CN103869703A - Wireless monitoring system based on PID controller of internal secretion single-neuron - Google Patents

Abstract

The invention relates to a wireless monitoring system based on a PID controller of the internal secretion single-neuron. The operation process of the system comprises the steps that an industrial personal computer has access to an MMF module through a wireless network composed of Wi-Fi modules and the working condition of a controlled object is monitored in real time; output is adjusted and controlled by the MMF module according to the PIC control algorithm of the internal secretion single-neuron and the controlled object rapidly reaches the stable state on the premise of small overshooting. The wireless monitoring system is composed of a hardware system and a software portion implanted to the MMF module, wherein the hardware system is composed of a managing unit, a wireless transmission unit and a control unit. The managing unit is the industrial personal computer. The wireless transmission unit is used for being connected with the managing unit and the control unit and is composed of the Wi-Fi modules. The control unit is composed of a monitoring server, an analog-digital converter, a digital-analog converter, an active low-pass filter and the controlled object. The software portion is composed of a software filter and the PID control algorithm based on the internal secretion single-neuron.

Description

A kind of wireless supervisory control system based on endocrine single neuron PID controller

Technical field

The present invention relates to a kind of wireless supervisory control system based on endocrine single neuron PID controller, belong to wireless automatic control technology field.

Background technology

Current automatic control system great majority all adopt cable network to control.But cable network has poor mobility, dumb, expansibility is poor, networking and the shortcoming such as maintenance is not convenient.Along with the fast development of wireless communication technology, wireless communication and control system combines becomes the new trend of network control system development.Beyond doubt one of the most representative radio network technique nearly ten years of Wi-Fi.Wi-Fi adopts 802.11b standard, and high bandwidth is 11Mb/s, and at signal, in weak or noisy situation, bandwidth adjustable is 5.5Mb/s, 2Mb/s and 1Mb/s, and the automatic adjustment of bandwidth has ensured stability and the reliability of network effectively.

Since 20 century 70 biological intelligence control theory development, the control system based on neural network, immunity develops rapidly and reaches its maturity.But the biological intelligence control theory research based on neuroendocrine system is also fewer.The regulation and control of neuroendocrine system to various hormone in vivo, have the advantages such as good adaptivity and stability.The development on traditional control theory is produced actively impact by the Intelligent Control Theory of research based on neuroendocrine system, and contribute to improve the control quality of complex object.The neuron Proportional coefficient K of traditional single neuron PID controller is not supported online adjustment.K value is excessive, and overshoot quantitative change is large, system is unstable.K value is too small, the rapidity variation of system.

Summary of the invention

The wireless Wi-Fi sensing network supervisory system that the object of this invention is to provide a kind of Hierarchical network topological structure, realizes real time monitoring and the control of industry spot.

In order to achieve the above object, technical scheme of the present invention has been to provide a kind of wireless supervisory control system based on endocrine single neuron PID controller, it is characterized in that, comprise industrial computer, industrial computer by wireless transmission unit via the multiple supervision Control Server of wireless network access unit, the instruction that each supervision Control Server unit provides according to industrial computer has large time delay to one, non-linear, time become controlled device provide control signal, each supervision Control Server unit also monitors that the state of corresponding controlled device the monitoring data by acquisition feed back to industrial computer simultaneously, the output of control signal is controlled in each supervision Control Server unit according to endocrine Research on algorithm of single neuron adaptive PID, make the express delivery under the prerequisite of less overshoot of corresponding controlled device reach steady state (SS), wherein:

Endocrine Research on algorithm of single neuron adaptive PID comprises hypothalamus regulon, Single neuron PID control unit and ultrashort feedback unit, the command signal being provided by control machine and the feedback signal of current controlled device form input error signal e (k) and input in the lump hypothalamus regulon, Single neuron PID control unit and ultrashort feedback unit, k is sampling instant, regulated the neuron Proportional coefficient K (k) of Single neuron PID control unit by hypothalamus regulon, K (k)=K (k-1)/α (k), the regulatory factor of α (k) for obtaining by hypothalamus regulon,

a, B are the adjusting parameter of hypothalamus regulon, output f (Δ u (k), e (k)) by ultrashort feedback unit compensates the output of Single neuron PID control unit, $f(\mathrm{\Δu}\left(k\right),e\left(k\right))=\mathrm{\β}\left(\frac{{\left|\mathrm{\Δu}\right|\left(k\right)}^m}{\mathrm{\λ}+{\left|\mathrm{\Δu}\left(k\right)\right|}^m}\right)\·\frac{\mathrm{\Δu}\left(k\right)}{\left|\mathrm{\Δuk}\right|}\·\frac{\mathrm{\Δe}\left(k\right)}{\left|\mathrm{\Δe}\left(k\right)\right|}\·\frac{\mathrm{\Δe}\left(k\right)}{\left|\mathrm{\Δe}\left(k\right)\right|},$ The adjusting parameter that β, λ, m are arithmetic number, $\mathrm{\Δu}\left(k\right)=u\left(k\right)-u(k-1)=K\left(k\right)\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\frac{{\mathrm{\ω}}_i\left(k\right)}{\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\left|{\mathrm{\ω}}_i\left(k\right)\right|}{x}_i\left(k\right),$ Wherein:

X ₁(k) do for input error signal e (k) signal obtaining after scale operation;

ω ₁(k)=ω ₁(k-1)+η _pe (k) u (k) [e (k)-Δ e (k)], Δ e (k)=e (k)-e (k-1), η _pfor ratio learning rate;

X ₂(k) do for input error signal e (k) signal obtaining after integral operation;

ω ₂(k)=ω ₂(k-1)+η 1e (k) u (k) [e (k)-Δ e (k)], η _ifor integration learning rate;

X ₃(k) be the signal obtaining after input error signal e (k) differentiates;

ω ₃(k)=ω ₃(k-1)+η _de (k) u (k) [e (k)-Δ e (k)], η _nfor differential learning rate;

After f (Δ u (k), e (k)) compensation, be output as control signal U (k), $U\left(k\right)=U(k-1)+K\left(k\right)\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\frac{{\mathrm{\ω}}_i\left(k\right)}{\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\left|{\mathrm{\ω}}_i\left(k\right)\right|}{x}_i\left(k\right)-f(\mathrm{\ΔU}\left(k\right),e\left(k\right)),$ Control signal U (k) inputs to current controlled device on the one hand, feeds back on the other hand ultrashort feedback unit.

Preferably, described wireless transmission unit comprises admin site, receiving node, control website, relay reception node, relay, admin site is connected with described industrial computer, admin site and receiving node are set up radio communication, receiving node and relay are set up radio communication, relay reception node connects relay, and each described supervision Control Server unit connects one and controls website, and all control websites and relay reception node are set up radio communication.

Preferably, described supervision Control Server unit comprises monitoring server, analog to digital converter, digital to analog converter and for filtering out the active low-pass filter of industry spot undesired signal, digital to analog converter and active low-pass filter connect corresponding controlled device, digital to analog converter directly connects monitoring server, monitoring server connects active low-pass filter by analog to digital converter, monitoring server is on the one hand for receiving the data from analog to digital converter, produce described control signal U (k) via controlled device described in analog to digital converter and active low-pass filter control according to described endocrine Research on algorithm of single neuron adaptive PID on the other hand.

Preferably, carrying out first adopting moving average filter algorithm and limit filtration algorithm before described endocrine Research on algorithm of single neuron adaptive PID.

The present invention is owing to taking above technical scheme, and it has the following advantages:

1, the present invention adopts Wi-Fi network as transmission medium, layouts simple, and the duration of arranging net is short, the destroyed rear easy recovery of network.

2, the present invention adopts multilayer distributed network, can expand neatly or dwindle monitoring range, and convenient increase and decrease needs the quantity of the controlled device of monitoring, has improved monitoring efficiency simultaneously.

3, the present invention combines Neuroendocrine regulation principle with Research on algorithm of single neuron adaptive PID.The Proportional coefficient K of hypothalamus regulon on-line tuning Single neuron PID control unit; Ultrashort feedback unit produces feedback compensation effect to controller self output signal, thereby has improved the control effect of system.

Brief description of the drawings

Fig. 1 is supervisory system structural representation;

Fig. 2 is endocrine single neuron PID controller structural drawing;

Fig. 3 is single neuron PID controller structural drawing;

Fig. 4 is liquid level control design sketch;

Fig. 5 is temperature control effect figure.

Embodiment

For the present invention is become apparent, hereby with preferred embodiment, and coordinate accompanying drawing to be described in detail below.

The invention discloses a kind of wireless Wi-Fi sensing network supervisory system of Hierarchical network topological structure, realize real time monitoring and the control of industry spot, system of the present invention has adopted a kind of based on neuroendocrine Research on algorithm of single neuron adaptive PID, the dynamic and steady-state characteristic of Optimal Control System.

As described in Figure 1, a kind of wireless supervisory control system based on endocrine single neuron PID controller provided by the invention, comprises industrial computer, and industrial computer is stable performance, the technical grade PC that processing speed is fast.Industrial computer by wireless transmission unit via the multiple supervision Control Server of wireless network access unit, the instruction that each supervision Control Server unit provides according to industrial computer has large time delay to one, non-linear, time become controlled device provide control signal, each supervision Control Server unit also monitors that the state of corresponding controlled device the monitoring data by acquisition feed back to industrial computer simultaneously, the output of control signal is controlled in each supervision Control Server unit according to endocrine Research on algorithm of single neuron adaptive PID, make the express delivery under the prerequisite of less overshoot of corresponding controlled device reach steady state (SS).

Wireless transmission unit comprises admin site MST, receiving node AP, controls website CST, relay reception node R AP, relay RST, and admin site MST is connected with industrial computer, and the connected mode of admin site MST and industrial computer is wired connection.Admin site MST and receiving node AP set up radio communication, receiving node AP and relay RST set up radio communication, relay reception node R AP connects relay RST, each supervision Control Server unit connects one and controls website CST, and all control website CST and relay reception node R AP set up radio communication.

Monitor that Control Server unit comprises monitoring server MMF, analog to digital converter ADI, digital to analog converter DAI and for filtering out the active low-pass filter LPF of industry spot undesired signal.The mode of industrial computer access monitoring server MMF is for inputting the access of corresponding IP address by webpage.Digital to analog converter DAI and active low-pass filter LPF connect corresponding controlled device, digital to analog converter DAI directly connects monitoring server MMF, monitoring server MMF connects active low-pass filter LPF by analog to digital converter ADI, monitoring server MMF is on the one hand for receiving the data from analog to digital converter ADI, produce control signal U (k) according to described endocrine Research on algorithm of single neuron adaptive PID on the other hand, k is sampling instant warp, controls described controlled device by analog to digital converter ADI and active low-pass filter LPF.In the present embodiment, monitoring server MMF, analog to digital converter ADI and digital to analog converter DAI are integrated in a device, and are directly connected by wired mode with active low-pass filter LPF.

Endocrine Research on algorithm of single neuron adaptive PID comprises hypothalamus regulon, Single neuron PID control unit and ultrashort feedback unit, its structure as shown in Figure 2, hypothalamus regulon is mainly used to regulate the neuron Proportional coefficient K of Single neuron PID control unit, thereby improves adaptivity and the rapidity of system.Ultrashort feedback unit directly acts on controlled device, for compensating the output of Single neuron PID control unit, thus the stability of Hoisting System.

The algorithm of hypothalamus regulon adopts neuro-endocrinology hormone to regulate rule.Regulate algorithm to regulate the neuron Proportional coefficient K (k) of Single neuron PID control unit according to the variation of error originated from input e (k).Regulatory factor α (k) adopts the universal law of hormone secretion:

$\mathrm{\α}\left(k\right)=\frac{\left|e\left(k\right)\right|}{A+\left|e\left(k\right)\right|}+B,$ Wherein, A, B are for regulating parameter.

Have: K (k)=K (k-1)/α (k).

The algorithm of Single neuron PID control unit have the parameter of adjustment few, be easy to the features such as field adjustable, can improve significantly the dynamic quality of nonlinear time-varying object, time-varying characteristics that can the procedure of adaptation, Guarantee control system moves in the best condition, specific algorithm can list of references: sun is handsome, Ren Jinxia. a kind of improved single neuron PID controller [J]. and automated manufacturing, 2010,32 (11): 119-121, its structure as shown in Figure 3.The renewal of weights is adopted to improved Hebb learning rules, and the learning algorithm after specification arranges is:

X ₁(k) do for input error signal e (k) signal obtaining after scale operation;

ω ₁(k)=ω ₁(k-1)+η _pe (k) u (k) [e (k)-Δ e (k)], Δ e (k)=e (k)-e (k-1), η _pfor ratio learning rate;

X ₂(k) do for input error signal e (k) signal obtaining after integral operation;

ω ₂(k)=ω ₂(k-1)+η _le (k) u (k) [e (k)-Δ e (k)], η _ifor integration learning rate;

X ₃(k) be the signal obtaining after input error signal e (k) differentiates;

ω ₃(k)=ω ₃(k-1)+η _de (k) u (k) [e (k)-Δ e (k)], η _dfor differential learning rate;

$u\left(k\right)=u(k-1)+K\left(k\right)\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\frac{{\mathrm{\ω}}_i\left(k\right)}{\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\left|{\mathrm{\ω}}_i\left(k\right)\right|}{x}_i\left(k\right).$

The algorithm of ultrashort feedback unit is according to neuro-endocrinology hormone regulation mechanism, and the rate of change using the output signal of controller self within the sampling period, as feedback signal, adopts the design of rising Hill function principle.It examines output f (Δ u (k), e (k)):

$f(\mathrm{\Δu}\left(k\right),e\left(k\right))=\mathrm{\β}\left(\frac{{\left|\mathrm{\Δu}\right|\left(k\right)}^m}{\mathrm{\λ}+{\left|\mathrm{\Δu}\left(k\right)\right|}^m}\right)\·\frac{\mathrm{\Δu}\left(k\right)}{\left|\mathrm{\Δuk}\right|}\·\frac{\mathrm{\Δe}\left(k\right)}{\left|\mathrm{\Δe}\left(k\right)\right|}\·\frac{\mathrm{\Δe}\left(k\right)}{\left|\mathrm{\Δe}\left(k\right)\right|},$ The adjusting parameter that β, λ, m are arithmetic number, Δ u (k)=u (k)-u (k-1).

After f (Δ u (k), e (k)) compensation, be output as control signal U (k), $U\left(k\right)=U(k-1)+K\left(k\right)\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\frac{{\mathrm{\ω}}_i\left(k\right)}{\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\left|{\mathrm{\ω}}_i\left(k\right)\right|}{x}_i\left(k\right)-f(\mathrm{\ΔU}\left(k\right),e\left(k\right)).$

Below choose three rank liquid level objects and a pure temperature hysteresis object of second order, carry out emulation.For the ease of compared with control effect, described single neuron PID controller is got to identical value with parameter total in described endocrine single neuron PID controller.In order to verify the stable control ability of described endocrine single neuron PID controller, in the time of 300s, 750s and 900s, change respectively technique set-point.In addition, in order to verify the antijamming capability of described endocrine single neuron PID controller, controlled device is added the shock response of moment in the time of 500s.

Liquid level target transfer function is:

$G\left(s\right)=\frac{3}{s^3+{4s}^2+3s+1}$

For liquid level object, the control parameter value of emulation experiment is as follows: η _p, η _i, η _dbe respectively 0.2,4,0.4; K (0) is 0.07; ω ₁(0), ω ₂(0), ω ₃(0) be respectively 0.2,0.2,0.03; β, λ, m is respectively 2,0.8, and 2; A is that 0.4, B is 0.2.Sampling period is elected 2s as.In order to check the adaptive faculty of the described wireless supervisory control system based on endocrine single neuron PID controller, the parameter that changes controlled device in the time of 1100s is:

$G\left(s\right)=\frac{4}{s^3+{6s}^2+3s+1}$

When 1300s, recover its raw parameter value, control effect as shown in Figure 4.In Fig. 4, SN-PID refers to described single neuron PID, and ESN-PID refers to described endocrine single neuron PID.As can be seen from Figure 4, with respect to traditional single neuron PID controller, ESN-PIDC can reach faster target level value under the prerequisite that does not produce overshoot; After adding momentary pulse response, can tend to be steady more fast; Changing after object parameters, there is good robustness.

Temperature object transport function is:

$G\left(s\right)=\frac{e^{-10s}}{(12s+1)(15+1)}$

For temperature object, the control parameter value of emulation experiment is as follows: η _p, η I, η _dbe respectively 0.4,4,0.4; K (0) is 0.4; ω ₁(0), ω ₂(0), ω ₃(0) be respectively 0.2,0.2,0.03; β, λ, m is respectively 1.5,1, and 2; A is that 0.3, B is 0.3.Sampling period is elected 5s as.In order to check the adaptive faculty of ESN-PIDC, the parameter that changes controlled device in the time of 1100s is:

$G\left(s\right)=\frac{{1.5e}^{-10s}}{(14s+1)(15s+1)}$

When 1300s, recover its raw parameter value, control effect as shown in Figure 5.In Fig. 5, SN-PID refers to described single neuron PID, and ESN-PID refers to described endocrine single neuron PID.As can be seen from Figure 5, with respect to traditional single neuron PID controller, ESN-PIDC can reach faster target temperature value under the prerequisite that does not produce overshoot; After adding momentary pulse response, can tend to be steady more fast; Changing after object parameters, there is good robustness.

Claims (4)

1. the wireless supervisory control system based on endocrine single neuron PID controller, it is characterized in that, comprise industrial computer, industrial computer by wireless transmission unit via the multiple supervision Control Server of wireless network access unit, the instruction that each supervision Control Server unit provides according to industrial computer has large time delay to one, non-linear, time become controlled device provide control signal, each supervision Control Server unit also monitors that the state of corresponding controlled device the monitoring data by acquisition feed back to industrial computer simultaneously, the output of control signal is controlled in each supervision Control Server unit according to endocrine Research on algorithm of single neuron adaptive PID, make the express delivery under the prerequisite of less overshoot of corresponding controlled device reach steady state (SS), wherein:

Endocrine Research on algorithm of single neuron adaptive PID comprises hypothalamus regulon, Single neuron PID control unit and ultrashort feedback unit, the command signal being provided by control machine and the feedback signal of current controlled device form input error signal e (k) and input in the lump hypothalamus regulon, Single neuron PID control unit and ultrashort feedback unit, k is sampling instant, regulated the neuron Proportional coefficient K (k) of Single neuron PID control unit by hypothalamus regulon, K (k)=K (k-1)/α (k), the regulatory factor of α (k) for obtaining by hypothalamus regulon, a, B are the adjusting parameter of hypothalamus regulon, output f (Δ u (k), e (k)) by ultrashort feedback unit compensates the output of Single neuron PID control unit, $f(\mathrm{\Δu}\left(k\right),e\left(k\right))=\mathrm{\β}\left(\frac{{\left|\mathrm{\Δu}\right|\left(k\right)}^m}{\mathrm{\λ}+{\left|\mathrm{\Δu}\left(k\right)\right|}^m}\right)\·\frac{\mathrm{\Δu}\left(k\right)}{\left|\mathrm{\Δuk}\right|}\·\frac{\mathrm{\Δe}\left(k\right)}{\left|\mathrm{\Δe}\left(k\right)\right|}\·\frac{\mathrm{\Δe}\left(k\right)}{\left|\mathrm{\Δe}\left(k\right)\right|},$ The adjusting parameter that β, λ, m are arithmetic number, $\mathrm{\Δu}\left(k\right)=u\left(k\right)-u(k-1)=K\left(k\right)\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\frac{{\mathrm{\ω}}_i\left(k\right)}{\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\left|{\mathrm{\ω}}_i\left(k\right)\right|}{x}_i\left(k\right),$ Wherein:

X ₁(k) do for input error signal e (k) signal obtaining after scale operation;

ω ₁(k)=ω ₁(k-1)+η _pe (k) u (k) [e (k)-Δ e (k)], Δ e (k)=e (k)-e (k-1), η _pfor ratio learning rate;

X ₂(k) do for input error signal e (k) signal obtaining after integral operation;

ω ₂(k)=ω ₂(k-1)+η _ie (k) u (k) [e (k)-Δ e (k)], η _ifor integration learning rate;

X ₃(k) be the signal obtaining after input error signal e (k) differentiates;

ω ₃(k)=ω ₃(k-1)+η _de (k) u (k) [e (k)-Δ e (k)], η _dfor differential learning rate;

After f (Δ u (k), e (k)) compensation, be output as control signal U (k), $U\left(k\right)=U(k-1)+K\left(k\right)\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\frac{{\mathrm{\ω}}_i\left(k\right)}{\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\left|{\mathrm{\ω}}_i\left(k\right)\right|}{x}_i\left(k\right)-f(\mathrm{\ΔU}\left(k\right),e\left(k\right)),$ Control signal U (k) inputs to current controlled device on the one hand, feeds back on the other hand ultrashort feedback unit.

2. a kind of wireless supervisory control system based on endocrine single neuron PID controller as claimed in claim 1, it is characterized in that, described wireless transmission unit comprises admin site (MST), receiving node (AP), control website (CST), relay reception node (RAP), relay (RST), admin site (MST) is connected with described industrial computer, admin site (MST) is set up radio communication with receiving node (AP), receiving node (AP) is set up radio communication with relay (RST), relay reception node (RAP) connects relay (RST), each described supervision Control Server unit connects one and controls website (CST), all control websites (CST) are set up radio communication with relay reception node (RAP).

3. a kind of wireless supervisory control system based on endocrine single neuron PID controller as claimed in claim 1, it is characterized in that, described supervision Control Server unit comprises monitoring server (MMF), analog to digital converter (ADI), digital to analog converter (DAI) and for filtering out the active low-pass filter (LPF) of industry spot undesired signal, digital to analog converter (DAI) and active low-pass filter (LPF) connect corresponding controlled device, digital to analog converter (DAI) directly connects monitoring server (MMF), monitoring server (MMF) connects active low-pass filter (LPF) by analog to digital converter (ADI), monitoring server (MMF) is on the one hand for receiving the data from analog to digital converter (ADI), produce described control signal U (k) according to described endocrine Research on algorithm of single neuron adaptive PID on the other hand and control described controlled device via analog to digital converter (ADI) and active low-pass filter (LPF).

4. a kind of wireless supervisory control system based on endocrine single neuron PID controller as claimed in claim 1, is characterized in that, carrying out first adopting moving average filter algorithm and limit filtration algorithm before described endocrine Research on algorithm of single neuron adaptive PID.

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