a measurement detector,
The following describes a self-propelled mobile device.

As shown in FIG. 9, consider a case where there are M liquid medicines, N powder medicine supply containers, and L distribution containers. It is assumed that mutual contamination of the raw materials in these supply containers will not be a problem. Assume that there are a large number of products to be manufactured, but the total number of chemicals used for each product is less than or equal to M+N. Conventional manufacturing systems, regardless of whether they are mobile or fixed, require a chemical supply container and a weighing detector for each product type, even if they are of the same type, due to the weighing range, measuring time, and weighing accuracy. The number of devices has increased. However, in the present invention, by employing a closed-loop metering control device with a variable flow rate and by performing fuzzy control, there is no need to worry about the metering range, total 4r1 time, or metering accuracy, and the supply container 21 , the number of metering detectors 4 may be M10N at any time, and if there is no problem of contamination of not only the liquid but also the powder in some cases, the number of metering detectors 4 may be very small determined from the conveyance capacity.

Here, a case is assumed where there is one mixing container (also a receiving container) 22 and one weighing detector 4 (load cell). Regarding the supply containers 21, the number may be M10N, but
The number of mixing containers (receiving containers) 22 with weighing detectors 4 is determined based on the drug preparation time, manufacturing scale of the product, etc., so there may be cases where one or more but fewer than (M+N) devices are required. be.

The metering detector 4 is connected to a metering control device 3 having the contents of the control block shown in FIG.
~M) as well as the powder flow control screw feeders (1~N) and distribution container flow rate control valves (1~L).

That is, using the same control algorithm, it is possible to measure a large number of chemicals and a mixture of them 'a (total number M+N+L) in the same mixing container (receiving container and supply container) 22.

The flow control valve (1 to M), the screw feeder (1
The flow rate control valves 7 and 27 indicated by the flow rate control valves (1 to N) and the flow rate control valves (1 to L) have respective flow characteristics such that, for example, the flow rate control valves (1 to M) and (1 to L) have equal percentage characteristics. At the same time, the valve is fully closed when the opening degree is near 0%,
It is provided so that the liquid flows out from around 10%.

A powder screw feeder (+-N) is used that can vary the powder feeding speed over a wide range by varying the rotation speed.

The metering control device 3 includes a fuzzy calculation section 3-1 and a fuzzy control section 3-2, and the flow rate control valves 7 (1 to M).
, 27 (1 to L) and the screw feeder (1 to N), and the measured value and measured value set by the measuring detector 4, the fuzzy control is performed to control the flow control valve ? (1-M) Controls the valve opening degree of 27 (1-L) and the rotation speed of the screw feeder (1-N).

Next, the operation process of the liquid and powder metering, mixing and dispensing device using the liquid metering, mixing and dispensing device of the present invention will be described.

The higher-level manufacturing control device issues an instruction to the self-propelled mixing container 22 to move the mixing container below a predetermined liquid or powder supply container 21 (eg, storage hopper 2).

First, the measurement of powder will be explained with reference to FIG. 9 and FIG. The combination r! 131 is issued. Furthermore, an instruction is issued to the metering detector 4 (load cell A) to meter the powdered chemical from the storage hopper 2, which is the supply container 21. The switching device 26 switches according to the system selection signal to select the selected storage hopper 2.
The screw feeder 2, which is a flow rate regulator, and the shutter gate 2, which is a shutoff valve, can be controlled by a metering control device 3.

When the measurement preparation state is confirmed through such initial settings, a measurement start instruction is issued from a higher level.

In response to the measurement start command, the switching device 26 is switched, and the first selected supply system, here, as described above, the powder supply system of the storage hopper 2 is selected, and the shutter gate 2, which is a shutoff valve, is opened. The drive motor 2 is driven by a rotation speed command from the drive control unit 3-4 of the metering control device 3 so that the screw feeder 2, which is a flow rate regulator, transfers the powder at a predetermined rotation speed. It rotates and causes the flow of raw materials. At this time, the rotation speed of the screw feeder 2 is determined by the fuzzy control section 3-2 of the metering control device based on the flow rate characteristics of the screw feeder and the metering setting value.
Calculated by As a result, the raw material in the storage hopper 2, which is the supply container 21, begins to be transferred to the mixing container 22. The mixing container 22 (7) fit quantity device 4 (load cell) detects the weight of the transferred raw material and feeds the value back to the weighing control device 3 .

In the metering control device 3, the fuzzy calculation unit 3-1 calculates the deviation from the metering set value and the amount of change in the deviation over time from the fed powder metering value that has been fed back, and also performs low-pass filter processing on these amounts. Calculate the value. Inference calculations based on the fuzzy rules are performed to calculate the rotational speed of the screw feeder that will provide an appropriate flow velocity in the next control cycle.

After the start of accounting, when the deviation becomes smaller, the screw feeder 2 lowers its rotational speed and becomes a minute flow velocity. When the deviation and the amount of change over time of the deviation become smaller and the deviation becomes less than a certain value, measurement is stopped and the shutter gate 2 moves in the fully closed direction. At this time, the flow velocity is minute and the amount of inflow is minute. Therefore, the amount of flow after the needle foot stops becomes smaller, and the metering accuracy improves regardless of flow velocity fluctuations. Also,
The screw feeder 2 changes its rotational speed at about 10% in the vicinity of the deviation O based on fuzzy inference calculation. Therefore, even if there is uneven rotation of the screw feeder, mechanical play, etc., the dead zone and fuzzy control system absorbs the negative effects of the play and allows highly accurate measurement.

Furthermore, in the metering range, the operation of the flow rate regulator changes depending on the metering set value and the process system, and regardless of the size of the metering set value, the same metering control device can perform metering control, expanding the metering range. Also, during the metering time, the operation pattern of the flow rate regulator changes, regardless of the size of the metering set value.
It is possible to perform the same measurement in a short time. As mentioned above, powder can also be handled by the metering detector 4 and metering control device 3 in the same way as liquids.

Next, liquid measurement will be explained with reference to FIG. 9 and FIG. 10, which is a block diagram thereof.

As the mixing container 22 mentioned in 11. Select shutoff valve 8-1. The measurement setting value is set in advance, and the same control as described above is performed in accordance with the measurement start command to perform measurement.

That is, the control functions within the control device are the same, and the output signal to the screw feeder and shutter gate of the operating end in the case of the powder is changed to the flow rate control valve 7- by the switching device 26.
1 and the shutoff valve 8-1.

At this time, the control signal output from the metering control device 3 is converted from a rotation speed command to a position command corresponding to the valve opening degree and output. That is, the fuzzy control section 3-
The output of No. 2 is sent to the position command conversion section 3-3, converted into a position command signal, and then output to the drive control section 3-4. The position command signal drives the drive motor 11 to set the valve port of the flow control valve 7-1 at the commanded position, adjust the opening degree, and cause the flow of the raw material. At this time, the initial familiarity of the flow rate control valve 7-1 is calculated by the fuzzy control unit 3-2, as in the case of powder metering, and the fuzzy control valve 7-1 is Calculated according to rules. The weighing detector 4 (load cell) of the mixing container 22 is
The weight of the transferred raw material is detected and the value is fed back to the weighing control device 3.

In the metering control device 3, the fuzzy control unit 3-2 calculates the deviation from the metering set value and the amount of change in the deviation over time from the fed-back measured value of the supply liquid, and also performs low-pass filter processing on these amounts. Calculate the value. The fuzzy control unit 3-2 performs inference calculations based on fuzzy rules based on this calculated value, and obtains a valve opening that will provide an appropriate flow velocity in the next control cycle. At this time, the flow rate characteristics of the valve are the same as those of the previous screw feeder, with a valve opening of 0%.
It has a characteristic that the valve is fully closed in the vicinity and the liquid flows out from the vicinity of about 10%, so the valve opening degree changes at about 10% according to the fuzzy HI theory.

As a result, mechanical looseness of the valve is absorbed, and high-precision metering can be achieved.

After the above-mentioned operations are performed according to the product type and all the chemicals in the product type are measured and mixed, the process moves on to the downstream process of dispensing to the distribution container.

In this embodiment, multiple dispensing vessels 32 (1-L) are coupled to the bottom of the piping connection. The bottom valve of the mixing container 22 (measuring tank) is controlled by the conveyance control device and opened, and the metering and dispensing of the mixed liquid is performed in an orderly manner in the same manner as the flow rate control valve.The metering control device is as shown in Figure 1O. This is the same as above, and the dispensing can be completed in a short time with high precision.

In FIG. 9, the mixing container 22 (measuring tank) is equipped with a weighing detector 4, and the moving device is of a self-propelled type. It may be generally transported by an automatic guided vehicle.

In particular, if the mobile device is self-propelled,
As ancillary equipment, an electrical connection Uε device such as a position sensor is required at each connection position.

Although a load cell is used as an example of a measurement detector for measurement, the same applies to other tank measurement type detectors. In particular, if a differential pressure transmitter or the like is used in the metering tank or metering hopper, the mixing container can be fixed to a self-propelled vehicle, making manufacturing easier and eliminating the effects of vibrations and the like.

By using a weighing control device that has the functions of additive weighing in the mixing container (with weighing 2) and subtractive weighing by attaching a weighing device to the supply powder container (storage chamber or tank), a wider range of precision weighing can be achieved. It becomes possible.

In addition, in this embodiment, liquid and powder are received and measured in one receiving container (measuring tank), but liquids are mixed with each other,
The powder may be a combination of powders that are weighed into a weighing tank and a weighing hopper, respectively.

As explained above, as a preferred embodiment of the present invention, (1) liquids and powders are cumulatively measured from a plurality of supply containers, received in a mixing container and mixed, and distributed from the mixing container to a plurality of distribution containers. A device for dispensing a mixed liquid,
A flow regulator is provided in the supply piping from the supply container and the distribution piping to the distribution container, and a measuring detector for the liquid and powder from the supply container and the mixed liquid from the mixing container to the distribution container is provided on the side of the mixing container. A closed-loop control switching device in which the metering control device corresponds to each supply metered value and distributed liquid metered value, and measures the flow rate of each of the flow rate regulators by changing it by fuzzy control, learning control, or optimal control. A needle-type mixing and dispensing device for liquids and powders, which is a needle-type control device and further includes a mixing container moving device.

I can give you.

[For production]

The present invention is a closed-loop liquid metering method that performs fuzzy control, and the flow rate control valve is an electric motor-controlled flow rate control valve that has a small and linear property of changing the flow rate with respect to the valve lift and has a large maximum flow rate. By using a control valve, it is possible to flow a high flow rate when the valve is fully open at the beginning of metering, so the metering speed becomes faster, and even if the valve opening is closed as the target metering value approaches, the amount of adjustment of the valve lift will be reduced. Since the flow rate can be adjusted extremely accurately by moving the flow rate greatly, the metering speed at the final stage of metering can be performed quickly and precisely. It is possible to carry out more rapid and quantitatively controlled control until the final stage.

Further, the present invention is provided in claims (3) and (4), in which a receiver cumulatively measures each liquid from a plurality of supply containers and mixes the liquid into a mixing container which is a liquid receiving container, and transfers the mixed liquid to the mixing container ( A device for metering and distributing the mixed liquid from a plurality of distribution containers (receiving containers) to a plurality of distribution containers (receiving containers), in which the supply container is connected to the supply piping and the mixing container (in this case, the supply container). ) has a flow control valve in the distribution piping, a metering detector for the liquid (and may contain powder) from the supply vessel is attached to the mixing vessel (receiving vessel), and the mixing vessel (in that case the supply The measurement detector on the side of the mixing container also serves as a measurement detector for the mixed liquid from the container) to the distribution container (liquid receiving container), and the measurement control device corresponds to each supply measurement value and distribution liquid measurement value. This is a metering control device with a switching device for closed loop control that measures the flow rate of each of the flow rate control valves by changing it by fuzzy control, and the mixing container is further equipped with a moving device, so that: The piping can be simplified without using connecting pipes, and the equipment can be reduced to hour wheels.

■ Since the mixing container (also a receiving container and metering tank or metering hopper) is movable, it is possible to receive liquid from all supply containers, and it is possible to distribute measured liquid or powder to all preparation tanks without fixed piping. Therefore, the number of mixing containers can be reduced and equipment flexibility can be achieved. Therefore, when manufacturing a wide variety of products, it is possible to eliminate idle equipment on the mixing container side, and it is also possible to respond to prescription changes by minimizing the need for additional equipment.

(2) Also, since the measuring cycle can be sped up by moving the mixing container (needle tank or measuring hopper), changes over time can be suppressed by large-scale preparation.

(2) A mixing vessel (measuring tank or measuring hopper) for mixing liquid from the supply vessel can be equipped with an agitator and used as a preparation tank.

■ Measuring and dispensing can be fuzzy controlled using the same metering control device as for measuring and mixing, which improves metering accuracy, shortens metering time,
It is possible to reduce mixed liquid loss and simplify equipment.

〔Example〕

Example-1 Three types of flow control valves as shown in Fig. 3, (a) having characteristics close to the conventional equal percentage type.

1000 g of liquid was measured using a conventional linear type valve (C) and a linear type valve according to the present invention capable of a large flow rate.

As a result of measuring each using fuzzy control, the time required for measurement was 60 seconds in the mouth for (a), 51 seconds for (b), and 0140 seconds for (C), as shown in Figure 13. Finished weighing. Weighing accuracy is ±1. Although it was within og, (C) was still superior. Fuzzy control is an excellent control method, but as mentioned above, there is a clear difference in metering time depending on the flow control valve.

Example-2 An example of the configuration shown in FIG. 7 will be described.

The mixing container 22 can weigh up to 10 kg, and the accuracy of the weighing detector load cell 4 is 1/5ooo.

Flow control valves 7a, 7b, 27a, 27b
etc. are controlled in position by a servo motor at the time of each measurement, and a position command is output from the needle control device 3.

FIG. 14 is a measurement characteristic diagram during addition measurement from the supply container 21a, and FIG. 15 is a measurement characteristic diagram during subtraction measurement into the distribution container 32a. In other words, these are the results obtained when the metering and dispensing operations were performed using the same metering control device 3 without changing the control method or the like. In addition, the needle mouse supplies two types of liquids to the container 21.
This is the result when +000g was weighed from a and 21b, 1000g was distributed from the mixing container 22 to one of the distribution containers 32a, and the remaining amount of 1000g was discharged to another distribution container 32b.

The dotted line shows the valve opening, and the solid line shows the measurement deviation.

Naturally, the operation pattern of the valve opening of the flow rate control valves 7a and 27a changes, but the measurement time is approximately the same: 56 seconds for addition calculation measurement from the supply container 21a and 72 seconds for subtraction measurement from the mixing container 22, and high precision is achieved. Measurement and distribution were obtained.

In experiments using this system, the same liquid was used, and the flow characteristics of the flow rate control valves 7a and 27a were varied to evaluate the effect of the difference in liquid physical properties. We also conducted experiments with different upstream tank heads.

As a result, we were able to confirm high accuracy, wide range, and short-time metering and dispensing using the same control device by simply changing the output point to the flow control valve.

〔Effect of the invention〕

As described above, the present invention provides the effects of the flow control valve in addition to the effects of fuzzy control.

In other words, ■ Highly accurate measurement that is unaffected by flow velocity fluctuations caused by disturbances;
■ Wide range of weighing with a wide range of weighing settings, ■
In addition to short-time weighing that does not depend on the size of the weighing set value,
Furthermore, (4) rapid metering time and metering accuracy were achieved by selecting a flow control valve.

Therefore, by using the liquid metering, mixing and distributing method of the present invention, metering can be performed in a shorter time than the conventional fuzzy control using a flow rate control valve, which increases the efficiency of metering work and also improves industrial efficiency such as rationalizing metering equipment. The contribution is extremely large.

Furthermore, the present invention applies a closed-loop liquid measuring method that continuously changes the flow rate to cumulatively measure and mix a plurality of liquids, and then meter the mixed liquid and apply it to a liquid metering, mixing and dispensing device. A plurality of supply containers filled with raw material liquid, a mixing container that receives and mixes the liquid from the plurality of supply containers, and a plurality of distribution containers that distribute the mixed liquid in the mixing containers, and a flow rate within a predetermined range. a flow control valve that limits the flow rate and is attached to each supply container and each distribution container and has a dead zone that does not cause a A metering control device performs fuzzy control based on the observed actual star value and an arbitrarily set metering set value to calculate the valve opening of the flow control valve, and a metering control device that switches the output of the metering control device to a predetermined value. and a switching device that outputs output to each of the flow rate control valves.The liquid metering, mixing, and dispensing device is characterized by comprising a switching device that outputs output to each of the flow rate control valves.The metering and mixing device and the metering and dispensing device can be combined into one closed-loop fuzzy control device. As a result, it has become possible to perform high-precision, wide-metering range, and short-time metering for dispensing, simplifying equipment, increasing manufacturing capacity, and reducing raw material loss. Therefore, the initial cost and maintenance cost.

Economical effects can be obtained by reducing running costs.

The present invention can also be used in an apparatus that cumulatively measures each liquid and powder from a plurality of supply containers, receives them in a mixing container, and mixes them, and then distributes the mixed liquid from the mixing container to a plurality of distribution containers. A flow control valve is provided in the supply piping from the supply container and the distribution arrangement to the distribution container, and a metering device for the liquid and powder from the supply container and the mixed liquid from the mixing container to the distribution container is provided on the mixing container side. The metering control device is a metering control device with a switching device for closed loop control that measures the flow rate of each flow control valve by changing it by fuzzy control in response to each supply metering value and distribution metering value, and further includes a mixing container. The liquid and powder metering, mixing and distributing device, which is characterized by having a moving device, can achieve high-precision metering that is unaffected by flow velocity fluctuations caused by external disturbances or changes in the physical properties of objects, and can be used over a wide measuring range. However, it is now possible to quickly measure in a short time,
Measuring and mixing and dispensing can be performed accurately and quickly using a single metering control device, with less liquid loss, which further simplifies equipment, reduces the number of metering devices, and increases manufacturing capacity even in large-scale facilities. Through large-scale preparation, we were able to improve product quality and reduce raw material loss. This has resulted in lower initial costs, lower maintenance costs, lower running costs, and improved reliability.

[Brief explanation of the drawing]

FIG. 1 is a flow sheet explaining a liquid weighing device applied to one embodiment of the present invention. Fig. 2 is a block diagram explaining the control process in the device shown in Fig. 1, Fig. 3 is a characteristic diagram of the flow control valve, Fig. 4 is a diagram explaining the membership function of fuzzy control, and Fig. 5 is a diagram of the present invention. FIG. 6 is a side view and A-A' sectional view of the valve head of the flow control valve of FIG. 5, and FIG. FIG. 8 is a control block diagram of FIG. 7; FIG. 9 is a flow sheet of an embodiment of the apparatus with the liquid receiving container moving device of the present invention; FIG. The figures are related control block diagrams of Fig. 9: Fig. 11 is a flow sheet of an example of a conventional liquid metering, mixing, and dispensing device; Fig. 12 is a flow sheet of a conventional liquid and powder metering, mixing, and dispensing device; FIG. 13 is a graph of measurement deviation versus measurement time for various flow rate control valves, and FIGS. 14 and 15 are graphs of measurement deviation versus measurement time according to the flow rate control method of the present invention. l... Supply container 2... Liquid receiving container 3... Weight control device 4... Detector (load cell) 5... Load cell amplifier 6... Servo dry half, 27... Flow rate control Valve 11... Servo motor 12... Feed screw 13... Connecting plate 14... Valve shaft 15... Valve face 16... Valve head
17... Outlet side valve box 18... Valve seat 19...
- Valve lift 20... Inlet side valve boxes 21a, 21b... Supply container 22... Mixing container (receiving container and supply container) 23...
Connecting pipe 26...Switching device 32a, 32
b...Distribution container (receiving container) 30.31...Coupling device No. 3 Figure 1i (H) Figure 4 4A (('/,) Figure 50 Figure 11

Claims (4)

[Claims] (1) Fuzzy control of the liquid flow rate control valve based on the deviation between the arbitrarily set measurement setting value and the actual measurement value from the measurement detector that measures the object to be measured, and the observed amount of change over time of the deviation, A closed-loop liquid metering control method that performs learning control or optimal control, in which the flow rate control valve has a small and linear rate of change in flow rate with respect to the valve lift, and has a large maximum flow rate. A liquid metering, mixing and dispensing method characterized by using a motor-controlled flow rate control valve. (2) A supply container containing a liquid, a flow control valve attached to the supply container, a liquid receiving container for receiving the liquid, and a measurement detection device attached to the liquid receiving container or the supply container to observe the measurement of an object to be measured. fuzzy control, learning control, or optimal control of the flow control valve from the observed amount of the deviation and the amount of change over time of the deviation based on the arbitrarily set measurement setting value and the actual measurement value from the measurement detector. A closed-loop liquid metering control device that performs , a valve shaft is attached to the connecting plate, and the valve shaft moves up and down as the connecting plate goes up and down, and an inlet valve box centered on the valve shaft and an outlet connected to the inlet valve box. A space for accommodating a cylindrical or conical valve head that adjusts the gap between the valve head surface and the valve seat is provided in the outlet side valve box, and the valve head surface and the valve seat Determine the valve head shape so that the rate of change in flow rate is small and linear with respect to the valve lift, and determine the valve lift until the valve seat opening is fully opened. A liquid metering, mixing and distributing device characterized by a flow rate control valve provided in an inlet side valve box. (3) The supply container is plural, the liquid receiving container is single or plural, and the metering control device has a switching device for switching the output to a predetermined flow rate control valve (
2) A metering, mixing and dispensing device for the liquid described above. (4) The liquid metering, mixing and dispensing device according to claim (3), wherein at least one of the liquid receiving containers has a moving device.