CN-121995755-A - Packaging production line detection control method based on event triggering mechanism

CN121995755ACN 121995755 ACN121995755 ACN 121995755ACN-121995755-A

Abstract

In order to solve the problem of product quality detection in an automatic packaging production line, the invention provides a packaging production line detection control method based on an event triggering mechanism, a mathematical model of a detection control system is established by using a linear time-lag system model with uncertainty, a state predictor based on a system state observer and an event controller are introduced, and a state feedback controller using the structure is further provided. First, a state observer is designed to estimate the state of the system in real time based on the measured output of the system. Secondly, a state predictor is proposed for calculating the future state of the system after a time delay, taking into account the network control signal delay. Finally, designing an event triggering strategy and a state feedback controller, eliminating the influence of network signal delay and ensuring the feasibility of the designed control system, wherein the event triggering interval of the system has a positive lower bound, namely, no Zhinor action exists (Zeno Behavior). Compared with a control system adopting a time period triggering strategy or a general event triggering strategy, the method has the advantages that the triggering times of control signals are obviously reduced, the communication resources of a control channel are saved, the actions of the controller are triggered according to the requirement, the mechanical abrasion and the energy consumption are reduced, and the deviation is corrected in real time to ensure the control precision.

Inventors

LI BO
ZHAO JUNJIE
ZHU SUMING

Assignees

江苏理工学院

Dates

Publication Date: 20260508
Application Date: 20260127

Claims (7)

1. The detection control method of the packaging production line based on the event triggering mechanism is characterized by comprising the following steps: S1, constructing a linear time lag control system model with uncertainty of a detection control system of a packaging production line, wherein the model comprises the following steps: Wherein the method comprises the steps of In order to be in the state of the system, Is that Is used as a first derivative of (a), A signal is input to the controller of the system, For a known network delay of the system, The current time is indicated as such, 、、 Respectively, is a parameter matrix of the system, Representing a system uncertainty term caused by modeling errors, satisfying And (3) with ; S2, aiming at the control system, a state observer is designed as follows: , Wherein the method comprises the steps of In order for the state of the observer to be observed, In order for the output of the observer to be, For the observer gain to be designed, defining the observation error as Then: ; S3, processing network delay in the network control system through a state predictor, so as to acquire a future state corresponding to the delayed system; S4, designing a novel event triggering mechanism based on a future state, and eliminating system network delay caused by hysteresis effect through the mechanism; S5, designing a state feedback controller of the packaging production line control system model established in the S1 by utilizing a linear matrix inequality technology, so that the triggering times of control signals are obviously reduced, the communication resources of a control channel are saved, and the deviation is corrected in real time to ensure the control precision.
2. The method for controlling inspection of a packaging line based on an event triggering mechanism as set forth in claim 1, wherein in S3, the predictor for obtaining the predicted state based on the state of the system observer is: 。
3. The method for controlling the detection of a packaging production line based on an event triggering mechanism as set forth in claim 1, wherein in S4, the novel event triggering mechanism is: , , Wherein the method comprises the steps of , For the current prediction state of the current block, For the state value at the time of the last communication, Is an event trigger coefficient; indicating the trigger time, wherein The first trigger time is The next trigger time is 。
4. The method for controlling the inspection of a packaging line based on an event triggering mechanism as set forth in claim 1, wherein in S5, the controller designed based on the above conditions is: , Wherein, the For system controller gain, when The system controller receives the state information at the moment While the state information parameter is maintained to the next trigger time 。
5. A computer device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the steps of the method for controlling the inspection of a packaging line based on an event triggering mechanism as claimed in claims 1-4.
6. A computer readable storage medium, characterized in that a computer program is stored which, when being executed by a processor, implements the steps of the event trigger mechanism based packaging line detection control method of claims 1-4.
7. A computer program product comprising a computer program or instructions which, when executed by a processor, carries out the steps of the method for controlling the detection of a packaging line based on an event triggering mechanism as claimed in claims 1-4.

Description

Packaging production line detection control method based on event triggering mechanism Technical Field The invention relates to the technical field of special equipment manufacturing, in particular to a detection control method of a packaging production line based on an event triggering mechanism, which is applicable to the related fields of food processing equipment, packaging machinery engineering, intelligent equipment and the like. Background The packaging production line is an important technical direction in the technical field of special equipment manufacturing, namely a complete production system for realizing automatic or semi-automatic operation from bare parts or parts to finished product packaging. The automatic system is used for executing tasks with high repeatability or high precision requirements, so that the production efficiency and consistency are improved. The traditional flow production line mainly adopts a time driving mechanism, and the time driving mechanism (fixed period execution control/detection/action) still has irreplaceable application value in specific scenes by virtue of the characteristics of simple logic, high stability and easy synchronization. The core application scene is concentrated on the production links of stable working conditions, fixed action time sequence and strong synchronization of multiple devices. However, the disadvantage of the time driving mechanism is also obvious, because the action execution interval is determined by a fixed period, the sudden change of the production line cannot be responded in real time, and the resource waste, the response lag, the insufficient flexibility and the control precision are easily caused. The event triggering mechanism control is a control strategy based on event driving, and the core logic triggers control instructions or data interaction when the system state deviates from an expected value to reach a threshold value, external disturbance occurs or a key variable is changed, so that the control method has the advantages of greatly improving the resource utilization rate, being higher in control instantaneity and response sensitivity, being better in system stability, being stronger in adaptability and the like in the control of an automatic production line. For example, in a production line detection link, an event trigger mechanism is adopted to start a detection action as required, respond to a detection result accurately, and execute a subsequent process in a linkage manner, so that the development of the detection control method of the packaging production line based on the event trigger mechanism has important theoretical significance and practical significance. Disclosure of Invention In order to effectively solve the above problems in the prior art, the present invention provides a method for detecting and controlling a packaging production line based on an event triggering mechanism, which mainly comprises: S1, constructing a linear time lag control system model with uncertainty of a detection control system of a packaging production line, wherein the model comprises the following steps: Wherein the method comprises the steps of In order to be in the state of the system,Is thatIs used as a first derivative of (a),A signal is input to the controller of the system,For a known network delay of the system,The current time is indicated as such,、、Respectively, is a parameter matrix of the system,Representing a system uncertainty term caused by modeling errors, satisfyingAnd (3) with。 S2, aiming at the control system, a state observer is designed as follows: , Wherein the method comprises the steps of In order for the state of the observer to be observed,In order for the output of the observer to be,For the observer gain to be designed, defining the observation error asThen: s3, processing network delay in the network control system by designing a state predictor so as to obtain a future state corresponding to the delay of the system, wherein the predictor for obtaining the predicted state based on the state of the system observer is as follows: 。 S4, designing a novel event triggering mechanism based on a future state, and eliminating system network delay caused by hysteresis effect through the mechanism, wherein the novel event triggering mechanism is as follows: ,, Wherein the method comprises the steps of ,For the current prediction state of the current block,For the state value at the time of the last communication,Is an event trigger coefficient; indicating the trigger time, wherein The first trigger time isThe next trigger time is。 S5, designing a state feedback controller of the packaging production line control system model established in the S1 by utilizing a linear matrix inequality technology, so that the triggering times of control signals are obviously reduced, the communication resources of a control channel are saved, and the deviation is corrected in real time to ensure the control precision. The co