CH687047A5 - A method for controlling a work machine - Google Patents
A method for controlling a work machine Download PDFInfo
- Publication number
- CH687047A5 CH687047A5 CH03565/93A CH356593A CH687047A5 CH 687047 A5 CH687047 A5 CH 687047A5 CH 03565/93 A CH03565/93 A CH 03565/93A CH 356593 A CH356593 A CH 356593A CH 687047 A5 CH687047 A5 CH 687047A5
- Authority
- CH
- Switzerland
- Prior art keywords
- variables
- machine
- control
- manipulated variables
- extruder
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/30—Mixing; Kneading continuous, with mechanical mixing or kneading devices
- B29B7/58—Component parts, details or accessories; Auxiliary operations
- B29B7/72—Measuring, controlling or regulating
- B29B7/726—Measuring properties of mixture, e.g. temperature or density
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/30—Mixing; Kneading continuous, with mechanical mixing or kneading devices
- B29B7/58—Component parts, details or accessories; Auxiliary operations
- B29B7/72—Measuring, controlling or regulating
- B29B7/728—Measuring data of the driving system, e.g. torque, speed, power, vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/25—Component parts, details or accessories; Auxiliary operations
- B29C48/92—Measuring, controlling or regulating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2948/00—Indexing scheme relating to extrusion moulding
- B29C2948/92—Measuring, controlling or regulating
- B29C2948/92009—Measured parameter
- B29C2948/92019—Pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2948/00—Indexing scheme relating to extrusion moulding
- B29C2948/92—Measuring, controlling or regulating
- B29C2948/92009—Measured parameter
- B29C2948/92047—Energy, power, electric current or voltage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2948/00—Indexing scheme relating to extrusion moulding
- B29C2948/92—Measuring, controlling or regulating
- B29C2948/92009—Measured parameter
- B29C2948/92066—Time, e.g. start, termination, duration or interruption
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2948/00—Indexing scheme relating to extrusion moulding
- B29C2948/92—Measuring, controlling or regulating
- B29C2948/92009—Measured parameter
- B29C2948/922—Viscosity; Melt flow index [MFI]; Molecular weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2948/00—Indexing scheme relating to extrusion moulding
- B29C2948/92—Measuring, controlling or regulating
- B29C2948/92009—Measured parameter
- B29C2948/92209—Temperature
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2948/00—Indexing scheme relating to extrusion moulding
- B29C2948/92—Measuring, controlling or regulating
- B29C2948/92323—Location or phase of measurement
- B29C2948/92361—Extrusion unit
- B29C2948/92409—Die; Nozzle zone
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/03—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor characterised by the shape of the extruded material at extrusion
Landscapes
- Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
- Mechanical Engineering (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Extrusion Moulding Of Plastics Or The Like (AREA)
- Feedback Control In General (AREA)
Description
1 1
CH 687 047 A5 CH 687 047 A5
2 2nd
Beschreibung description
Die Erfindung betrifft ein Verfahren zur Regelung einer Arbeitsmaschine nach dem Oberbegriff des Anspruchs 1. Sie betrifft vor allem solche Arbeitsmaschinen, deren Steuerung und Regelung von zumeist mehreren subjektiven Entscheidungsgrössen beeinflusst wird, insbesondere die Regelung von Extrudern zur Herstellung von Lebensmitteln einerseits und das Konstanthalten durch eine oder mehrere on line Messgrössen andererseits. The invention relates to a method for regulating a work machine according to the preamble of claim 1. It relates primarily to those work machines whose control and regulation is influenced by mostly several subjective decision variables, in particular the regulation of extruders for the production of food on the one hand and the keeping constant by one or several on-line measured values on the other hand.
Die Steuerung bzw. Regelung eines Extruders unterliegt einer Vielzahl von Einflussgrössen. Extru-sionsprodukte werden hinsichtlich Quantität und Qualität von verschiedensten Eingangsgrössen beeinflusst. Hieraus ergeben sich vielfältige Variationen von Stellgrössen, die in hohem Masse von der Erfahrung und der Einfühlung des jeweiligen Bedienpersonals abhängen. Vor allem die Extrudie-rung neuer Produkte erfordert einen hohen Einstellungsaufwand ausgehend von bekannten Arbeitspunkten mit ähnlichen Produkten. Da die Charakteristik der Regelstrecken wesentlich von der Extruderkonfiguration abhängt, geschieht dies weitgehend nach dem Prinzip «trial and error». Ist ein gesuchter Arbeitspunkt erreicht, kann dieser nach einer gewissen Lernphase stabilisiert/optimiert werden. Diese Vorgehensweise ist notwendig, da aus den Erfahrungen einer bestimmten Extruderkonfiguration und bekannten Rezepturen nicht eindeutig auf das Verhalten in einem neuen Arbeitspunkt geschlossen werden kann. The control or regulation of an extruder is subject to a large number of influencing factors. The quantity and quality of extrusion products are influenced by a wide range of input variables. This results in various variations of manipulated variables, which depend to a large extent on the experience and empathy of the respective operating personnel. Especially the extrusion of new products requires a lot of adjustment work based on known working points with similar products. Since the characteristics of the controlled systems depend essentially on the extruder configuration, this is largely done according to the “trial and error” principle. If a desired working point is reached, it can be stabilized / optimized after a certain learning phase. This procedure is necessary because the experience of a specific extruder configuration and known recipes cannot be used to conclusively conclude the behavior at a new operating point.
Das Bedienpersonal arbeitet üblicherweise in einem mehrdimensionalen Regelraum mit mehreren Stellgrössen. Im allgemeinem ist der Mensch nicht in der Lage, diesen Regelraum in Echtzeit zu überblicken. Erfahrungen und Beobachtungen sind meist nur auf zwei Dimensionen erstreckbar, was eine optimale Regelung ausschliesst. The operating personnel usually work in a multi-dimensional control room with several manipulated variables. In general, humans are unable to see this control room in real time. Experiences and observations can usually only be extended to two dimensions, which precludes optimal regulation.
Seit langem wird daher versucht, diese komplizierten Steuerungs- und Regelungsfunktionen zu automatisieren. Aufgrund der Fülle von Einflussgrössen konnte dies bisher nur unvollkommen und mit sehr hohem Aufwand realisiert werden, da eine geschlossene, mathematische Beschreibung des Extrusionsvorganges von Lebensmitteln mit genügender Präzision in der Vielzahl seiner Parameter nicht existent ist. For a long time, therefore, attempts have been made to automate these complicated control and regulation functions. Due to the abundance of influencing variables, this has so far been possible only incompletely and with great effort, since a closed, mathematical description of the extrusion process of food with sufficient precision does not exist in the multitude of its parameters.
Für Regelvorgänge mit komplexen Wirkzusammenhängen oder mit problematischer Ermittlung von Kenngrössen (Eingang) sind bereits sogenannte Fuzzy-Regler, z.B. aus der EP-A 355 753 und der EP-B 290 999, bekanntgeworden, die jedoch durch eine aufwendige Signalverarbeitung gekennzeichnet sind. For control processes with complex interrelationships or with problematic determination of parameters (input), so-called fuzzy controllers, e.g. from EP-A 355 753 and EP-B 290 999, which, however, are characterized by complex signal processing.
Der Erfindung liegt nun die Aufgabe zugrunde, ein Verfahren zur Regelung einer Arbeitsmaschine zu entwickeln, das eine Optimierung und Stabilisierung bzw. adaptive Anpassung eines Arbeitspunktes, insbesondere bei einem Extruder zur Extrusion von Lebensmitteln ermöglicht. Diese Aufgabe wird mit den kennzeichnenden Merkmalen des Anspruchs 1 gelöst. Die Aufgabe der Erfindung besteht des weiteren darin, für produktspezifische Regelstrecken Regler mit der vorhandenen Datenbasis zu generieren. Eine weitere Aufgabe der Erfindung besteht darin, nach dem erfindungsgemässen Verfahren arbeitende Regler und Code-Generatoren, d.h. die zur Erstellung solcher Regler notwendigen Hilfsmittel zu schaffen, die eine Optimierung und Stabilisierung eines gefundenen Arbeitspunktes ermöglicht. The invention is based on the object of developing a method for regulating a work machine which enables optimization and stabilization or adaptive adaptation of a working point, in particular in the case of an extruder for extruding food. This object is achieved with the characterizing features of claim 1. The object of the invention is further to generate controllers for the product-specific controlled systems with the existing database. Another object of the invention is to provide regulators and code generators which operate according to the method according to the invention, i.e. to create the tools necessary for creating such controllers, which enables optimization and stabilization of a found working point.
Ausgangspunkt der Erfindung ist die Überlegung, dass, insbesondere bei der Herstellung von Lebensmitteln die Beurteilung der Produktqualität von vielen subjektiven Entscheidungskriterien beeinflusst wird, wobei diese Kriterien zumeist nur durch menschliche Sinne determiniert sind. Sie sind in hohem Mass von Expertenwissen abhängig und/oder müssen nach Versuchen durch sensorische und analytische Beurteilung ermittelt werden. Die Fülle der zu ermittelnden Daten ist so umfangreich (mehrdimensional), dass die Erstellung einer Regelung gerechtfertigt ist. Durch die Verbindung von Produktqualität und Stellgrössen kann die Regelstrecke als «black box» betrachtet werden. Hierbei werden scheinbare Zusammenhänge dargestellt, die den wirklichen nicht zwingend entsprechen müssen. Wie auch beim menschlichen Denken besteht kein Anspruch auf die wirklichen physikalischen Zusammenhänge. Mittels eines üblichen Rechnersystems werden die Zusammenhänge umgekehrt und Stellgrössen in Abhängigkeit von der gewünschten Produktqualität und on line Messgrössen angeboten. Die Erstellung erfolgt in einer Programmiersprache sowie ihre Integration in eine konventionelle Maschinensteuerung (Sollwertvorgabe). Aus dem bekannten Stand der Technik heraus ist es nicht offensichtlich, durch Versuchsplanung und Abfahren eines Kennfeldes und Überspringen von Systemparametern den Einfahraufwand eines Extruders drastisch zu reduzieren (Parameterreduzierung). The starting point of the invention is the consideration that, in particular in the production of foodstuffs, the assessment of the product quality is influenced by many subjective decision criteria, these criteria mostly being determined only by human senses. They are highly dependent on expert knowledge and / or have to be determined after tests by sensory and analytical assessment. The wealth of data to be determined is so extensive (multi-dimensional) that the creation of a regulation is justified. By combining product quality and manipulated variables, the controlled system can be viewed as a “black box”. Apparent relationships are shown here, which do not necessarily have to correspond to the real ones. As with human thinking, there is no claim to the real physical relationships. Using a standard computer system, the relationships are reversed and manipulated variables are offered depending on the desired product quality and on-line measured variables. It is created in a programming language and integrated into a conventional machine control system (setpoint specification). From the known state of the art, it is not obvious to drastically reduce the run-in effort of an extruder by experiment planning and traversing a map and skipping system parameters (parameter reduction).
Es ist selbstverständlich, dass alle Daten für weitere Untersuchungen oder technische Anwendung gespeichert werden. It goes without saying that all data is saved for further investigations or technical application.
Zur Erstellung eines solchen ersten Systems können verschiedene Versuchsdesign gewählt werden. Various test designs can be selected to create such a first system.
Die Integration eines Viskositätssensors ermöglicht eine Regelung (Betriebspunktstabilisierung) mit on line Messgrössen. Derartige Messgrössen sind die Produkttemperatur und der Druck vor der Düse, die spezifische, mechanische Energieeinleitung, insbesondere die viskosen Eigenschaften und ggf. auch die Verweilzeit. The integration of a viscosity sensor enables control (operating point stabilization) with on-line measurement variables. Such measured variables are the product temperature and the pressure in front of the nozzle, the specific, mechanical introduction of energy, in particular the viscous properties and possibly also the dwell time.
Ein solcher Viskositätssensor ist in an sich bekannter Weise zwischen Schneckenspitze und Düse installiert und ermöglicht die Messung der Fliessund Viskositätskurve unter Produktionsbedingungen (ganzer Produktstrom oder Teilstrom). Der Viskositätssensor stellt somit einen Hauptteil der Regelstrecke dar. Such a viscosity sensor is installed in a manner known per se between the screw tip and the nozzle and enables the flow and viscosity curve to be measured under production conditions (entire product stream or partial stream). The viscosity sensor therefore represents a major part of the controlled system.
Die Produkteigenschaften werden durch die gewählte Vorgehensweise (Rechenmethode) eindeutig den on line Messgrössen zugeordnet und umgekehrt. Die Stellgrössen sind eindeutig als Funktion, Regressionsgleichung, Fuzzysystem oder neuronales Netz der on line Messgrössen beschreibbar: The product properties are clearly assigned to the on-line measurement parameters by the selected procedure (calculation method) and vice versa. The manipulated variables can be clearly described as a function, regression equation, fuzzy system or neural network of the on-line measured variables:
5 5
10 10th
15 15
20 20th
25 25th
30 30th
35 35
40 40
45 45
50 50
55 55
60 60
65 65
2 2nd
3 3rd
CH 687 047 A5 CH 687 047 A5
4 4th
x, m, n, Td, TG = f (p, T, SME, t, n) x, m, n, Td, TG = f (p, T, SME, t, n)
Bei Abweichungen von einer oder mehrerer abhängigen Grössen werden die unabhängigen Variablen angepasst. In the event of deviations from one or more dependent sizes, the independent variables are adjusted.
Mit den vorhandenen Daten ist es weiterhin möglich, eine entsprechende Automatisierung vorausgesetzt, für weitere, produktspezifische Regelstrecken entsprechende Regelungen zu adaptieren, d.h. für jede Regelstrecke quasi «auf Knopfdruck» einen Regler zu generieren. In einem adaptiven System (lernfähig mit nichtlinearer Abbildung der Regelstrecke) können während der Produktion gefahrene Punkte in die Systembildung einbezogen werden, so dass dieses erweitert oder an veränderte Bedingungen angepasst werden kann. With the available data, it is still possible, provided that there is appropriate automation, to adapt appropriate controls for other, product-specific control systems, i.e. Generate a controller for each controlled system "at the push of a button". In an adaptive system (capable of learning with non-linear mapping of the controlled system), points driven during production can be included in the system formation so that it can be expanded or adapted to changing conditions.
Neben der genannten unscharfen Logik (Fuzzy) und der Regression können die Wirkzusammenhänge prinzipiell auch durch neuronale Netze oder mathematische Modellierung dargestellt werden. Eine derartige Modellierung ist jedoch sehr aufwendig und lässt zudem eine Darstellung als «black box» nicht zu (neuronale Netze ausgenommen). In addition to the fuzzy logic and regression mentioned, the causal relationships can in principle also be represented by neural networks or mathematical modeling. However, such modeling is very complex and also does not allow it to be represented as a “black box” (except neural networks).
Die erfindungsgemässe Anwendung zeigt als wesentlichen Vorteil, die Erfahrungen des Bedienpersonals in einer aufwandsarmen und damit kostengünstigen Regelung zu automatisieren. Wie bekannt zeigte sich, dass die Fuzzy-Logic sehr gut geeignet ist, Prozesse mit komplizierten Wirkzusammenhängen wie z.B. an Extrudern mit bezahlbarem Aufwand zu regeln. Es ist möglich, auf eine genaue mathematische Modellierung der Regelstrecke zu verzichten und eine Regelcharakteristik für jeden neuen Arbeitspunkt einer vorgegebenen Extruderkonfiguration zu erstellen. Linguistische Daten zur Erreichung eines Arbeitspunktes werden «fuzzyfi-ziert». Es entsteht kein dynamisches System beim Anfahren und es ist scheinbar langsamer als konventionelle Logik, jedoch schneller und vor allem sicherer und reproduzierbarer arbeitend, als dies dem Menschen möglich ist. The application according to the invention shows the essential advantage of automating the experience of the operating personnel in a control which is inexpensive and therefore inexpensive. As is known, it has been shown that fuzzy logic is very well suited to processes with complex interrelationships, e.g. to control extruders with affordable effort. It is possible to dispense with an exact mathematical modeling of the controlled system and to create a control characteristic for each new operating point of a given extruder configuration. Linguistic data for reaching a working point are "fuzzified". There is no dynamic system when starting off and it appears to be slower than conventional logic, but it works faster and, above all, it is safer and more reproducible than is possible for humans.
Die Erfindung wird nachfolgend an einem Ausführungsbeispiel näher beschrieben. Die zugehörige Zeichnung zeigt einen Viskositätssensor in einer Extruderdüse in einer Prinzipdarstellung. The invention is described in more detail below using an exemplary embodiment. The accompanying drawing shows a basic illustration of a viscosity sensor in an extruder nozzle.
Die besondere Schwierigkeit bei der Regelung des Extrusionsvorganges liegt darin, dass sich die Erfahrungen des Bedienpersonals stets auf eine bestimmte Extruderkonfiguration für genau vorgegebene Rezepturen bei einem bestimmten Arbeitspunkt beschränken. Diese Erfahrungen sind nicht eindeutig auf andere Produkteinstellungen übertragbar, die Charakteristik der Regelstrecke ändert sich von Punkt zu Punkt. Es ist so nicht möglich, eine Regelung zu konzipieren, die jeden beliebigen Extru-sionsvorgang zu regeln vermag. Es ist daher zunächst erforderlich, Daten und Erfahrungen über die Wirkzusammenhänge zwischen Stellgrössen (z.B. Drehzahl, Massestrom, Wassergehalt) und Produktkriterien (z.B. Farbe, Löslichkeit, Expansionsgrad) zu ermitteln, z.B. durch Abfahren verschiedener Konfigurationen am Extruder. Hierzu werden die einzelnen Stellgrössen so variiert, dass der Regelraum, in dem sich der oder die gesuchten Arbeitspunkte befinden, abgedeckt wird. An spezifischen The particular difficulty in controlling the extrusion process is that the experience of the operating personnel is always limited to a specific extruder configuration for precisely specified recipes at a specific operating point. These experiences cannot be clearly transferred to other product settings, the characteristics of the controlled system change from point to point. It is not possible to design a control system that can control every extrusion process. It is therefore first necessary to determine data and experience about the interrelationships between manipulated variables (e.g. speed, mass flow, water content) and product criteria (e.g. color, solubility, degree of expansion), e.g. by running different configurations on the extruder. For this purpose, the individual manipulated variables are varied in such a way that the control room in which the working point (s) sought is located is covered. At specific
Punkten werden Stichproben des Produkts entnommen und anhand von Produktkriterien klassifiziert. Gemessen werden on line Grössen. Mittels derartiger «Stützstellen» werden Bereiche festgelegt, in denen sich die gesuchten Arbeitspunkte befinden. Points are taken from samples of the product and classified based on product criteria. Sizes are measured online. Areas in which the desired working points are located are defined by means of such “support points”.
In einer ersten Regelungsstufe erfolgt eine Annäherung an den gewünschten Arbeitspunkt. Die gewünschte Kombination der Produktkriterien wird als absolute Grösse an einen Regler angelegt und dieser generiert absolute Stellgrössen als Ausgangssignal. Der Extruder wird daraufhin aus dem Stand via vorgegebener Rainbowfunktion in den vorgegebenen Arbeitspunkt gefahren (Rampen). Gleichzeitig wird um den Arbeitspunkt herum in an sich bekannter Weise ein Wirkmodell erstellt, welches in diesem Bereich die Zusammenhänge zwischen der Veränderung einer on line Messgrösse und Stell-grösse und der daraus resultierenden Änderungen der Produktkriterien beschreibt. In a first control stage, the desired working point is approximated. The desired combination of the product criteria is applied as an absolute variable to a controller and this generates absolute manipulated variables as an output signal. The extruder is then moved from the stand via the specified rainbow function to the specified operating point (ramps). At the same time, an effective model is created around the working point in a manner known per se, which describes in this area the relationships between the change in an online measured variable and manipulated variable and the resulting changes in the product criteria.
Befindet sich der Extruder im gewünschten Arbeitspunkt, erfolgt in einer zweiten Regelungsstufe eine Annäherung an den optimalen Arbeitspunkt auf Grund von Produktkriterien anhand linguistischer Begriffe. Ein Fuzzy-Regler erzeugt aus diesen Angaben inkrementelle Eingangsgrössen. Damit kann sich das System beliebig (im Gegensatz zu absoluten Stellgrössen) nah an einen optimalen Arbeitspunkt herantasten, es ist weiterhin nicht erforderlich, Nichtlinearitäten der Regelstrecke zu beachten. Bei genügend kleinen Inkrementen folgt der Regler automatisch jedem nichtlinearen Kurvenverlauf. If the extruder is at the desired working point, the optimal working point is approximated in a second control stage based on product criteria using linguistic terms. A fuzzy controller generates incremental input variables from this information. In this way, the system can approach any desired (in contrast to absolute manipulated variables) close to an optimal working point; it is still not necessary to consider non-linearities of the controlled system. If the increments are small enough, the controller automatically follows every non-linear curve.
Zur Stabilisierung des Betriebspunktes kann eine dritte Regelungsstufe eingesetzt werden. Ihr Zweck besteht darin, die in der zweiten Regelungsstufe gemessenen on line Messgrössen stabil zu halten und somit die Produktqualität zu stabilisieren. Dies ist möglich, da die Qualitätskriterien des Produkts und die on line Messgrössen eindeutig aufeinander abbildbar sind. Die Stellgrössen werden bei Änderungen der on line Messgrössen in einem dynamischen System bei einem Abdriften derart angepasst, dass die on line Messgrössen wieder auf ihre ursprünglichen Werte gesetzt werden. A third control stage can be used to stabilize the operating point. Its purpose is to keep the on-line measured quantities measured in the second control stage stable and thus to stabilize the product quality. This is possible because the quality criteria of the product and the online measurement parameters can be clearly mapped onto one another. The manipulated variables are adjusted in the event of changes in the on-line measured variables in a dynamic system in the event of a drift so that the on-line measured variables are reset to their original values.
Bei gezielter Veränderung des Betriebspunktes aus der zweiten Regelungsstufe werden die Sollwerte (on line Messgrössen) aus der dritten Regelungsstufe angepasst und auf den neuen Werten erneut stabilisiert. If the operating point is specifically changed from the second control level, the setpoints (on-line measurement variables) from the third control level are adjusted and stabilized again at the new values.
Der verwendete Viskositätssensor kann in an sich bekannter Weise sowohl keilförmig als auch in Stufen ausgebildet sein, wie dies z.B. in der DE-OS 4 220 157 beschrieben ist. Die in der Fig. dargestellte Keilform stellt eine vereinfachte Konstruktion dar, die jedoch zur on line Messung vollumfänglich geeignet ist. Hierzu ist in einem Extruder 1 ein in line Viskositätssensor 2 in an sich bekannter Weise und in einer an sich bekannten Anordnung zwischen einer Schneckenspitze 3 und einer Düse 4 des Extruders 1 installiert. The viscosity sensor used can be designed in a manner known per se both wedge-shaped and in steps, as is the case, for example, is described in DE-OS 4 220 157. The wedge shape shown in the figure represents a simplified construction, which is, however, fully suitable for on-line measurement. For this purpose, an in-line viscosity sensor 2 is installed in an extruder 1 in a manner known per se and in an arrangement known per se between a screw tip 3 and a nozzle 4 of the extruder 1.
Es ist unvermeidlich, für jedes zu extrudierende Produkt einen speziellen Regler zu entwickeln. Dies gestattet andererseits, die Regler nach einem bestimmten Algorithmus zu erzeugen. It is inevitable to develop a specific controller for each product to be extruded. On the other hand, this allows the controllers to be generated according to a specific algorithm.
Die Codegenerierung erfolgt in einem separaten Vorgehensmuster dergestalt, dass ein spezifischer The code is generated in a separate process pattern in such a way that a specific one
5 5
10 10th
15 15
20 20th
25 25th
30 30th
35 35
40 40
45 45
50 50
55 55
60 60
65 65
3 3rd
5 5
CH 687 047 A5 CH 687 047 A5
6 6
Regelraum manuell abgefahren wird und eine Klassifizierung der gewonnenen Daten erfolgt. Auf Basis dieser Informationen wird ein Vektor der Produktkriterien eingegeben und ein spezieller Regler zur Optimierung und Stabilisierung des Arbeitspunktes erzeugt. Dieser kann dann direkt in die bereits bestehende Regelungsumgebung integriert werden. Control room is manually driven and the data obtained is classified. Based on this information, a vector of the product criteria is entered and a special controller for optimizing and stabilizing the working point is generated. This can then be integrated directly into the existing control environment.
Das Bedienpersonal kann so den Extruder auf Grund visueller Produktbeurteilung mit linguistischen Variablen einfach optimieren und damit on line Messgrössen stabilisieren. The operating personnel can thus easily optimize the extruder based on visual product evaluation with linguistic variables and thus stabilize measurement variables online.
Claims (10)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CH03565/93A CH687047A5 (en) | 1993-11-30 | 1993-11-30 | A method for controlling a work machine |
| DE4433593A DE4433593B4 (en) | 1993-11-30 | 1994-09-21 | Method for controlling an extruder and device thereto |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CH03565/93A CH687047A5 (en) | 1993-11-30 | 1993-11-30 | A method for controlling a work machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CH687047A5 true CH687047A5 (en) | 1996-08-30 |
Family
ID=4258752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CH03565/93A CH687047A5 (en) | 1993-11-30 | 1993-11-30 | A method for controlling a work machine |
Country Status (2)
| Country | Link |
|---|---|
| CH (1) | CH687047A5 (en) |
| DE (1) | DE4433593B4 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112912227A (en) * | 2018-11-06 | 2021-06-04 | 温德默勒及霍乐沙两合公司 | Calibration method of outlet nozzle gap adjusting mechanism for adjusting film web on film flattening machine |
Families Citing this family (65)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6539267B1 (en) | 1996-03-28 | 2003-03-25 | Rosemount Inc. | Device in a process system for determining statistical parameter |
| US6654697B1 (en) | 1996-03-28 | 2003-11-25 | Rosemount Inc. | Flow measurement with diagnostics |
| US7949495B2 (en) | 1996-03-28 | 2011-05-24 | Rosemount, Inc. | Process variable transmitter with diagnostics |
| US6017143A (en) | 1996-03-28 | 2000-01-25 | Rosemount Inc. | Device in a process system for detecting events |
| US8290721B2 (en) | 1996-03-28 | 2012-10-16 | Rosemount Inc. | Flow measurement diagnostics |
| US6601005B1 (en) | 1996-11-07 | 2003-07-29 | Rosemount Inc. | Process device diagnostics using process variable sensor signal |
| US6754601B1 (en) | 1996-11-07 | 2004-06-22 | Rosemount Inc. | Diagnostics for resistive elements of process devices |
| US6434504B1 (en) | 1996-11-07 | 2002-08-13 | Rosemount Inc. | Resistance based process control device diagnostics |
| US6449574B1 (en) | 1996-11-07 | 2002-09-10 | Micro Motion, Inc. | Resistance based process control device diagnostics |
| US6519546B1 (en) | 1996-11-07 | 2003-02-11 | Rosemount Inc. | Auto correcting temperature transmitter with resistance based sensor |
| DE19741674A1 (en) * | 1997-09-22 | 1999-03-25 | Haake Gmbh Geb | Mixer for viscoelastic materials |
| CA2306767C (en) | 1997-10-13 | 2007-05-01 | Rosemount Inc. | Communication technique for field devices in industrial processes |
| DE19851531B4 (en) * | 1998-11-09 | 2010-09-02 | Sew-Eurodrive Gmbh & Co. Kg | Caterpillar take-off, especially for an extrusion machine |
| US6615149B1 (en) | 1998-12-10 | 2003-09-02 | Rosemount Inc. | Spectral diagnostics in a magnetic flow meter |
| US6611775B1 (en) | 1998-12-10 | 2003-08-26 | Rosemount Inc. | Electrode leakage diagnostics in a magnetic flow meter |
| US6633782B1 (en) | 1999-02-22 | 2003-10-14 | Fisher-Rosemount Systems, Inc. | Diagnostic expert in a process control system |
| US8044793B2 (en) | 2001-03-01 | 2011-10-25 | Fisher-Rosemount Systems, Inc. | Integrated device alerts in a process control system |
| US6298454B1 (en) | 1999-02-22 | 2001-10-02 | Fisher-Rosemount Systems, Inc. | Diagnostics in a process control system |
| DE19919206A1 (en) * | 1999-04-28 | 2000-11-02 | Buehler Ag | Process for the production of pasta |
| US6356191B1 (en) | 1999-06-17 | 2002-03-12 | Rosemount Inc. | Error compensation for a process fluid temperature transmitter |
| DE60014709T3 (en) | 1999-07-01 | 2010-04-15 | Rosemount Inc., Eden Prairie | TWO-WIRE TRANSMITTER WITH SELF-TESTING AND LOW POWER |
| DE19931181B4 (en) * | 1999-07-07 | 2004-12-09 | Bühler AG | Process and device for optimizing process control and process monitoring in a plant for chocolate production |
| US6505517B1 (en) | 1999-07-23 | 2003-01-14 | Rosemount Inc. | High accuracy signal processing for magnetic flowmeter |
| DE19936827A1 (en) * | 1999-08-05 | 2001-03-08 | Hosokawa Bepex Gmbh | Device for extruding plastic masses |
| US6701274B1 (en) | 1999-08-27 | 2004-03-02 | Rosemount Inc. | Prediction of error magnitude in a pressure transmitter |
| US6556145B1 (en) | 1999-09-24 | 2003-04-29 | Rosemount Inc. | Two-wire fluid temperature transmitter with thermocouple diagnostics |
| US6735484B1 (en) | 2000-09-20 | 2004-05-11 | Fargo Electronics, Inc. | Printer with a process diagnostics system for detecting events |
| US8073967B2 (en) | 2002-04-15 | 2011-12-06 | Fisher-Rosemount Systems, Inc. | Web services-based communications for use with process control systems |
| US7720727B2 (en) | 2001-03-01 | 2010-05-18 | Fisher-Rosemount Systems, Inc. | Economic calculations in process control system |
| US6859755B2 (en) | 2001-05-14 | 2005-02-22 | Rosemount Inc. | Diagnostics for industrial process control and measurement systems |
| US6629059B2 (en) | 2001-05-14 | 2003-09-30 | Fisher-Rosemount Systems, Inc. | Hand held diagnostic and communication device with automatic bus detection |
| US6772036B2 (en) | 2001-08-30 | 2004-08-03 | Fisher-Rosemount Systems, Inc. | Control system using process model |
| AT414225B (en) * | 2004-06-25 | 2006-10-15 | Technoplast Kunststofftechnik | PROCESS FOR PRODUCING PROFILES FROM THERMOPLASTIC PLASTIC |
| US8005647B2 (en) | 2005-04-08 | 2011-08-23 | Rosemount, Inc. | Method and apparatus for monitoring and performing corrective measures in a process plant using monitoring data with corrective measures data |
| US9201420B2 (en) | 2005-04-08 | 2015-12-01 | Rosemount, Inc. | Method and apparatus for performing a function in a process plant using monitoring data with criticality evaluation data |
| US8112565B2 (en) | 2005-06-08 | 2012-02-07 | Fisher-Rosemount Systems, Inc. | Multi-protocol field device interface with automatic bus detection |
| US20070068225A1 (en) | 2005-09-29 | 2007-03-29 | Brown Gregory C | Leak detector for process valve |
| US7953501B2 (en) | 2006-09-25 | 2011-05-31 | Fisher-Rosemount Systems, Inc. | Industrial process control loop monitor |
| CN101517377B (en) | 2006-09-29 | 2012-05-09 | 罗斯蒙德公司 | Magnetic flowmeter with verification |
| US8898036B2 (en) | 2007-08-06 | 2014-11-25 | Rosemount Inc. | Process variable transmitter with acceleration sensor |
| US8301676B2 (en) | 2007-08-23 | 2012-10-30 | Fisher-Rosemount Systems, Inc. | Field device with capability of calculating digital filter coefficients |
| US7702401B2 (en) | 2007-09-05 | 2010-04-20 | Fisher-Rosemount Systems, Inc. | System for preserving and displaying process control data associated with an abnormal situation |
| US8055479B2 (en) | 2007-10-10 | 2011-11-08 | Fisher-Rosemount Systems, Inc. | Simplified algorithm for abnormal situation prevention in load following applications including plugged line diagnostics in a dynamic process |
| US7921734B2 (en) | 2009-05-12 | 2011-04-12 | Rosemount Inc. | System to detect poor process ground connections |
| US9207670B2 (en) | 2011-03-21 | 2015-12-08 | Rosemount Inc. | Degrading sensor detection implemented within a transmitter |
| US9927788B2 (en) | 2011-05-19 | 2018-03-27 | Fisher-Rosemount Systems, Inc. | Software lockout coordination between a process control system and an asset management system |
| US10532495B2 (en) | 2012-05-31 | 2020-01-14 | Aladdin Manufacturing Corporation | Methods for manufacturing bulked continuous filament from recycled PET |
| US10695953B2 (en) | 2012-05-31 | 2020-06-30 | Aladdin Manufacturing Corporation | Methods for manufacturing bulked continuous carpet filament |
| US8597553B1 (en) | 2012-05-31 | 2013-12-03 | Mohawk Industries, Inc. | Systems and methods for manufacturing bulked continuous filament |
| US9630353B2 (en) | 2012-05-31 | 2017-04-25 | Mohawk Industries, Inc. | Method of manufacturing bulked continuous filament |
| US10538016B2 (en) | 2012-05-31 | 2020-01-21 | Aladdin Manufacturing Corporation | Methods for manufacturing bulked continuous carpet filament |
| US9636860B2 (en) | 2012-05-31 | 2017-05-02 | Mohawk Industries, Inc. | Method of manufacturing bulked continuous filament |
| US10487422B2 (en) | 2012-05-31 | 2019-11-26 | Aladdin Manufacturing Corporation | Methods for manufacturing bulked continuous filament from colored recycled pet |
| US11045979B2 (en) | 2012-05-31 | 2021-06-29 | Aladdin Manufacturing Corporation | Methods for manufacturing bulked continuous filament from recycled PET |
| US9052240B2 (en) | 2012-06-29 | 2015-06-09 | Rosemount Inc. | Industrial process temperature transmitter with sensor stress diagnostics |
| US9207129B2 (en) | 2012-09-27 | 2015-12-08 | Rosemount Inc. | Process variable transmitter with EMF detection and correction |
| US9602122B2 (en) | 2012-09-28 | 2017-03-21 | Rosemount Inc. | Process variable measurement noise diagnostic |
| FR3032143B1 (en) | 2015-02-03 | 2017-08-25 | Clextral | CONTROL-CONTROL METHOD OF EXTRUSION MACHINE, AND EXTRUSION MACHINE |
| AT517337B1 (en) * | 2015-07-03 | 2017-01-15 | Sonderhoff Engineering Gmbh | mixing device |
| AT516947B1 (en) | 2015-07-03 | 2016-10-15 | Sonderhoff Eng Gmbh | mixing device |
| US10751915B2 (en) | 2016-11-10 | 2020-08-25 | Aladdin Manufacturing Corporation | Polyethylene terephthalate coloring systems and methods |
| HUE062402T2 (en) | 2017-01-30 | 2023-10-28 | Aladdin Mfg Corp | Methods for manufacturing bulked continuous filament from colored recyled pet |
| US11279071B2 (en) | 2017-03-03 | 2022-03-22 | Aladdin Manufacturing Corporation | Method of manufacturing bulked continuous carpet filament |
| CA3073425A1 (en) | 2017-09-15 | 2019-03-21 | Aladdin Manufacturing Corporation | Polyethylene terephthalate coloring method and system for manufacturing a bulked continuous carpet filament |
| US11242622B2 (en) | 2018-07-20 | 2022-02-08 | Aladdin Manufacturing Corporation | Bulked continuous carpet filament manufacturing from polytrimethylene terephthalate |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD155935A1 (en) * | 1980-06-16 | 1982-07-14 | Slaweyko Marinow | PROCESS FOR OPTIMUM ADJUSTMENT AND AUTOMATIC CONTROL OF THE EXTRUSION PROCESS BY MEANS OF PROCESSOR |
| DE3526050C2 (en) * | 1985-07-20 | 1994-11-17 | Krupp Ag Hoesch Krupp | Process for operating an extruder |
| DE3636867A1 (en) * | 1986-10-30 | 1988-05-19 | Werner & Pfleiderer | METHOD AND DEVICE FOR EXTRUDING A FOOD PRODUCT |
| US4880142A (en) * | 1987-05-12 | 1989-11-14 | Fuji Photo Film Co., Ltd. | Powder weighing mixer and method thereof |
| US5167005A (en) * | 1988-08-19 | 1992-11-24 | Research Development Corporation Of Japan | Fuzzy computer |
| JPH04199302A (en) * | 1990-11-29 | 1992-07-20 | Ube Ind Ltd | Learning system for neural circuit network in fuzzy control |
| JPH04319419A (en) * | 1991-04-18 | 1992-11-10 | Hashimoto Forming Ind Co Ltd | Extrusion molding method and its device |
| EP0603244B1 (en) * | 1991-09-12 | 1997-03-19 | Engel Maschinenbau Gesellschaft m.b.H. | Process for controlling a production machine, in particular an injection moulding machine |
-
1993
- 1993-11-30 CH CH03565/93A patent/CH687047A5/en not_active IP Right Cessation
-
1994
- 1994-09-21 DE DE4433593A patent/DE4433593B4/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112912227A (en) * | 2018-11-06 | 2021-06-04 | 温德默勒及霍乐沙两合公司 | Calibration method of outlet nozzle gap adjusting mechanism for adjusting film web on film flattening machine |
Also Published As
| Publication number | Publication date |
|---|---|
| DE4433593B4 (en) | 2007-10-04 |
| DE4433593A1 (en) | 1995-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE4433593B4 (en) | Method for controlling an extruder and device thereto | |
| DE10012258B4 (en) | Self-tuning in a distributed process control environment | |
| DE69511991T2 (en) | Method and device for controlling multi-size / non-linear systems | |
| DE69603866T2 (en) | METHOD FOR THE OPTIMIZED PROCESS CONTROL IN A MULTIVARIABLE PREDICTIVE CONTROL UNIT | |
| DE3512276A1 (en) | PATTERN-DETECTING, SELF-ADJUSTING CONTROLLER | |
| EP2376783A1 (en) | Simulation-supported method for controlling and regulating compressed air stations | |
| EP0756219B1 (en) | Method for supervising product properties and method for controlling a manufacturing process | |
| WO2010045935A1 (en) | Apparatus and method for controlling a machining system | |
| EP1640826B2 (en) | Presentation of process values in automation technology | |
| WO1995001589A1 (en) | Control device, especially for a non-linear process varying in time | |
| DE3804913A1 (en) | DEVICE AND METHOD FOR PRODUCING SPRINGS | |
| DE3020648A1 (en) | METHOD AND DEVICE FOR CONTROLLING OR CONTROL OF TECHNICAL PROCESSES | |
| DE69106906T2 (en) | System and method for regulating the wall thickness of preforms. | |
| DE69030812T2 (en) | METHOD AND DEVICE FOR CONTROLLING A PROCESS WITH THE AID OF A TRAINED PARALLEL DISTRIBUTED PROCESSING NETWORK | |
| EP0762245B1 (en) | Method for detecting a faulty prediction in a neural process control | |
| EP0735443B1 (en) | Neural network for compensating a position deviation in machining equipments for work pieces | |
| DE19624614C2 (en) | Process for designing or adapting a fuzzy controller or a system of linked fuzzy controllers | |
| DE19624301B4 (en) | Learning method for a neural network | |
| EP0813986A2 (en) | Method for distance control in a vehicle | |
| DE102020114339A1 (en) | Method for operating a fan system and fan system with a backward curved centrifugal fan | |
| DE19727795C1 (en) | Process modelling method for neural network | |
| WO2000072096A1 (en) | Method, arrangement and computer program for designing a technical system | |
| WO1994028470A1 (en) | Regulating device | |
| EP2225953A1 (en) | Tempering machine for continuous preparing of fatty masses with constant tempering level | |
| DE3213915A1 (en) | DIGITAL CONTROL DEVICE |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PL | Patent ceased |