Automatic control system and method for tea rolling machine

Abstract

The present invention provides an automatic control system for a tea rolling machine, including: an upper computer, a lower computer, a speed control subsystem and a pressure control subsystem; the upper computer is used for displaying the rolling process, process parameters, data processing and storage, and setting the human-machine interface for parameter setting; the lower computer is used for data acquisition, logical operation and automatic control of the sensor of the rolling machine; the speed control subsystem is used to control the rolling barrel to make horizontal circular motion on the rolling disk driven by the first motor and the first transmission actuator; the pressure control subsystem includes: a mode control unit and a pressure control unit, which are used to control the rolling machine to make periodic vertical reciprocating motion. The rolling machine can roll tea leaves at a precise and constant speed and pressure during operation, thereby improving the quality of the tea leaves.

Description

Technical Field

[0001] The invention relates to the technical field of automatic control, and in particular to an automatic control system and method for a tea rolling machine. Background Art

[0002] Rolling is a key process in the initial processing of tea. On the one hand, rolling makes the tea leaves roll tightly into strips and reduce their volume; on the other hand, through the action of external force, the leaf tissue cells are appropriately destroyed, causing cell breakage and tea juice overflow. Tea juice overflows on the surface of the tea leaves, which is conducive to increasing the concentration of tea juice. Therefore, rolling is an extremely important process in the tea processing process and directly determines the quality of tea leaves. In the rolling process, rolling pressure is the key to rolling technology. If the pressure is too high, the tea leaves are easy to form a mass and break; if the pressure is too low, the tea leaves are thick and loose. The rolling speed is also an important factor affecting the quality of tea leaves. For the same variety of tea, the rolling speed is too fast and the cell breakage rate increases. The existing rolling machines are automatically controlled. Some rolling machines complete the rolling control through time setting. There is no way to achieve accurate and constant control of the rolling pressure and speed. In addition, the pressurization process is continuous, resulting in insufficient rolling of tea leaves or high breakage rate, and poor strips.

[0003] The above problems need to be solved urgently. Summary of the invention

[0004] The main purpose of the present invention is to provide an automatic control system and method for a tea rolling machine, which can solve the existing problem that it is impossible to achieve accurate and constant control of the rolling pressure and rotation speed, and the pressurization process is continuous, resulting in insufficient tea rolling or high breakage rate and poor tea strips.

[0005] The present invention aims to overcome at least one of the above-mentioned disadvantages of the prior art. On the one hand, the present invention provides an automatic control system for a tea rolling machine, wherein the tea rolling machine comprises a rolling barrel for holding tea leaves and a pressure cover above the rolling barrel, an electric push rod for driving the pressure cover to move up and down, and a pressure sensor arranged on the electric push rod. The system comprises: an upper computer, a lower computer, a speed control subsystem and a pressure control subsystem; the upper computer is a touch screen for displaying the rolling process and process parameters, processing and saving data, and setting a human-machine interface for parameter setting; the lower computer is a PLC for performing data acquisition, logic operation and automatic control on the sensors of the rolling machine; the speed control subsystem comprises: one or a combination of a first fuzzy controller, a first A / D conversion module, a frequency converter, a first motor, a first transmission actuator and a speed measurement feedback module; the speed control subsystem is used to control the rolling barrel to make horizontal circular motion on the rolling disk driven by the first motor and the first transmission actuator; the pressure control subsystem comprises: a mode control unit and a pressure control unit for controlling the rolling machine to make periodic vertical reciprocating motion.

[0006] Optionally, the first transmission actuator includes a kneading barrel, a barrel hub and a crank; the speed control subsystem is used to make the kneading barrel perform horizontal circular motion on the kneading disk driven by the first motor and the first transmission actuator; the speed measurement feedback module includes a speed sensor and a first D / A conversion module; the speed sensor is used to measure the actual speed of the kneading barrel; the first D / A conversion module is used to convert the measured actual speed analog quantity into a digital quantity to be read by the PLC.

[0007] Optionally, the speed control subsystem is also used for: the speed measurement feedback module inputs the actual value of the speed into the first fuzzy controller in the PLC; the first fuzzy controller performs fuzzification, quantization and table lookup operations on the actual value, and then calculates the deviation between the speed and the set speed and the deviation between the set speed change rate and the actual change rate; based on the deviation between the speed and the set speed and the deviation between the set speed change rate and the actual change rate, the control quantities ΔKp, ΔKi, ΔKd of the deviation are generated; the control quantities ΔKp, ΔKi, ΔKd of the deviation are written into the first fuzzy controller to obtain the deviation value of the speed; the first fuzzy controller converts the deviation value through the first A / D conversion module and outputs it to the frequency converter; the speed of the first motor is adjusted by the frequency converter to control the constant speed operation of the first transmission actuator.

[0008] Optionally, the mode control unit is used to control the working mode of the rolling machine so that the rolling machine performs periodic vertical reciprocating motion.

[0009] Optionally, the working mode includes an initial mode and a kneading mode; in the initial mode, the electric push rod is controlled to drive the pressure cover to be pressed down continuously; whether the pressure cover touches the tea leaves is determined according to the detection data of the pressure sensor; if so, the initial mode is ended and the kneading mode is entered; after determining that the kneading process step is completed, the electric push rod drives the pressure cover to move continuously upward to a preset position.

[0010] Optionally, ending the initial mode and entering the kneading mode includes: determining the process steps to be performed and the lifting direction of the pressure cover according to the set kneading process steps; gradually adjusting the upper and lower positions of the pressure cover according to the adjustment cycle; comparing the detection data of the static time of the pressure sensor during the adjustment cycle with the pressure parameters corresponding to the process steps to determine whether the stopping requirements are met; if so, the pressure cover is stationary for the working time corresponding to the process step; when the pressure cover is stationary for the working time corresponding to the process step, gradually adjusting the upper and lower positions of the pressure cover according to the adjustment cycle to enter the next process step.

[0011] Optionally, the mode control unit is also used to: obtain comparison data, the comparison data is obtained by the pressure value detected by the thrust sensor during the adjustment period; subtract the pressure parameter corresponding to the process step from the comparison data to obtain a corresponding difference; determine whether the difference meets the setting of an acceptable range, the acceptable range is a region range generated for the process step, and when the difference is within the region range, it is determined that the difference meets the setting of the acceptable range; if so, it is determined that the stop requirement is met; otherwise, it is determined that the stop requirement is not met.

[0012] Optionally, the pressure control unit includes one or a combination of a second fuzzy controller, a second D / A conversion module, a driver, a second motor, a second transmission actuator and a pressure feedback module; the pressure control unit is used to control the pressure cover to move vertically at a constant pressure driven by the second motor and the second transmission actuator based on different working modes of the kneading machine.

[0013] Optionally, the pressure feedback module includes: a pressure sensor and a second A / D conversion module; the pressure sensor is used to obtain the pressure generated by the pressure cover on the bottom; the second A / D conversion module is used to convert the obtained pressure analog quantity into a digital quantity to be read by the PLC; the pressure control unit is also used for: the pressure feedback module inputs the actual value of the pressure into the second fuzzy controller in the PLC; the second fuzzy controller performs fuzzification, quantization and table lookup operations on the actual value, and calculates the deviation between the actual pressure and the set pressure and the deviation between the set pressure change rate and the actual change rate; based on the deviation between the actual pressure and the set pressure and the deviation between the set pressure change rate and the actual change rate, the control amount of the deviation ΔKp, ΔKi, ΔKd is generated; the control amount of the deviation ΔKp, ΔKi, ΔKd is written into the second fuzzy controller to obtain the deviation value of the pressure; the second fuzzy controller converts the deviation value through the second D / A conversion module and outputs it to the driver, and adjusts the rotation angle of the second motor through the driver; the second motor controls the pressure cover to knead at a constant pressure in the current working mode.

[0014] On the other hand, the present invention provides an automatic control method for a tea rolling machine, which is applied to the control unit in the above-mentioned control system; the control method includes: based on the upper computer, setting the rolling process, display of process parameters, data processing and storage, and parameter setting of the human-machine interface; based on the lower computer, performing data acquisition, logical operations and automatic control on the sensors of the rolling machine; based on the speed control subsystem, making the rolling barrel perform horizontal circular motion on the rolling disk; based on the pressure control subsystem, making the rolling machine perform periodic vertical reciprocating motion.

[0015] On the other hand, the present invention provides a computer-readable storage medium, wherein one or more instructions are stored in the computer-readable storage medium, and the computer instructions are used to enable the computer to execute the above-mentioned automatic control method of the tea rolling machine.

[0016] On the other hand, the present invention provides an electronic device, comprising: a memory and a processor; the memory stores at least one program instruction; the processor implements the above-mentioned automatic control method of the tea rolling machine by loading and executing the at least one program instruction.

[0017] The beneficial effects of the present invention are as follows: the present invention provides an automatic control system for a tea rolling machine, the rolling machine comprising a rolling barrel for holding tea leaves and a pressure cover above the rolling barrel, an electric push rod for driving the pressure cover to move up and down, and a pressure sensor arranged on the electric push rod, the system comprising: an upper computer, a lower computer, a speed control subsystem and a pressure control subsystem; the upper computer is a touch screen, which is used for displaying the rolling process and process parameters, data processing and storage, and setting the human-machine interface of parameter setting; the lower computer is a PLC, which is used for data acquisition, logical operation and automatic control of the sensors of the rolling machine; the speed control subsystem comprises: one or a combination of a first fuzzy controller, a first A / D conversion module, a frequency converter, a first motor, a first transmission actuator and a speed measurement feedback module; the speed control subsystem is used to control the rolling barrel to make horizontal circular motion on the rolling disk driven by the first motor and the first transmission actuator; the pressure control subsystem comprises: a mode control unit and a pressure control unit, which are used to control the rolling machine to make periodic vertical reciprocating motion. By controlling the speed control subsystem and the pressure control subsystem through PLC, the rolling machine can roll the tea leaves at a precise and constant speed and pressure during operation, thereby improving the quality of the tea leaves. It can also achieve a slow and intermittent pressurization process, making the tea leaves tight and uniform with a low breakage rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 The present invention provides a tea rolling machine automatic control system structure diagram.

[0020] Figure 2 It is a structural block diagram of a speed control subsystem provided in an embodiment of the present invention.

[0021] Figure 3 The present invention provides a schematic diagram of the electrical connection between the frequency converter and the PLC.

[0022] Figure 4 It is a structural block diagram of a pressure control unit provided in an embodiment of the present invention.

[0023] Figure 5 The present invention provides a flowchart of an automatic control method for a tea rolling machine.

[0024] Figure 6 It is a partial block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations as sequential processes, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0026] It should be understood that, although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another unit. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0027] The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, which only illustrates the basic structure of the present invention in a schematic manner, and therefore only shows the components related to the present invention.

[0028] Example

[0029] For the convenience of subsequent understanding, the working principle of the tea rolling machine is that the tea rolling machine is a tea rolling equipment that rolls the tea leaves while damaging some of the tea tissue cells, controls the tea strip rate and the rate of broken tea, and is convenient for tea makers to operate. After the tea leaves are withered, they are sent to the rolling barrel for rolling. The main motor drives the rolling barrel to make circular motions on the rolling disk and in parallel with the rolling disk. At the same time, the stepper motor on the side controls the lifting and lowering of the rolling cover through the transmission mechanism to achieve the rolling of the tea leaves in the rolling barrel. During this period, multiple forces such as stacking, pressing, twisting and friction in multiple directions act on the tea leaves, such as the rolling barrel wall, the rolling cover and the ridges in the rolling disk, so that the tea leaves are rolled into strips according to their respective main veins, and some leaf tissue cells are damaged, and the tea juice overflows on the surface of the tea leaves, which improves the drinking value of the tea leaves.

[0030] refer to Figure 1, which is a schematic diagram of the structure of an automatic control system for a tea rolling machine.

[0031] As an example, the kneading machine includes a kneading barrel for holding tea leaves and a pressure cover above the kneading barrel, an electric push rod that drives the pressure cover to move up and down, and a pressure sensor arranged on the electric push rod. The system includes: an upper computer, a lower computer, a speed control subsystem and a pressure control subsystem; the upper computer is a touch screen, which is used for displaying the kneading process and process parameters, data processing and storage, and setting the human-machine interface for parameter setting; the lower computer is a PLC, which is used for data acquisition, logical operation and automatic control of the sensors of the kneading machine; the speed control subsystem includes: a first fuzzy controller, a first A / D conversion module, a frequency converter, a first motor, a first transmission actuator and a speed measurement feedback module, or a combination thereof; the speed control subsystem is used to control the kneading barrel to make horizontal circular motion on the kneading disk driven by the first motor and the first transmission actuator; the pressure control subsystem includes: a mode control unit and a pressure control unit, which are used to control the kneading machine to make periodic vertical reciprocating motion.

[0032] Optionally, the kneading barrel speed, kneading pressure and kneading time are set on the host computer, and the parameters are transmitted to the PLC control system via the serial port, and the PLC controls the start and stop of the kneading barrel cover, the kneading time, the kneading barrel speed and the kneading pressure.

[0033] Optionally, the first transmission actuator includes a kneading barrel, a barrel hub and a crank; the speed control subsystem is used to make the kneading barrel perform horizontal circular motion on the kneading disk driven by the first motor and the first transmission actuator; the speed measurement feedback module includes a speed sensor and a first D / A conversion module; the speed sensor is used to measure the actual speed of the kneading barrel; the first D / A conversion module is used to convert the measured actual speed analog quantity into a digital quantity to be read by the PLC. Since the collected speed and pressure data cannot be directly collected and displayed by the host computer, these data are read into the PLC through the PLC's D / A conversion module, and the PLC performs calculations and analysis on them, and then transmits these data to the host computer via the PLC.

[0034] Optional, such as Figure 2As shown, it is a structural block diagram of the speed control subsystem. The speed control subsystem is also used for: the speed measurement feedback module inputs the actual value of the speed into the first fuzzy controller in the PLC; the first fuzzy controller performs fuzzification, quantization and table lookup operations on the actual value, and calculates the deviation between the speed and the set speed and the deviation between the set speed change rate and the actual change rate; based on the deviation between the speed and the set speed and the deviation between the set speed change rate and the actual change rate, the control amount of the deviation ΔKp, ΔKi, ΔKd is generated; the control amount of the deviation ΔKp, ΔKi, ΔKd is written into the first fuzzy controller to obtain the deviation value of the speed; the first fuzzy controller converts the deviation value through the first A / D conversion module and outputs it to the frequency converter; the frequency converter adjusts the speed of the first motor to control the constant speed operation of the first transmission actuator. Specifically, the sensor in the system collects the speed value of the controlled quantity, and the collected value is read by the computer through the first A / D conversion module, and the collected value is compared with the set value to calculate the error value of the controlled quantity, and the error value is fuzzified and then decided by fuzzy rules, and the fuzzy control amount is output. Finally, the fuzzy control quantity is defuzzified and outputted as an accurate quantity, which is converted by the first D / A conversion module and inputted into the first transmission actuator, thereby adjusting the controlled quantity outputted by the first transmission actuator. Among them, the main function of the fuzzy controller is to convert the accurate quantity into a fuzzy quantity, and then perform fuzzy reasoning according to the grammatical control rules, and finally refine the result of the fuzzy reasoning to achieve control of the controlled object. Specifically, the Mamdani model can be used as the fuzzy control model. Since the fuzzy control technology is already very mature in the prior art, it will not be described here. The set speed can be 50r / min.

[0035] Optional, such as Figure 3 As shown, it is a schematic diagram of the electrical wiring between the frequency converter and the PLC. The 0-20mA current signal (analog quantity) output from the IOUT terminal of the PLC D / A conversion module is used as the input of the control terminal AI2 of the frequency converter, and then the frequency converter modulates and outputs a high-frequency pulse to the first motor; at the same time, the speed sensor converts the speed measured by the kneading barrel from an analog signal to a digital signal through the D / A conversion module and returns it to the PLC, and the PLC calculates and controls the constant speed operation of the asynchronous motor through the speed deviation signal. By using the frequency converter, the input power frequency can be converted to a set frequency, so that the output is an alternating current of a certain set frequency, which can ensure the constant speed operation of the motor. Among them, the PLC model can be selected as the FX3U-16MR / ES-A PLC, and the frequency converter model can be selected as the FR-E740-1.5K-CHT general frequency converter. It should be noted that the models of PLC and frequency converter are not restricted here, and relevant technicians can replace different models of PLC or frequency converter based on actual needs.

[0036] As an example, the mode control unit is used to control the working mode of the rolling machine, so that the rolling machine performs periodic vertical reciprocating motion. The working mode includes an initial mode and a rolling mode; in the initial mode, the electric push rod is controlled to drive the pressure cover to be continuously pressed down; according to the detection data of the pressure sensor, it is determined whether the pressure cover touches the tea leaves; if so, the initial mode is terminated and the rolling mode is entered; after determining that the rolling process step is completed, the electric push rod drives the pressure cover to continuously move up to a preset position.

[0037] Optionally, the initial mode and the kneading mode are pre-set working modes. In the initial mode, the electric push rod drives the pressure cover to move continuously; in the kneading mode, the electric push rod drives the pressure cover to move continuously within a set time, and its movement time is limited to achieve a short-distance movement of the pressure cover. In the kneading mode, the pressure cover moves up and down.

[0038] Optionally, there is a database of rolling process steps in the tea rolling machine, and the corresponding rolling process steps can be matched according to the different tea leaves; it can also be that the operator manually inputs the set process steps and their parameters to form the rolling process steps; the rolling process steps are composed of a combination of pressureless rolling, light pressure rolling, back rolling, and heavy pressure rolling; in addition, the adjustment cycle includes an adjustment time, that is, a process in which the pressure cover moves briefly, for example, 0.1-0.2s, pressing down about 2-3mm, and the adjustment cycle also includes a static time, during which the pressure cover is static in the up and down directions; it should be said that in some embodiments, the adjustment time is fixed, and the static time can be adjusted accordingly according to the different conditions of the tea leaves to achieve a balance between processing quality and processing efficiency; it should be said that in some embodiments, the adjustment time is adjustable, and the movement distance of the pressure cover in the adjustment cycle can be controlled by adjusting the adjustment time, and the force applied to the tea leaves can be adjusted accordingly according to the different conditions of the tea leaves to achieve a balance between processing quality and processing efficiency; it should be said that the upper and lower positions of the pressure cover, that is, the position of the pressure cover relative to the rolling barrel, the closer to the rolling barrel, the lower the position of the pressure cover.

[0039] Optionally, the mode control unit is also used to: determine the process steps to be performed and the lifting direction of the pressure cover according to the set kneading process steps; gradually adjust the upper and lower positions of the pressure cover according to the adjustment cycle; compare the detection data of the static time of the pressure sensor in the adjustment cycle with the pressure parameters corresponding to the process steps to determine whether the stop requirement is met; if so, the pressure cover is stationary for the working time corresponding to the process step; when the pressure cover is stationary for the working time corresponding to the process step, gradually adjust the upper and lower positions of the pressure cover according to the adjustment cycle to enter the next process step. Specifically, the sequence of process steps that can be set is: no pressure kneading, light pressure kneading, retreat kneading and heavy pressure kneading, and the moving directions of the pressure cover to the next process are downward, upward, downward, and upward, respectively, and the corresponding pressure parameters are greater than 0kg, 5kg, 0kg, and 10kg, respectively, and the corresponding durations are 10min, 20min, 0min, and 20min, respectively. That is, when the working time corresponding to the process step of the press cap being stationary has passed, the corresponding process step is considered to be completed, and then the next process step can be entered by adjusting the adjustment cycle. When the entire kneading process step is completed, there is no next process step, and the kneading mode enters the initial mode. The electric push rod drives the press cap to move continuously up to the set upper and lower positions, which is the initial position of the press cap.

[0040] Optionally, the mode control unit is further used to: obtain comparison data, the comparison data is obtained by the pressure value detected by the thrust sensor during the adjustment period; subtract the pressure parameter corresponding to the process step from the comparison data to obtain the corresponding difference; determine whether the difference meets the setting of the acceptable interval, the acceptable interval is the region range generated for the process step, when the difference is within the region range, it is determined that the difference meets the setting of the acceptable interval; if so, it is determined that the stop requirement is met; otherwise, it is determined that the stop requirement is not met. Among them, the average value of the pressure value detected by the thrust sensor during the adjustment period can be taken as the comparison data. The acceptable interval is the region range generated for the process step, when the difference is within the region range, it means that the corresponding process step can continue; the acceptable interval can be automatically generated according to the processing requirements of different tea leaves, for example, different types of tea leaves, the same type of process steps corresponding to the acceptable interval are also different, which is related to the pre-setting, and will not be repeated here; in some embodiments, the difference can be compared with the end value of the acceptable interval (i.e., the end value of the region range) to determine whether the difference meets the setting of the acceptable interval.

[0041] Optionally, during no-pressure kneading, the pressure value detected by the thrust sensor is within a set no-pressure interval or within a set number of adjustment cycles after the pressure cover initially contacts the tea leaves; during light-pressure kneading, the pressure value detected by the thrust sensor is within a set light-pressure interval; during retreat kneading, the pressure value detected by the thrust sensor gradually decreases to zero; during heavy-pressure kneading, the pressure value detected by the thrust sensor is within a set heavy-pressure interval.

[0042] By gradually adjusting the upper and lower positions of the pressure cover according to the set rolling process steps and the adjustment cycle, the pressure on the tea leaves is gradually adjusted to achieve a slow and intermittent pressurization process, making the tea leaves tight and uniform with a low breakage rate, thereby solving the problem of the existing continuous pressurization process resulting in insufficient tea rolling or a high breakage rate and poor tea leaves.

[0043] As an example, the pressure control unit includes one or a combination of a second fuzzy controller, a second D / A conversion module, a driver, a second motor, a second transmission actuator and a pressure feedback module; the pressure control unit is used to control the pressure cover to move vertically at a constant pressure driven by the second motor and the second transmission actuator based on different working modes of the kneading machine.

[0044] Optional, such as Figure 4 The figure shows a structural block diagram of the pressure control unit. The pressure feedback module includes: a pressure sensor and a second A / D conversion module; the pressure sensor is used to obtain the pressure generated by the pressure cover on the bottom; the second A / D conversion module is used to convert the obtained pressure analog quantity into a digital quantity to be read by the PLC; the pressure control unit is also used for: the pressure feedback module inputs the actual value of the pressure into the second fuzzy controller in the PLC; the second fuzzy controller performs fuzzification, quantization and table lookup operations on the actual value, and calculates the deviation between the actual pressure and the set pressure and the deviation between the set pressure change rate and the actual change rate; based on the deviation between the actual pressure and the set pressure and the deviation between the set pressure change rate and the actual change rate, the control amount of the deviation ΔKp, ΔKi, ΔKd is generated; the control amount of the deviation ΔKp, ΔKi, ΔKd is written into the second fuzzy controller to obtain the deviation value of the pressure; the second fuzzy controller converts the deviation value through the second D / A conversion module and outputs it to the driver, and adjusts the rotation angle of the second motor through the driver; the second motor controls the pressure cover to knead at a constant pressure in the current working mode.

[0045] The driver model may be a DM542C stepper motor driver. It should be noted that the driver model is not limited here, and relevant technicians may replace drivers of different models based on actual needs.

[0046] Optionally, the mode control unit can obtain the current working mode of the rolling machine, and based on the working mode, the pressure that the pressure cover needs to apply in this working mode can be determined, that is, the given pressure of the pressure control unit. The pressure control unit can make the rolling machine roll the tea leaves with a precise and constant pressure in the current working mode. That is, if the working mode of the rolling machine changes, the corresponding given pressure will also change.

[0047] In short, the entire workflow of the kneading machine is to start kneading - the frequency converter starts and sets the direction and frequency - the first motor rotates forward - enters the pressurization stage - obtains the working mode - the driver sends pressure and frequency signals - the second motor starts working - a single kneading ends.

[0048] It can be known from the above embodiments that, on the one hand, the present application can make the rolling machine roll the tea leaves at a precise and constant speed during the rolling process through the speed control subsystem, thereby reducing the rate of broken tea leaves during the rolling process, and preventing the temperature of the tea leaves from changing due to the change in the speed of the rolling barrel when rolling the same kind of tea leaves, causing the tea leaves to turn yellow, and promoting the production of tea leaves rolled into strips. On the other hand, the present application can realize a slow and intermittent pressurization process by gradually adjusting the upper and lower positions of the pressure cover according to the set rolling process steps and the pressure on the tea leaves according to the mode control unit according to the adjustment cycle, so as to make the tea leaves tight and uniform with a low breakage rate, thereby solving the problem that the existing pressurization process is continuous, resulting in insufficient tea rolling or a high breakage rate, and poor tea leaves. On the other hand, the pressure applied to the pressure cover can be precise and constant through the pressure control unit, which can effectively improve the quality of the tea leaves.

[0049] Example 2

[0050] See also Figure 5 This embodiment provides an automatic control method for a tea rolling machine, characterized in that the control unit is applied to the above control system; the control method includes:

[0051] S510: Setting the rolling process, display of process parameters, data processing and storage, and human-machine interface for parameter setting based on the upper computer.

[0052] S520: Based on the lower computer, the sensors of the rolling machine are subjected to data collection, logic operation and automatic control.

[0053] S530: Based on the speed control subsystem, the kneading barrel is made to perform horizontal circular motion at a constant speed on the kneading disk.

[0054] S540: Based on the pressure control subsystem, the kneading machine is made to perform vertical reciprocating motion at corresponding constant pressures in different motion cycles.

[0055] Example 3

[0056] The embodiment of the present invention further provides a storage medium, on which a method for automatically controlling a tea rolling machine is stored, and when the automatic control program for the tea rolling machine is executed by a processor, the steps of the method for automatically controlling a tea rolling machine as described above are implemented. Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0057] Example 4

[0058] See also Figure 6 The embodiment of the present invention also provides an electronic device, including: a memory and a processor; the memory stores at least one program instruction; the processor implements the automatic control method of the tea rolling machine provided in Example 2 by loading and executing the at least one program instruction.

[0059] The memory 602 and the processor 601 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 601 and the memory 602 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 601 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 601.

[0060] The processor 601 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 302 can be used to store data used by the processor 601 when performing operations.

[0061] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An automatic control system for a tea rolling machine, the tea rolling machine comprising a rolling barrel for holding tea leaves and a pressure cover above the rolling barrel, an electric push rod for driving the pressure cover to move up and down, and a pressure sensor arranged on the electric push rod, characterized in that: The system comprises: an upper computer, a lower computer, a speed control subsystem and a pressure control subsystem; The host computer is a touch screen, which is used for displaying the kneading process and process parameters, processing and saving data, and setting the human-machine interface of parameter settings; The lower computer is a PLC, which is used to collect data, perform logic operations and automatically control the sensors of the rolling machine; The speed control subsystem includes: one or a combination of: a first fuzzy controller, a first A / D conversion module, a frequency converter, a first motor, a first transmission actuator and a speed measurement feedback module; The speed control subsystem is used to control the kneading barrel to make horizontal circular motion on the kneading disk driven by the first motor and the first transmission actuator; The pressure control subsystem includes: a mode control unit and a pressure control unit, which are used to control the rolling machine to perform periodic vertical reciprocating motion; The first transmission actuator includes a kneading barrel, a barrel hub and a crank; The speed control subsystem is used to make the kneading barrel perform horizontal circular motion on the kneading disk driven by the first motor and the first transmission actuator; The speed measurement feedback module includes a speed sensor and a first D / A conversion module; The speed sensor is used to measure the actual rotation speed of the kneading barrel; The first D / A conversion module is used to convert the measured actual speed analog quantity into a digital quantity to be read by the PLC; The speed control subsystem is also used for: The speed measurement feedback module inputs the actual value of the speed into the first fuzzy controller in the PLC; The first fuzzy controller performs fuzzification, quantization and table lookup operations on the actual value, and calculates the deviation between the speed and the set speed and the deviation between the set speed change rate and the actual change rate; generating control amounts ΔKp, ΔKi, ΔKd of the deviation based on the deviation between the rotation speed and the set rotation speed and the deviation between the set rotation speed change rate and the actual change rate; Writing the control quantities ΔKp, ΔKi and ΔKd of the deviation into the first fuzzy controller to obtain the deviation value of the rotation speed; The first fuzzy controller converts the deviation value through the first A / D conversion module and outputs it to the frequency converter; The speed of the first motor is adjusted by the frequency converter to control the first transmission actuator to operate at a constant speed.

2. The automatic control system for a tea rolling machine according to claim 1, characterized in that: The mode control unit is used to control the working mode of the rolling machine so that the rolling machine performs periodic vertical reciprocating motion.

3. The automatic control system for a tea rolling machine as claimed in claim 2, characterized in that: The working modes include an initial mode and a kneading mode; The mode control unit is used for: In the initial mode, the electric push rod is controlled to drive the pressure cover to be pressed down continuously; Determining whether the pressure cover touches the tea leaves according to the detection data of the pressure sensor; If yes, then the initial mode is terminated and the kneading mode is entered; After determining that the kneading process step is completed, the electric push rod drives the pressure cover to continuously move upward to a preset position.

4. The automatic control system for a tea rolling machine as claimed in claim 3, characterized in that: The mode control unit is also used for: Determining the process steps to be performed and the lifting direction of the pressing cover according to the set kneading process steps; gradually adjusting the upper and lower positions of the gland according to the adjustment cycle; By comparing the detection data of the static time of the pressure sensor in the adjustment period with the pressure parameters corresponding to the process steps, it is determined whether the stopping requirement is met; If so, the gland is stationary for the working time corresponding to the process step; When the pressing cover is stationary for the working time corresponding to the process step, the upper and lower positions of the pressing cover are gradually adjusted according to the adjustment cycle to enter the next process step.

5. The automatic control system for a tea rolling machine as claimed in claim 4, characterized in that: The mode control unit is also used for: Acquiring comparison data, wherein the comparison data is obtained from the pressure value detected by the pressure sensor during the adjustment period; Subtract the pressure parameter corresponding to the process step from the comparison data to obtain a corresponding difference; Determining whether the difference meets the setting of an acceptable interval, where the acceptable interval is a region range generated for the process step, and when the difference is within the region range, it is determined that the difference meets the setting of the acceptable interval; If so, it is determined that the stopping requirement is met; Otherwise, it is determined that the stop requirement is not met.

6. The automatic control system for a tea rolling machine according to claim 1, characterized in that: The pressure control unit includes one or a combination of a second fuzzy controller, a second D / A conversion module, a driver, a second motor, a second transmission actuator and a pressure feedback module; The pressure control unit is used to control the pressure cover to move vertically at a constant pressure driven by the second motor and the second transmission actuator based on different working modes of the twisting machine.

7. The automatic control system for a tea rolling machine as claimed in claim 6, characterized in that: The pressure feedback module includes: a pressure sensor and a second A / D conversion module; The pressure sensor is used to obtain the pressure generated by the gland on the bottom; The second A / D conversion module is used to convert the acquired pressure analog quantity into a digital quantity to be read by the PLC; The pressure control unit is also used for: The pressure feedback module inputs the actual value of the pressure into the second fuzzy controller in the PLC; The second fuzzy controller performs fuzzification, quantization and table lookup operations on the actual value, and calculates the deviation between the actual pressure and the set pressure, as well as the deviation between the set pressure change rate and the actual change rate; generating the control amounts ΔKp, ΔKi, ΔKd of the deviations based on the deviations between the actual pressure and the set pressure and the deviations between the set pressure change rate and the actual change rate; Writing the control quantities ΔKp, ΔKi and ΔKd of the deviation into the second fuzzy controller to obtain the deviation value of the pressure; The second fuzzy controller converts the deviation value through the second D / A conversion module and outputs it to the driver, and the driver adjusts the rotation angle of the second motor; The second motor controls the pressing cover to knead at a constant pressure in the current working mode.

8. An automatic control method for a tea rolling machine, characterized in that it is applied to a control unit in a control system according to any one of claims 1 to 7; the control method comprises: The upper computer is used to set the rolling process, process parameter display, data processing and storage, and parameter setting human-machine interface; Based on the lower computer, the sensors of the rolling machine are used for data collection, logic operation and automatic control; Based on the speed control subsystem, the kneading barrel makes horizontal circular motion at a constant speed on the kneading disk; Based on the pressure control subsystem, the kneading machine makes vertical reciprocating motion with corresponding constant pressure in different motion cycles.

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