CN105070162B - The experimental provision of Virtual object feedforward _ feedback control system - Google Patents

Abstract

An experimental device oriented to a virtual object feedforward-feedback control system, which includes an industrial computer, characterized in that the industrial computer and the main regulator control ①, the feedforward controller control ②, the external interference control ③ and the PLC_DO module ① connected, PLC_ DO module ① is connected with the intermediate relay, external interference control ③ is connected with PLC_ AO module ③, PLC_ AO module ③ is connected with the first-order inertia link ②, an output terminal of the first-order inertia link ② is connected with the first-order inertia link ① The other output terminal is connected to the PLC_AO module ②, the PLC_AO module ② is connected to the feedforward controller control ②, the first-order inertia link ① is connected to the analog input module ① and the PLC_AO module ① respectively, and the PLC_AO module ① is connected to the main regulator The controller control ①) is connected, and the analog input module ① outputs the transition process curve to the main regulator control ① to complete the setting of the input value. The invention has simple structure, less investment and good teaching effect.

Description

Experimental device for feedforward-feedback control system for virtual objects

technical field

The invention relates to a teaching experiment device, in particular to a control theory and control engineering experiment device, in particular to a virtual object-oriented feedforward-feedback control system experiment device.

Background technique

"Process Control Engineering" is the main course of automation majors in engineering colleges after the national professional reform. ability and hands-on ability. For this reason, all colleges and universities have carried out corresponding experimental reform and construction, and its directions include two categories: one is for pure software simulation, which is not ideal at present, mainly because students do experiments with poor sense of reality; the other is for practical simulation. To construct the production process, this method requires a large investment and requires a large floor area, and is not conducive to developmental experiments. In order to strengthen the engineering characteristics of course experiments, dynamically simulate chemical production process control, and cultivate students' engineering practice ability, we adopt a combination of the above two methods, which not only ensures less investment and reduces floor space, but also enables students to have The realism of the computer control system for the actual production process can provide an excellent platform for improving students' ability to connect theory with practice, practical ability and ability to solve practical engineering problems, and it is also conducive to the realization of open teaching of the course experiment .

Contents of the invention

The purpose of the present invention is to design a virtual object-oriented feedforward-feedback control system experimental device combining hardware and software for the problems of poor effect or large investment in existing teaching experiment devices.

Technical scheme of the present invention is:

An experimental device for a virtual object feedforward-feedback control system, which includes an industrial computer 1, characterized in that the industrial computer 1 and the main regulator control ① 3, the feedforward controller control ② 5, the external interference control ③ 7 and PLC_ The DO module ①9 is connected, the PLC_DO module ①9 is connected with the intermediate relay 10, the external interference control ③7 is connected with the PLC_AO module ③8 through the relay output node ①13 of the intermediate relay 10, the PLC_AO module ③8 is connected with the first-order inertia link ②11, and the first-order One output end of the inertia link ②11 is connected to the first-order inertia link ①12, and the other output end is connected to the PLC_AO module ②6 through the relay output node ①14 of the intermediate relay 10, and the PLC_AO module ②6 is connected to the feedforward controller control ②5, the first-order inertia Link ①12 is respectively connected with the analog input module ①15 and PLC_AO module ①4, PLC_AO module ①4 is connected with the main regulator control ①3, and the analog input module ①15 outputs transition process curve 16 to the main regulator control ①3 to complete the input value setting Certainly.

Industrial computer 1 communicates with PLC_AO module ①4, PLC_AO module ②6, PLC_AO module ③8, PLC_DO module ①9 through RS-232 communication component 2, main regulator control ①3, feedforward controller control ②5, external interference control ③7 through industrial control The output value of the machine is given, and then output through PLC_AO module ①4, PLC_AO module ②6, PLC_AO module ③8.

The first-order inertial link ②11 and the first-order inertial link ①12 are connected as the controlled object with dual-capacity characteristics.

The industrial computer controls the main regulator control ① to make it from the "manual" working state to the "automatic" working state from the self-balance without disturbance, adjust the PID parameters of the main regulator control ①, and add 20% of the given value to the main regulator control ① Step change, its output passes through the PLC_AO module ① to the first-order inertia link ①, and is output to the analog input module ① to obtain the transition process curve to stability. By observing the transition process curve, it is judged whether the PID parameter setting of the main regulator is qualified and how to optimize it.

Adjust the amplitude of the external interference control ③ in a stable state, and control the intermediate relay ① through the PLC_DO module ① so that the relay output node ① is closed to add interference, and at the same time, the relay output node ① is closed and added to the feedforward controller control ② for feedforward compensation. By observing the transition process curve to determine whether over-compensation or under-compensation or appropriate compensation, adjust the static gain of the feedforward controller.

Beneficial effects of the present invention:

The virtual simulation experimental teaching device constructed by the present invention, which focuses on reality and combines virtual and real, not only ensures less investment and reduces floor space, but also enables students to have a sense of reality oriented to the computer control system of the actual production process, which is very important for improving students' theoretical knowledge. The ability to connect with reality, practical ability and the ability to solve practical engineering problems can provide an excellent platform, and at the same time help to realize the open teaching of the course experiment.

Description of drawings

Fig. 1 is feedforward-feedback control system computer monitoring experiment hardware block diagram of the present invention

In the figure: 1-Industrial computer experiment interface, 2-RS-232 communication component, 3-Main regulator control①, 4-PLC_AO module①, 5-Feedforward controller control②, 6-PLC_AO module②, 7- External interference control ③, 8-PLC_ AO module ③, 9-PLC_ DO module ①, 10-intermediate relay, 11-first-order inertia link ②, 12-first-order inertia link ①, 13-relay output node ①, 14- Relay output node ①, 15-analog input module ①, 16-transition process curve ①.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1.

An experimental device for virtual object feedforward_feedback control system, which includes industrial computer 1, RS-232 communication component 2, main regulator control ① 3, PLC_AO module ① 4, feedforward controller control ② 5, PLC_AO module ② 6, External interference control ③7, PLC_AO module ③8, PLC_DO module ①9, intermediate relay 10, first-order inertia link ②11, first-order inertia link ①12, relay output node ①13, relay output node ①14, analog input module ①15 and transition Process curve ①16. As shown in Figure 1, the industrial computer 1 is connected to the main regulator control ①3, the feedforward controller control ②5, the external interference control ③7 and the PLC_DO module ①9, the PLC_DO module ①9 is connected to the intermediate relay 10, and the external interference control ③7 passes through the middle The relay output node ①13 of the relay 10 is connected to the PLC_AO module ③8, the PLC_AO module ③8 is connected to the first-order inertial link ②11, one output end of the first-order inertial link ②11 is connected to the first-order inertial link ①12, and the other output end passes through the middle The relay output node ①14 of the relay 10 is connected to the PLC_AO module ②6, the PLC_AO module ②6 is connected to the feedforward controller control ②5, the first-order inertia link ①12 is respectively connected to the analog input module ①15 and the PLC_AO module ①4, and the PLC_AO module ①4 is connected to The main regulator control ①3 is connected, and the analog input module ①15 outputs the transition process curve 16 to the main regulator control ①3 to complete the setting of the input value. The industrial computer 1 communicates with the PLC_AO module ①4, PLC_AO module ②6, PLC_AO module ③8, and PLC_DO module ①9 through the RS-232 communication component 2, adopts the PID component embedded in the PLC, and configures and designs the PLC main regulator control ①3. Feedback controller control ②5, external interference control ③7, the main regulator control ①3, feedforward controller control ②5, external interference control ③7 output value setting is realized through the experimental interface of the industrial computer, and the given values are respectively passed through the PLC_ AO module ①4, PLC_AO module ②6, PLC_AO module ③8 output. The first-order inertial link ②11 and the first-order inertial link ①12 are connected as the controlled object with dual-capacity characteristics.

The industrial computer 1 controls the main regulator control ①3 so that it can be put into operation from the "manual" working state with self-balancing and no disturbance to the "automatic" working state. Use the empirical method to set the main regulator control ①3 PID parameters, and add it to the main regulator control ①3 20% of the given value step change, its output passes through the PLC_AO module ①4 to the first-order inertial link ①12, and then outputs to the analog input module ①15 to obtain the transition process curve 16 to stability, and determine the PID parameters of the main regulator by observing the transition process curve 16 Whether the setting is qualified and how to optimize it. Adjust the amplitude of the external interference control ③7 in a stable state, and control the intermediate relay ①10 through the PLC_DO module ①9 to close the relay output node ①13 to join the interference, and at the same time make the relay output node ①14 close to join the feedforward controller control ②5 for feedforward compensation. By observing the transition process curve 16 to determine whether over-compensation or under-compensation or proper compensation, adjust the static gain of the feedforward controller.

The parts not involved in the present invention are the same as the prior art or can be realized by adopting the prior art.

Claims (5)

1. a kind of experimental provision of Virtual object feedforward _ feedback control system, it includes industrial computer（1）, it is characterized in that institute The industrial computer stated（1）With master selector control（3）, feedforward controller control（5）, outer interference control（7）And PLC_ DO modules （9）It is connected, PLC_ DO modules（9）With auxiliary reclay（10）It is connected, outer interference control（7）Pass through auxiliary reclay（10）'s First relay output node（13）With the 3rd PLC_ AO modules（8）It is connected, the 3rd PLC_ AO modules（8）It is used with the second single order Property link（11）It is connected, the second first order inertial loop（11）An output end and the first first order inertial loop（12）It is connected, separately One output end passes through auxiliary reclay（10）The second relay output node（14）With the 2nd PLC_AO modules（6）It is connected, 2nd PLC_AO modules（6）With feedforward controller control（5）It is connected, the first first order inertial loop（12）Respectively with analog input Module（15）And the first PLC_ AO module（4）It is connected, the first PLC_ AO modules（4）With master selector control（3）It is connected, simulation Measure input module（15）Output transition process curve（16）To master selector control（3）The middle setting for completing input value.

2. the experimental provision of Virtual object feedforward _ feedback control system according to claim 1, it is characterised in that： Industrial computer（1）Pass through RS-232 communication parts（2）With the first PLC_ AO modules（4）, the 2nd PLC_AO modules（6）, the 3rd PLC_ AO modules（8）And PLC_ DO modules（9）Communication, master selector control（3）, feedforward controller control（5）, outer interference control（7） It is given by industrial computer output valve, then through the first PLC_ AO modules（4）, the 2nd PLC_AO modules（6）, the 3rd PLC_ AO modules （8）Output.

3. the experimental provision of Virtual object feedforward _ feedback control system according to claim 1, it is characterised in that： Second first order inertial loop（11）, the first first order inertial loop（12）Double volume characteristic is connected as controlled device.

4. the experimental provision of Virtual object feedforward _ feedback control system according to claim 1, it is characterised in that： Industrial computer manipulation master selector control is allowed to be put into operation to " automatic " working condition by self-balance undisturbed by " manual " working condition, whole Determine master selector control pid parameter, 20% set-point Spline smoothing is added to master selector control, it is exported through the first PLC_ AO Module（4）To the first first order inertial loop（12）, output to Analog input mModule（15）Recovery curve is obtained to stabilization, Judge whether master selector pid parameter is adjusted qualified and how to optimize by observing recovery curve.

5. the experimental provision of Virtual object feedforward _ feedback control system according to claim 1, it is characterised in that： Outer interference control amplitude is adjusted under stable state, passes through PLC_ DO modules（9）Control auxiliary reclay（10）Make the first relay Output node（13）Closure adds interference, while making the second relay output node（14）Closure adds feedforward controller control (5) feedforward compensation is carried out, overcompensation or undercompensation or appropriate compensation, adjustment feedforward are judged by observing recovery curve Controller static gain.