CN115382728B - Closed-loop dispensing monitoring alarm device and system - Google Patents
Closed-loop dispensing monitoring alarm device and system Download PDFInfo
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- CN115382728B CN115382728B CN202211100573.2A CN202211100573A CN115382728B CN 115382728 B CN115382728 B CN 115382728B CN 202211100573 A CN202211100573 A CN 202211100573A CN 115382728 B CN115382728 B CN 115382728B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000002159 abnormal effect Effects 0.000 claims abstract description 19
- 230000005856 abnormality Effects 0.000 claims description 45
- 239000003292 glue Substances 0.000 claims description 38
- 238000004590 computer program Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 238000009530 blood pressure measurement Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 7
- 238000003860 storage Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- Business, Economics & Management (AREA)
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Abstract
The invention discloses a closed-loop dispensing monitoring alarm device and a closed-loop dispensing monitoring alarm system, wherein the closed-loop dispensing control module is used for converting an error value between an input dispensing target value and a dispensing output value into a dispensing valve control value so as to drive a dispensing valve to dispense; the output detection module is used for respectively detecting a valve torsion value, a valve position value and a valve pressure value, and feeding any one or more of the valve torsion value, the valve position value or the valve pressure value back to the closed-loop dispensing control module as a dispensing output value; and the output alarm module is used for alarming when any one of the valve torque value, the valve position value (or the valve rotating speed value) and the valve pressure value is detected to be abnormal. Thus, a closed-loop dispensing control mode is adopted, and the relation among the valve torque force, the valve position and the valve pressure is monitored. When the dispensing valve fails to block the valve or the sensor fails, the valve can be timely detected and alarmed, and the closed-loop control can enable the dispensing of the dispensing valve to be more accurate and stable.
Description
Technical Field
The invention relates to the technical field of automatic dispensing, in particular to a closed-loop dispensing monitoring alarm device and a system.
Background
In dispensing application, the prior art mainly monitors the pressure in the valve through the pressure sensor, so that when the dispensing valve is blocked, the valve is timely alarmed, so that staff can timely process the valve, and the working efficiency of dispensing operation is improved. In some cases, situations such as damage to the pressure sensor or a pressure sensor in the valve having become blocked may occur. At this time, the data read by the pressure sensor is always normal data, so that the valve blocking problem cannot be found in time. When the valve is plugged, if the sensor cannot detect fault information, the dispensing valve is always in a fault state, so that the problem of low production efficiency is caused.
Although, in the improved technology, the pressure sensor can be used for monitoring the pressure in the valve respectively, so that the magnetic grating ruler is used for monitoring the dual monitoring of the glue supply system, the problem of valve blockage can be better detected, and the alarm can be given in time. However, the improved monitoring is in an open loop mode, one path of monitoring is out of order, and the other path of monitoring is not directly affected, so that even if the dispensing valve or one path of sensor is out of order, the dispensing valve or one path of sensor can not be found out in time. In addition, by adopting open loop control, when the motor is blocked, the problems of unstable glue discharge and the like are easily caused.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, an object of the present invention is to provide a closed-loop dispensing monitoring alarm device and system.
In order to achieve the above object, an embodiment of the present invention provides a closed loop dispensing monitoring alarm device, including:
the closed-loop dispensing control module is used for converting an error value between an input dispensing target value and a dispensing output value into a dispensing valve control value so as to drive a dispensing valve to dispense;
the output detection module is respectively connected with the valve sensor and the closed-loop dispensing control module, and is used for respectively detecting a valve torsion value, a valve position value and a valve pressure value, and feeding any one or more of the valve torsion value, the valve position value or the valve pressure value back to the closed-loop dispensing control module as a dispensing output value;
and the output alarm module is connected with the output detection module and used for alarming when any one of the valve torsion value, the valve position value and the valve pressure value is detected to be abnormal.
Further, according to an embodiment of the present invention, the closed-loop dispensing control module includes:
the proportional control module is used for carrying out proportional gain operation on the error value and then outputting the error value;
the integral control module is used for carrying out integral gain operation on the error value and then outputting the error value;
the differential control module is used for carrying out differential gain operation on the error value and then outputting the error value;
and the superposition module is respectively connected with the proportional control module, the integral control module and the differential control module, so that output values of the proportional control module, the integral control module and the differential control module are superposed and then output to serve as the dispensing valve control value.
Further, according to an embodiment of the present invention, the algorithm formula of the closed loop dispensing control module is:
wherein u (t) is the output of the control;
kp is the proportional gain;
tt is the integration time constant;
TD is a differential time constant;
e (t) is the difference between the given target value r (t) and the measured value of the dispensing output value.
Further, according to an embodiment of the invention, the given target value r (t) is any one or more of a given target torque value, a given target position value or a given target pressure value.
Further, according to an embodiment of the present invention, the output alarm module includes:
the torque measurement module is connected with the output detection module to obtain a valve torque value of the dispensing valve;
the torque abnormality judging module is connected with the torque measuring module and is used for judging whether the valve torque value is in a normal range or not and outputting a judging result;
and the torque alarm module is connected with the torque abnormality judgment module and outputs an alarm when detecting that the valve torque value is abnormal.
Further, according to an embodiment of the present invention, the output alarm module further includes:
the pressure measurement module is connected with the output detection module to obtain the pressure value of the dispensing valve;
the pressure abnormality judging module is connected with the pressure measuring module and is used for judging whether the pressure value is in a normal range or not and outputting a judging result;
and the pressure alarm module is connected with the pressure abnormality judging module and outputs an alarm when detecting that the pressure value is abnormal.
Further, according to an embodiment of the present invention, the output alarm module further includes:
the valve position measuring module is connected with the output detecting module to obtain the valve position value of the dispensing valve;
the valve position abnormality judging module is connected with the valve position measuring module and is used for judging whether the valve position value is in a normal range or not and outputting a judging result;
the valve position alarm module is connected with the valve position abnormality judging module and outputs an alarm when detecting abnormal valve position.
Further, according to an embodiment of the present invention, the output alarm module further includes: the curve graph generating module is respectively connected with the torque abnormality judging module, the pressure abnormality judging module and the valve position abnormality judging module to generate and output a curve graph of the measured valve torque value, the valve position value, the valve pressure value, the valve torque alarming signal, the valve position alarming signal and the valve pressure alarming signal.
On the other hand, the invention also provides a closed-loop dispensing monitoring alarm system, which comprises:
the pressure sensor is used for acquiring the glue outlet pressure value of the glue dispensing valve;
the magnetic grating ruler is used for acquiring valve position values of the dispensing valve;
the alarm device is used for alarming and prompting;
the control device is internally provided with a memory, a processor and a computer program which is stored in the memory and can run on the processor, and the processor realizes the closed-loop dispensing monitoring alarm device when executing the computer program; the control device is respectively in communication connection with the pressure sensor, the magnetic grating ruler, the alarm equipment and the dispensing valve, so as to acquire the valve torsion value, the valve position value and the valve pressure value, perform dispensing control on the dispensing valve, and perform alarm prompt through the alarm equipment when abnormality occurs.
In the closed-loop dispensing monitoring alarm device and the system provided by the embodiment of the invention, the closed-loop dispensing control module is used for converting an error value between an input dispensing target value and a dispensing output value into a dispensing valve control value so as to drive a dispensing valve to dispense; the output detection module is respectively connected with the valve sensor and the closed-loop dispensing control module, and is used for respectively detecting a valve torsion value, a valve position value and a valve pressure value and feeding any one or more of the valve torsion value, the valve position value or the valve pressure value back to the closed-loop dispensing control module as a dispensing output value; the output alarm module is connected with the output detection module to alarm when any one of the valve torque value, the valve position value (or the valve rotating speed value) and the valve pressure value is detected to be abnormal. Therefore, a closed-loop dispensing control mode is adopted, the relation among the valve torsion, the valve position and the valve pressure is monitored, and when any one of the valves fails, the valves are mutually influenced to form a mutually constrained integral relation. Therefore, when the dispensing valve fails to block the valve or the sensor fails, the valve can be timely detected and alarmed, and the closed loop control can enable the dispensing of the dispensing valve to be more accurate and stable.
Drawings
FIG. 1 is a block diagram of a closed loop dispensing monitoring alarm device according to an embodiment of the present invention;
fig. 2 is a block diagram of a closed loop dispensing monitoring alarm system according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to enable those skilled in the art to better understand the present invention, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present invention with reference to the accompanying drawings. Unless defined otherwise, 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 invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In one aspect, referring to fig. 1, an embodiment of the present invention provides a closed loop dispensing monitoring alarm device, including: the system comprises a closed-loop dispensing control module, an output detection module and an output alarm module, wherein the closed-loop dispensing control module is used for converting an error value between an input dispensing target value and a dispensing output value into a dispensing valve control value so as to drive a dispensing valve to dispense; in the existing dispensing control mode, the control is usually carried out in an open loop mode, and only the pressure sensor is used for detecting the dispensing pressure of the dispensing head, and the alarm prompt is carried out when the dispensing pressure is abnormal due to the corresponding relation between the dispensing pressure and the dispensing quantity. The glue output is unstable because the feedback control is not carried out on the glue output. Therefore, the uniformity of dispensing can be affected, and uneven dispensing of products is caused. As shown in fig. 1, in the embodiment of the present invention, the output detection module may collect the glue outlet information of the dispensing head, because the glue outlet amount corresponds to the glue outlet information. The dispensing quantity of the dispensing head can be fed back to the input signal end of the closed-loop dispensing control module through the dispensing information, and a corresponding error value can be obtained through calculating the dispensing output value and the dispensing target value. The closed-loop dispensing control module can regulate and control the dispensing amount according to the magnitude of the error value, so that the dispensing amount is as close to a dispensing target value as possible. Therefore, the glue outlet precision of the glue dispensing head can be improved, the glue outlet of the glue dispensing head is more stable, and the uniformity of glue dispensing of a product is ensured.
The output detection module is respectively connected with the valve sensor and the closed-loop dispensing control module, and is used for respectively detecting a valve torsion value, a valve position value and a valve pressure value, and feeding any one or more of the valve torsion value, the valve position value or the valve pressure value back to the closed-loop dispensing control module as a dispensing output value; the valve sensor can comprise a valve pressure sensor, a magnetic grating ruler sensor and a motor torque or motor rotating speed sensor for driving the dispensing valve to dispense glue. Therefore, the working state of a motor for driving the dispensing valve to dispense glue, the trend of a glue supply system and the glue outlet state of the dispensing head can be detected respectively. And any one or more of the detected valve torque value, valve position value or valve pressure value can be used as a dispensing output value to be fed back to the closed-loop dispensing control module. The closed-loop dispensing control module can adjust and control the error value of the dispensing quantity according to the size of the target value, so that the dispensing quantity is as close to the dispensing target value as possible. Therefore, the glue outlet precision of the glue dispensing head can be improved, the glue outlet of the glue dispensing head is more stable, and the uniformity of glue dispensing of a product is ensured.
The output alarm module is connected with the output detection module to alarm when any one of the valve torque value, the valve position value and the valve pressure value is detected to be abnormal.
The data returned by the pressure sensor for detecting the glue outlet amount of the glue dispensing valve is in corresponding relation with the torque of the motor for driving the glue dispensing valve to rotate and the position detected by the magnetic grid ruler sensor, and a closed loop is formed by the rotation speed of the output valve, the torque of the valve and the pressure in the valve, so that the high-precision glue dispensing control function of the glue dispensing valve is realized. Finally, the output alarm module can judge whether the valve position, the torsion and the pressure are in a compliance range, and if any one abnormal condition occurs, alarm prompt is carried out, so that the monitoring function of dispensing operation is realized.
In the closed-loop dispensing monitoring alarm device provided by the embodiment of the invention, an error value between an input dispensing target value and a dispensing output value is converted into a dispensing valve control value through a closed-loop dispensing control module so as to drive a dispensing valve to dispense; the output detection module is respectively connected with the valve sensor and the closed-loop dispensing control module, and is used for respectively detecting a valve torsion value, a valve position value and a valve pressure value and feeding any one or more of the valve torsion value, the valve position value or the valve pressure value back to the closed-loop dispensing control module as a dispensing output value; the output alarm module is connected with the output detection module to alarm when any one of the valve torque value, the valve position value (or the valve rotating speed value) and the valve pressure value is detected to be abnormal. Therefore, a closed-loop dispensing control mode is adopted, the relation among the valve torsion, the valve position and the valve pressure is monitored, and when any one of the valves fails, the valves are mutually influenced to form a mutually constrained integral relation. Therefore, when the dispensing valve fails to block the valve or the sensor fails, the valve can be timely detected and alarmed, and the closed loop control can enable the dispensing of the dispensing valve to be more accurate and stable.
Referring to fig. 1, the closed-loop dispensing control module includes: the proportional control module is used for carrying out proportional gain operation on the error value and then outputting the error value; the integral control module is used for carrying out integral gain operation on the error value and then outputting the error value; the differential control module is used for carrying out differential gain operation on the error value and then outputting the error value; the superposition module is respectively connected with the proportional control module, the integral control module and the differential control module, so that output values of the proportional control module, the integral control module and the differential control module are superposed and then output to serve as the dispensing valve control value.
Specifically, the algorithm formula of the closed-loop dispensing control module is as follows:
wherein u (t) is the output of the control;
kp is the proportional gain;
tt is the integration time constant;
TD is a differential time constant;
e (t) is the difference between the given target value r (t) and the measured value of the dispensing output value.
The given target value r (t) is any one or more of a given target torque value, a given target position value, or a given target pressure value.
Specifically, in the proportional control module, kp is in inverse relation to the proportionality, the Kp gain proportional control takes the current error into consideration, and multiplies the error value by a constant Kp (representing the proportionality) of a positive value to perform proportional control on the quantity to be controlled. In the dispensing system, there is a current value present, as well as a desired target value. When the difference between the two is not large, the dispensing head is controlled to slightly adjust under the condition of the current dispensing quantity. When the difference between the two is large, the dispensing head is controlled to increase the dispensing amount under the condition of the current dispensing amount, so that the dispensing reaches the vicinity of the target as soon as possible. Similarly, in the integral control module, ki=kp/Tt gain proportional control considers the current error, integral control considers the past error, and multiplies the sum of the error values (error sum) by a positive constant Ki. The larger the value of Ki, the larger the coefficient multiplied by the integral, the more obvious the integral effect, and the error in the static state is reduced, so that the controlled glue output is as close to the target value as possible. In the differential control module, kd=kp× Tt gain ratio. Kd differential control takes into account future errors, calculates a first derivative of the error, and multiplies with a positive constant Kd. The larger the Kd parameter is, the stronger the control force is in the opposite direction of the yielding glue, and the yielding glue amount is stabilized at a set value as much as possible. The output values of the proportional control module, the integral control module and the differential control module are overlapped and then output, so that the output of the closed-loop control can be realized, the output quantity of the dispensing head is as close to the target value as possible, and the output quantity is stably output.
Referring to fig. 1, the output alarm module includes: the torque measuring module is connected with the output detection module to obtain a valve torque value of the dispensing valve; specifically, in the dispensing system, the dispensing valve drives the dispensing through a motor, and the torque and the rotating speed of the motor are in corresponding relation with the dispensing amount. Therefore, the torque measuring module is connected with the output detecting module, so that the state information of the motor can be obtained, and further, the valve torque value or the rotating speed value of the motor can be obtained.
The torque abnormality judging module is connected with the torque measuring module and is used for judging whether the valve torque value is in a normal range or not and outputting a judging result; and comparing the obtained valve torque value or rotation speed value of the motor with a value in a set range. Whether the valve torque value or the rotating speed value is in a normal range or not can be judged, if the output valve torque value or the rotating speed value does not fall into the normal range value, the dispensing system is likely to have faults, and the dispensing head cannot normally dispense the glue. At this time, the torque abnormality determination module may output an abnormality signal.
The torque alarm module is connected with the torque abnormality judgment module and outputs an alarm when detecting abnormality of the valve torque value. At this time, the abnormality signal output by the torque abnormality determination module may be received by the torque alarm module. And when abnormal signals appear, alarm signals are output in a sound, text or video mode, so that staff can conveniently process the signals.
Referring to fig. 1, the output alarm module further includes: the pressure measuring module is connected with the output detection module to obtain the pressure value of the dispensing valve; specifically, in the dispensing system, the dispensing valve detects the dispensing amount of the dispensing valve through a pressure sensor, and the pressure value of the pressure sensor corresponds to the dispensing amount. In this way, a pressure value can be obtained by connecting the pressure measurement module with the output detection module.
The pressure abnormality judging module is connected with the pressure measuring module and is used for judging whether the pressure value is in a normal range or not and outputting a judging result; by comparing the obtained pressure value with values within a set range. Whether the pressure value is in a normal range or not can be judged, if the output pressure value does not fall into the normal range, the dispensing system may be failed, and the dispensing head cannot normally dispense the glue. At this time, the pressure abnormality determination module may output an abnormality signal.
The pressure alarm module is connected with the pressure abnormality judging module and outputs an alarm when detecting that the pressure value is abnormal. At this time, the pressure alarm module may receive the abnormality signal output from the pressure abnormality determination module. And when abnormal signals appear, alarm signals are output in a sound, text or video mode, so that staff can conveniently process the signals.
Referring to fig. 1, the output alarm module further includes: a valve position measurement module, a valve position abnormality determination module, and a valve position alarm module, the valve position measurement module coupled to the output detection module to obtain a valve position value of the dispensing valve; specifically, in the dispensing system, a dispensing valve drives a dispensing valve through a motor, and the valve position corresponds to the dispensing amount. Thus, the valve position measuring module is connected with the output detecting module to obtain the valve position state information of the dispensing valve.
The valve position abnormality judging module is connected with the valve position measuring module and is used for judging whether the valve position value is in a normal range or not and outputting a judging result; by comparing the valve position value obtained with values within a set range. And judging whether the valve position value is in a normal range, if the valve position value is not judged to be in the normal range value, the dispensing system is likely to be in failure, and the dispensing head cannot normally dispense the glue. At this time, the valve position abnormality determination module may output an abnormality signal.
The valve position alarm module is connected with the valve position abnormality judging module and outputs an alarm when detecting that the valve position value is abnormal. At this time, the valve position abnormality judgment module may receive the abnormality signal output by the valve position abnormality judgment module. And when abnormal signals appear, alarm signals are output in a sound, text or video mode, so that staff can conveniently process the signals.
Referring to fig. 1, the output alarm module further includes: the curve graph generating module is respectively connected with the torque abnormality judging module, the pressure abnormality judging module and the valve position abnormality judging module to generate and output a curve graph of the measured valve torque value, the valve position value, the valve pressure value, the valve torque alarming signal, the valve position alarming signal and the valve pressure alarming signal. In the dispensing system, the data returned by the pressure sensor is in direct proportion to the torque and the position, a closed loop is formed by outputting the position, the rotating speed and the torque and the pressure of the valve, the control function is realized, whether the position, the torque and the pressure of the valve are in a compliance range or not is finally judged, and the monitoring function is realized through the real-time monitoring curve and the graph storage of three data curves of each pcs material, so that the functions of problem tracing and the like are facilitated.
On the other hand, referring to fig. 2, the present invention further provides a closed loop dispensing monitoring alarm system, including: the pressure sensor is used for acquiring the glue outlet pressure value of the glue dispensing valve; the magnetic grating ruler is used for acquiring valve position values of the dispensing valve; the alarm device is used for alarming; the control device is internally provided with a memory, a processor and a computer program which is stored in the memory and can run on the processor, and the processor realizes the closed-loop dispensing monitoring alarm device when executing the computer program; the control device is respectively in communication connection with the pressure sensor, the magnetic grating ruler, the alarm equipment and the dispensing valve, so as to acquire the valve torsion value, the valve position value and the valve pressure value, perform dispensing control on the dispensing valve, and perform alarm prompt through the alarm equipment when abnormality occurs. As shown in fig. 2, the control device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the functions of the modules/units in the device described in the above embodiments, such as the functions of the modules shown in fig. 1.
In the closed-loop dispensing monitoring alarm system provided by the embodiment of the invention, a force sensor is used for acquiring a dispensing pressure value of a dispensing valve; the magnetic grating ruler is used for acquiring valve position values of the dispensing valve; the control device is internally provided with a memory, a processor and a computer program which is stored in the memory and can run on the processor, and the processor realizes the closed-loop dispensing monitoring alarm device when executing the computer program; the control device is respectively in communication connection with the pressure sensor, the magnetic grating ruler and the dispensing valve so as to acquire the valve torsion value, the valve position value and the valve pressure value and perform dispensing control on the dispensing valve. Therefore, when the dispensing valve fails to block the valve or the sensor fails, the valve can be timely detected and alarmed, and the closed loop control can enable the dispensing of the dispensing valve to be more accurate and stable.
Referring to fig. 2, the control device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the illustrations are merely examples of control means and do not constitute a limitation of the control means, and may include more or fewer components than illustrated, or may combine certain components, or different components, e.g., the control means may also include input and output devices, network access devices, buses, etc.
The processor may be a central processing unit (Central Processing Unit, CPU), or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete preset hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit of the control device, such as a hard disk or a memory of the control device. The memory may also be an external storage device of the control apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the control apparatus. Further, the memory may also include both an internal storage unit and an external storage device of the control apparatus. The memory is used for storing the computer program and other programs and data required by the control device. The memory may also be used to temporarily store data that has been output or is to be output.
The computer program may be stored in a computer readable storage medium, which when executed by a processor, may implement the embodiments of the modules described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that the present invention may be modified or equivalents substituted for some of the features thereof. All equivalent structures made by the content of the specification and the drawings of the invention are directly or indirectly applied to other related technical fields, and are also within the scope of the invention.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (6)
1. A closed loop dispensing monitoring alarm device, comprising:
the closed-loop dispensing control module is used for converting an error value between an input dispensing target value and a dispensing output value into a dispensing valve control value so as to drive a dispensing valve to dispense;
the output detection module is respectively connected with the valve sensor and the closed-loop dispensing control module, and is used for respectively detecting a valve torsion value, a valve position value and a valve pressure value and feeding back a plurality of items of the valve torsion value, the valve position value or the valve pressure value as dispensing output values to the closed-loop dispensing control module;
the output alarm module is connected with the output detection module and used for alarming when any one of the valve torque value, the valve position value and the valve pressure value is detected to be abnormal; the method is characterized in that a closed-loop dispensing control mode is adopted, the relation among valve torsion, valve position and valve pressure is monitored, when any one of the valve torsion, valve position and valve pressure fails, the valve torsion, valve position and valve pressure are mutually influenced to form a mutually-constrained integral relation, and when a dispensing valve fails or a sensor fails, the valve can be timely detected and alarmed;
the closed-loop dispensing control module comprises:
the proportional control module is used for carrying out proportional gain operation on the error value and then outputting the error value;
the integral control module is used for carrying out integral gain operation on the error value and then outputting the error value;
the differential control module is used for carrying out differential gain operation on the error value and then outputting the error value;
the superposition module is respectively connected with the proportional control module, the integral control module and the differential control module to superpose the output values of the proportional control module, the integral control module and the differential control module and then output the superposed output values as the dispensing valve control value;
the algorithm formula of the closed-loop dispensing control module is as follows:
wherein u (t) is the output of the control;
K p is a proportional gain;
T t is an integration time constant;
T D is a differential time constant;
e (t) is the difference between the given target value r (t) and the measured value of the dispensing output;
the given target value r (t) is a plurality of given target torque values, given target position values or given target pressure values.
2. The closed loop dispensing monitoring alarm of claim 1 wherein the output alarm module comprises:
the torque measurement module is connected with the output detection module to obtain a valve torque value of the dispensing valve;
the torque abnormality judging module is connected with the torque measuring module and is used for judging whether the valve torque value is in a normal range or not and outputting a judging result;
and the torque alarm module is connected with the torque abnormality judgment module and outputs an alarm when detecting that the valve torque value is abnormal.
3. The closed loop dispensing monitoring alarm of claim 2 wherein the output alarm module further comprises:
the pressure measurement module is connected with the output detection module to obtain the pressure value of the dispensing valve;
the pressure abnormality judging module is connected with the pressure measuring module and is used for judging whether the pressure value is in a normal range or not and outputting a judging result;
and the pressure alarm module is connected with the pressure abnormality judging module and outputs an alarm when detecting that the pressure value is abnormal.
4. The closed loop dispensing monitoring alarm of claim 3 wherein the output alarm module further comprises:
the valve position measuring module is connected with the output detecting module to obtain the valve position value of the dispensing valve;
the valve position abnormality judging module is connected with the valve position measuring module and is used for judging whether the valve position value is in a normal range or not and outputting a judging result;
the valve position alarm module is connected with the valve position abnormality judging module and outputs an alarm when detecting abnormal valve position.
5. The closed loop dispensing monitoring alarm of claim 4 wherein the output alarm module further comprises: the curve graph generating module is respectively connected with the torque abnormality judging module, the pressure abnormality judging module and the valve position abnormality judging module to generate and output a curve graph of the measured valve torque value, the valve position value, the valve pressure value, the valve torque alarming signal, the valve position alarming signal and the valve pressure alarming signal.
6. A closed loop dispensing monitoring alarm system, comprising:
the pressure sensor is used for acquiring the glue outlet pressure value of the glue dispensing valve;
the magnetic grating ruler is used for acquiring valve position values of the dispensing valve;
the alarm device is used for alarming and prompting;
the control device is internally provided with a memory, a processor and a computer program which is stored in the memory and can run on the processor, and the processor realizes the closed loop dispensing monitoring alarm device according to any one of claims 1 to 5 when executing the computer program; the control device is respectively in communication connection with the pressure sensor, the magnetic grating ruler, the alarm equipment and the dispensing valve, so as to acquire the valve torsion value, the valve position value and the valve pressure value, perform dispensing control on the dispensing valve, and perform alarm prompt through the alarm equipment when abnormality occurs.
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| CN117850376B (en) * | 2024-03-07 | 2024-06-04 | 深圳市磐锋精密技术有限公司 | Dispensing control system applied to new energy motor production |
| CN118393961A (en) * | 2024-06-19 | 2024-07-26 | 杭州余杭三水果业有限公司 | Dispensing control system applied to production of new energy composting motor |
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