基于模糊内模-PID的包装机热封切刀温度控制
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摘要
目的包装机热封切刀温度控制系统存在非线性、大滞后性等特点,传统PID控制的效果也越来越无法满足工艺生产的要求,为了提高包装机热封切刀温度控制的速度和精度,进而提高封口的质量,以提高产品包装效率和品质。方法在传统的PID控制的基础上,通过结合模糊控制和内模控制理论的先进控制算法,提出模糊内模-PID控制算法的包装机热封切刀温度控制系统。内模控制能够使PID控制器参数进行简化,同时模糊控制的引入能够实现控制器参数的在线调整,将该新型控制算法应用到包装机热封切刀温度控制系统中,并与传统控制进行对比。结果通过Matlab仿真软件搭建模内模-PID控制的包装机热封切刀温度控制系统仿真平台,仿真结果表明,系统响应速度、精度、超调量、抗扰动能力等比传统控制系统性能更加优良。结论通过仿真验证了模糊内模-PID控制在热封切刀温度控制系统上的有效性和可行性,能够在温度控制系统中表现出优良的性能指标。
In view of the non-linearity and large lag of the temperature control system for the thermal sealing cutter of the packaging machine, the effect of traditional PID control is increasingly unable to meet the requirements of process production. The paper aims to improve the temperature control speed and accuracy of the thermal sealing cutter for the packaging machine to increase the sealing quality as well as the packaging efficiency and the quality of products. Based on traditional PID control, a temperature control system of hot-sealing cutter of packaging machine based on fuzzy internal model-PID control algorithm was proposed by combining the advanced control algorithm of fuzzy control and internal model control theory. The internal model control can simplify parameters of the PID controller, and the introduction of fuzzy control can realize online adjustment of controller parameters. The new control algorithm was applied to the temperature control system for the heat sealing cutter of the packaging machine and compared with the traditional control.The simulation platform of temperature control system for hot-seal cutter of packaging machine controlled by internal model-PID was built with the Matlab simulation software. Compared with the traditional temperature control system, the simulation system had better performance in response speed, precision, overshoot, anti-disturbance ability, etc. The validity and feasibility of the fuzzy internal model-PID control in the temperature control system of the heat-sealing cutter are verified by simulation. It can show a strong performance index in the temperature control system.
In view of the non-linearity and large lag of the temperature control system for the thermal sealing cutter of the packaging machine, the effect of traditional PID control is increasingly unable to meet the requirements of process production. The paper aims to improve the temperature control speed and accuracy of the thermal sealing cutter for the packaging machine to increase the sealing quality as well as the packaging efficiency and the quality of products. Based on traditional PID control, a temperature control system of hot-sealing cutter of packaging machine based on fuzzy internal model-PID control algorithm was proposed by combining the advanced control algorithm of fuzzy control and internal model control theory. The internal model control can simplify parameters of the PID controller, and the introduction of fuzzy control can realize online adjustment of controller parameters. The new control algorithm was applied to the temperature control system for the heat sealing cutter of the packaging machine and compared with the traditional control.The simulation platform of temperature control system for hot-seal cutter of packaging machine controlled by internal model-PID was built with the Matlab simulation software. Compared with the traditional temperature control system, the simulation system had better performance in response speed, precision, overshoot, anti-disturbance ability, etc. The validity and feasibility of the fuzzy internal model-PID control in the temperature control system of the heat-sealing cutter are verified by simulation. It can show a strong performance index in the temperature control system.
引文
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[11]李若茜,凌智,李东海,等.IMC-PID控制器在轧机液压自动位置控制系统中的应用[J].机床与液压,2017,45(7):106-109.LI Ruo-xi,LING Zhi,LI Dong-hai,et al.Application of IMC-PID Controller in Hydraulic Automatic Position Control System of Rolling Mill[J].Machine Tool and Hydraulic,2017,45(7):106-109.
[12]王小龙.模糊内模PID在锅炉主蒸汽温度系统中应用[J].锅炉技术,2014,45(6):32-34.WANG Xiao-long.Application of Fuzzy Internal Model PID in Boiler Main Steam Temperature System[J].Boiler Technology,2014,45(6):32-34.
[13]李国勇,杨丽娟.神经模糊预测控制及其MATLAB实现[M].第3版.北京:电子工业出版社,2013:187-222.LI Guo-yong,YANG Li-juan.Neuro-Fuzzy Predictive Control and Its Realization in MATLAB[M].3rd Edition.Beijing:Electronic Industry Press,2013:187-222.
[14]邓顺,周康渠.基于DSP的焊装机器人控制算法研究与仿真设计[J].重庆工商大学学报(自然科学版),2017,34(1):87-93.DENG Shun,ZHOU Kang-qu.Research and Simulation of Control Algorithm Design of Welding Robot Based on DSP[J].Journal of Chongqing Technology and Business University(Natural Science Edition),2017,34(1):87-93.
[15]温玉春,刘祺君.基于模糊PID的包装机热封切刀温度控制[J].包装工程,2017,38(3):109-113.WEN Yu-chun,LIU Qi-jun.Temperature Control of Heat-sealing Cutter of Packaging Machines Based on Fuzzy PID[J].Packaging Engineering,2017,38(3):109-113.
[2]马晓宇.自动包装机热封温度自适应控制系统设计[J].包装工程,2016,37(21):173-178.MA Xiao-yu.Design of Temperature Adaptive Control System for Heating Sealing Mechanism of Automatic Packaging Machine[J].Packaging Engineering,201637(21):173-178.
[3]翟阳,曹亦轩,肖永松.热封切制袋机中多通道温控系统的设计[J].包装工程,2013,34(17):68-71.ZHAI Yang,CAO Yi-xuan,XIAO Yong-song.Design of Multi-channel Temperature Control System for Heat Sealing and Cutting Bag Machine[J].Packaging Engineering,2013,34(17):68-71.
[4]杨世勇,徐国林.模糊控制与PID控制的对比及其复合控制[J].自动化技术与应用,2011,30(11):21-25.YANG Shi-yong,XU Guo-lin.Comparison Between Fuzzy Control and PID Control and Its Compsite Control[J].Industrial Control and Application,2011,30(11):21-25.
[5]薛雷,孙以泽,李培兴,等.基于模糊PID的裤袜包装机热封切刀温度控制的研究[J].包装工程,201334(3):16-20.XUE Lei,SUN Yi-ze,LI Pei-xing,et al.Research on Temperature Control of Heat-sealing Cutting Knife of Panty-hose Packaging Machine Based on Fuzzy-PID[J].Packaging Engineering,2013,34(3):16-20.
[6]李霞.制袋机温度控制系统的研究[D].武汉:华中科技大学,2005.LI Xia.Research on Temperature Control System of Bagging Machine[D].Wuhan:Huazhong University of Science and Technology,2005.
[7]陈明霞,张寒,郑谊峰.基于RBF神经网络的自动包装机温度控制算法研究[J].包装工程,2018,39(19):150-156.CHEN Ming-xia,ZHANG Han,ZHENG Yi-feng Temperature Control of Automatic Packaging Machine Based on RBF Neural Network[J].Packaging Engineering,2018,39(19):150-156.
[8]刘志成,孙大刚,梁建宗.气动人工肌肉仿生行走机构模糊PID控制[J].工业机械,2012,43:29-33.LIU Zhi-cheng,SUN Da-gang,LIANG Jian-zong.Fuzzy PID Control for Bionic Walking Mechanism of Pneumatic Artificial Muscle[J].Industrial Machinery2012,43:29-33.
[9]翟奕博,刘锁清,李军红.模糊内模PID控制在湿法脱硫系统中的应用[J].自动化与仪表,2017,32(11):45-49.ZHAI Yi-bo,LIU Suo-qing,LI Jun-hong.Application of Fuzzy Internal Model PID Control in Wet Desulfurization System[J].Automation and Instrument,201732(11):45-49.
[10]赵伟,孙建平.基于内模控制的PID控制器的设计与仿真[J].工业控制计算机,2016,29(9):55-56.ZHAO Wei,SUN Jian-ping.Design and Simulation of PID Controller Based on Internal Model Control[J].Industrial Control Computer,2016,29(9):55-56.
[11]李若茜,凌智,李东海,等.IMC-PID控制器在轧机液压自动位置控制系统中的应用[J].机床与液压,2017,45(7):106-109.LI Ruo-xi,LING Zhi,LI Dong-hai,et al.Application of IMC-PID Controller in Hydraulic Automatic Position Control System of Rolling Mill[J].Machine Tool and Hydraulic,2017,45(7):106-109.
[12]王小龙.模糊内模PID在锅炉主蒸汽温度系统中应用[J].锅炉技术,2014,45(6):32-34.WANG Xiao-long.Application of Fuzzy Internal Model PID in Boiler Main Steam Temperature System[J].Boiler Technology,2014,45(6):32-34.
[13]李国勇,杨丽娟.神经模糊预测控制及其MATLAB实现[M].第3版.北京:电子工业出版社,2013:187-222.LI Guo-yong,YANG Li-juan.Neuro-Fuzzy Predictive Control and Its Realization in MATLAB[M].3rd Edition.Beijing:Electronic Industry Press,2013:187-222.
[14]邓顺,周康渠.基于DSP的焊装机器人控制算法研究与仿真设计[J].重庆工商大学学报(自然科学版),2017,34(1):87-93.DENG Shun,ZHOU Kang-qu.Research and Simulation of Control Algorithm Design of Welding Robot Based on DSP[J].Journal of Chongqing Technology and Business University(Natural Science Edition),2017,34(1):87-93.
[15]温玉春,刘祺君.基于模糊PID的包装机热封切刀温度控制[J].包装工程,2017,38(3):109-113.WEN Yu-chun,LIU Qi-jun.Temperature Control of Heat-sealing Cutter of Packaging Machines Based on Fuzzy PID[J].Packaging Engineering,2017,38(3):109-113.