育果袋成型装备测控系统研究
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摘要
苹果套袋可以形成适宜果实生长的微环境，增加果实的着色和果皮光洁度，减少果皮农药残留，隔离病虫害,因而套袋栽培技术已在苹果种植业广泛推广。果袋种类和质量直接影响苹果的品质，因而对果袋生产装备提出了更高要求。改进现有果袋生产设备，对提高果袋生产质量具有重要意义。
对生产双层果袋育果袋成型装备的工艺流程、系统各个组成模块的作用以及影响纸袋质量的主要因素进行了分析，改进了成型装置中的部分功能。采用了整体式半圆口及直口切分组合刀具进行纸料剪裁；气力法撕断并清除没有完全切断的边条废料；气力辅助法完成纸袋的折叠过程并采用仿人工折边装置防止高速运行的纸片折叠时折边边缘不均匀。采用封闭式涂胶装置对外层纸袋两侧边缘粘接，以防止纸料与制袋辊粘连。在控制方面，研发了针对纸带在高速运行时出现的张力波动和偏差进行控制的测控系统，实现了果袋袋型在线监测与调控。
果袋机张力系统是一个强耦合、多干扰、非线性、模型不确定的复杂系统。根据张力产生的原理，分析了影响张力大小的主要因素；提出了基于模糊自适应PID张力智能控制算法，实现了控制器参数自动调节，从而适应非线性和时变的果袋机张力系统控制要求。采用MATLAB对算法进行了仿真。仿真结果表明模糊自适应PID张力智能控制算法能够减少超调量，缩短系统调节时间，提高了系统抗干扰能力。
在分析系统运行过程中的纸带走偏原因基础上设计出纠偏监测控制装置。选择CCD传感器作为位置检测传感器，设计了基于CPLD的CCD驱动电路。鉴于系统要求动态响应速度快，定位准确，而纠偏系统难以建立准确数学模型的特点，选择步进电机作为纠偏系统的执行元件，提出了仿人纠偏智能控制算法。该算法是将多种PID控制组合而成的控制模态，依据实际运行的实时状态量转换控制模式。仿真结果表明该算法更接近于人的控制理念，算法具有响应速度快、定位准确、无超调等优点。
综合张力控制和纠偏系统控制的要求，设计了以STM32F103VCT6微处理器为核心的硬件系统，包括CCD图像采集，A/D转换、FIFO接口及步进电机的驱动电路；张力检测及磁粉制动器的驱动；系统显示、触摸屏及报警电路等。系统软件是基于ARM公司提供的实时操作系统RTX下采用C语言实现，实时操作系统RTX可以实现多任务并发执行，使编程和测试更容易。系统采用触摸式屏幕完成参数设定、状态监测、查看历史数据等功能。该系统在信号输入和输出环节都实现了隔离，具有良好的抗干扰性能。同时界面友好，操作简便，可以满足不同卷材的控制要求。通过机械机构及各功能模块的试验调试，生产出的纸袋误差小。果袋机袋型在线监测系统的设计也为高速运行卷料满足张力控制稳定、纠偏速度快、精度高、自适应性强，提供了理论依据和设计模板。
Bagging technology is being widely spread in apple production. Bagging could create a suitablemicro-environment for the fruit growth, improve color of apple fruits and its peel smoothness, decreasepeel pesticide residues and isolate pests. A higher requirement was put forward to the fruit bags produceequipment to meat the need of the fruit bag production as the type and the shape of the bag affected thequality of the apple fruit Improving fruit bag machine has important significance to the increase thequality of the paper bags production.
Production process of double-paper bag producing, the role of each module in fruit bag machineand the main factors to affect the paper bag quality were analyzed. Function of shaping device wasimproved. The integral semicircle-and-straight-combined-knife was used to cut the paper materiel.Pneumatic method was considered to break and clear up the waste edges which had not cut down yet.Pneumatic assistant device was utilized to accomplish the folding process of paper bags and imitationartificial folding device was used to prevent the uneven folded edge of the paper bag while the machinerun in high-speed. Closed gluing device was used in bonding both edge of outer layer of the paper bagin order to prevent the adhesion of the paper with the bag-make-roller by the glue.
The tension fluctuation and the transmission deviation of the paper tape in the high speedmovement were analyzed and the regulation device was developed. Then, real-time surveillance andadjustment of paper bag shape were realized.
The fruit bag machine tension system is a strong coupling, multi-interfering, nonlinear andcomplex uncertainties. Based on the analysis of the main points affecting tension according to thetension principle, fuzzy adaptive PID intelligent control algorithm is put forward and the automaticadjustment of the controller parameters was achieved to meet the adaptation to the requirements of thenonlinear and time-varying tension control in fruit bag machine. The algorithm was simulazed by usingthe software MATLAB. It was showed that the fuzzy adaptive PID intelligent control algorithm coulddecrease the overshoot, shorten the adjusting time and increase the anti-jamming performance of thesystem.
Correcting detection device had been designed based on the analysis of deviation causes of thepaper tape marching direction in the system operation process. CCD sensor was selected as the positiondetection sensor and the CCD drive circuit was designed based on the CPLD. Stepping motor wasselected as the actuator of the rectifying system and the humanoid corrective intelligent controlalgorithm was proposed for adaptation to the requirements of the high-speed dynamic response andaccurate location while actual mathematic model was difficult to established in the corrective system.The algorithm was the control mode combining multi-PID and the transfer control model based on the actual real-time state measurement. The simulation results indicated that the algorithm was closer to theartificial control with high-speed response, accurate location and rear overshooting.
The tension and rectification control system with STM32F103VCT6microprocessor as its corehardware was designed considered the processing commands. The system was include CCD photocollection, A/D transfer, FIFO interface and drive circuit of stepping motor, the drive of tension detectorand magnetic powder brake, indicator, touch screen, alarm circuit and etc. The system software wasbased on C language and real-time operating system RTX provided by ARM company. The real-timeRTX system could execute multi-task concurrent to make programming and testing easier. The hostcomputer use touch screen to complete parameter settings, status monitoring and historical data viewing.The system achieved isolation in the signal input and output links, and had a good anti-interferenceperformance with friendly interface, easy to operate and meet the requirements of different coil control.The paper bag was minor error after the mechanical device and each functional module were tested. Thedesigned on-line monitoring system of the fruit bag machine was stable tension control, fast suitablecorrection, high precision and strong adaptability as well as could provid theoretical basis and designingreferences for high-speed operation of roils in similar condition.
对生产双层果袋育果袋成型装备的工艺流程、系统各个组成模块的作用以及影响纸袋质量的主要因素进行了分析，改进了成型装置中的部分功能。采用了整体式半圆口及直口切分组合刀具进行纸料剪裁；气力法撕断并清除没有完全切断的边条废料；气力辅助法完成纸袋的折叠过程并采用仿人工折边装置防止高速运行的纸片折叠时折边边缘不均匀。采用封闭式涂胶装置对外层纸袋两侧边缘粘接，以防止纸料与制袋辊粘连。在控制方面，研发了针对纸带在高速运行时出现的张力波动和偏差进行控制的测控系统，实现了果袋袋型在线监测与调控。
果袋机张力系统是一个强耦合、多干扰、非线性、模型不确定的复杂系统。根据张力产生的原理，分析了影响张力大小的主要因素；提出了基于模糊自适应PID张力智能控制算法，实现了控制器参数自动调节，从而适应非线性和时变的果袋机张力系统控制要求。采用MATLAB对算法进行了仿真。仿真结果表明模糊自适应PID张力智能控制算法能够减少超调量，缩短系统调节时间，提高了系统抗干扰能力。
在分析系统运行过程中的纸带走偏原因基础上设计出纠偏监测控制装置。选择CCD传感器作为位置检测传感器，设计了基于CPLD的CCD驱动电路。鉴于系统要求动态响应速度快，定位准确，而纠偏系统难以建立准确数学模型的特点，选择步进电机作为纠偏系统的执行元件，提出了仿人纠偏智能控制算法。该算法是将多种PID控制组合而成的控制模态，依据实际运行的实时状态量转换控制模式。仿真结果表明该算法更接近于人的控制理念，算法具有响应速度快、定位准确、无超调等优点。
综合张力控制和纠偏系统控制的要求，设计了以STM32F103VCT6微处理器为核心的硬件系统，包括CCD图像采集，A/D转换、FIFO接口及步进电机的驱动电路；张力检测及磁粉制动器的驱动；系统显示、触摸屏及报警电路等。系统软件是基于ARM公司提供的实时操作系统RTX下采用C语言实现，实时操作系统RTX可以实现多任务并发执行，使编程和测试更容易。系统采用触摸式屏幕完成参数设定、状态监测、查看历史数据等功能。该系统在信号输入和输出环节都实现了隔离，具有良好的抗干扰性能。同时界面友好，操作简便，可以满足不同卷材的控制要求。通过机械机构及各功能模块的试验调试，生产出的纸袋误差小。果袋机袋型在线监测系统的设计也为高速运行卷料满足张力控制稳定、纠偏速度快、精度高、自适应性强，提供了理论依据和设计模板。
Bagging technology is being widely spread in apple production. Bagging could create a suitablemicro-environment for the fruit growth, improve color of apple fruits and its peel smoothness, decreasepeel pesticide residues and isolate pests. A higher requirement was put forward to the fruit bags produceequipment to meat the need of the fruit bag production as the type and the shape of the bag affected thequality of the apple fruit Improving fruit bag machine has important significance to the increase thequality of the paper bags production.
Production process of double-paper bag producing, the role of each module in fruit bag machineand the main factors to affect the paper bag quality were analyzed. Function of shaping device wasimproved. The integral semicircle-and-straight-combined-knife was used to cut the paper materiel.Pneumatic method was considered to break and clear up the waste edges which had not cut down yet.Pneumatic assistant device was utilized to accomplish the folding process of paper bags and imitationartificial folding device was used to prevent the uneven folded edge of the paper bag while the machinerun in high-speed. Closed gluing device was used in bonding both edge of outer layer of the paper bagin order to prevent the adhesion of the paper with the bag-make-roller by the glue.
The tension fluctuation and the transmission deviation of the paper tape in the high speedmovement were analyzed and the regulation device was developed. Then, real-time surveillance andadjustment of paper bag shape were realized.
The fruit bag machine tension system is a strong coupling, multi-interfering, nonlinear andcomplex uncertainties. Based on the analysis of the main points affecting tension according to thetension principle, fuzzy adaptive PID intelligent control algorithm is put forward and the automaticadjustment of the controller parameters was achieved to meet the adaptation to the requirements of thenonlinear and time-varying tension control in fruit bag machine. The algorithm was simulazed by usingthe software MATLAB. It was showed that the fuzzy adaptive PID intelligent control algorithm coulddecrease the overshoot, shorten the adjusting time and increase the anti-jamming performance of thesystem.
Correcting detection device had been designed based on the analysis of deviation causes of thepaper tape marching direction in the system operation process. CCD sensor was selected as the positiondetection sensor and the CCD drive circuit was designed based on the CPLD. Stepping motor wasselected as the actuator of the rectifying system and the humanoid corrective intelligent controlalgorithm was proposed for adaptation to the requirements of the high-speed dynamic response andaccurate location while actual mathematic model was difficult to established in the corrective system.The algorithm was the control mode combining multi-PID and the transfer control model based on the actual real-time state measurement. The simulation results indicated that the algorithm was closer to theartificial control with high-speed response, accurate location and rear overshooting.
The tension and rectification control system with STM32F103VCT6microprocessor as its corehardware was designed considered the processing commands. The system was include CCD photocollection, A/D transfer, FIFO interface and drive circuit of stepping motor, the drive of tension detectorand magnetic powder brake, indicator, touch screen, alarm circuit and etc. The system software wasbased on C language and real-time operating system RTX provided by ARM company. The real-timeRTX system could execute multi-task concurrent to make programming and testing easier. The hostcomputer use touch screen to complete parameter settings, status monitoring and historical data viewing.The system achieved isolation in the signal input and output links, and had a good anti-interferenceperformance with friendly interface, easy to operate and meet the requirements of different coil control.The paper bag was minor error after the mechanical device and each functional module were tested. Thedesigned on-line monitoring system of the fruit bag machine was stable tension control, fast suitablecorrection, high precision and strong adaptability as well as could provid theoretical basis and designingreferences for high-speed operation of roils in similar condition.
引文
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