Three-closed-loop system for controlling electromagnetic vibration feeder based on PID (Proportion Integration Differentiation)

Abstract

The invention provides a three-closed-loop system based on a PID (Proportion Integration Differentiation) control electromagnetic vibration feeder. The three-closed-loop system comprises a DC (Direct Current) 24V electromagnetic vibration feeder, a camera and a control panel, the DC24V electromagnetic vibration feeder comprises a base, a vibration damping column, a vibration bottom plate, an electromagnet seat, a DC24 electromagnet, a vibration plate, a material distribution groove, a sensor and an armature; accurate feeding of materials is achieved through electromagnetic vibration. The DC24V electromagnetic vibration system can form a plurality of closed-loop control systems. The closed-loop control scheme comprises power closed-loop control, amplitude control and material flow speed control. Each closed-loop system involves dedicated sensor feedback, control algorithms, and drive actuators. The system can adapt to different working environments and conditions, such as temperature change and power supply fluctuation, and the stability of equipment is improved.

Description

Technical Field

[0001] The invention relates to the technical field of particle size testing instruments, and in particular to a three-closed-loop system based on PID control of an electromagnetic vibration feeder. Background Art

[0002] The electromagnetic vibrating feeders currently used in the existing technical solutions mostly adopt open-loop control, and the power supply voltage is AC220V, which cannot meet the needs of DC24V power supply for the whole machine instrument, and only rely on the feedback signal of the acceleration sensor to adjust the vibration frequency or amplitude. This AC220V electromagnetic vibrator solution is mainly suitable for generating vibrations to achieve material transportation, separation or stirring in a variety of applications, and is used in the dispersion and picking of large workpieces. In applications requiring high precision such as particle size testing, it has obvious limitations, such as: (1) Insufficient voltage range. The voltage is powered by AC220V, which is suitable for large equipment and cannot meet the needs of DC24V safety voltage for precision instruments. (2) Large electromagnetic interference (EMI). The electromagnetic interference generated by the AC220V powered electromagnetic vibrating feeder is too large, which causes serious electromagnetic interference to the surrounding electronic equipment, causing the internal main control chip to reset from time to time, seriously affecting production efficiency. (3) Insufficient control accuracy. Most existing technologies are only open-loop control and do not form closed-loop control. Some closed-loop control systems can only feedback the vibration speed of the material in the vibration system, forming a single speed closed-loop control. The vibration amplitude intensity can only be adjusted manually with a potentiometer, and cannot form a closed-loop automatic control according to the actual material movement speed. This leads to differences in the characteristics of different materials when testing different materials. The test process cannot be automatically closed-loop adjusted to accurately match the actual needs, affecting the accuracy of the test results. (4) Poor consistency. The unstable AC220V voltage on site, different mechanical structure installation stress, inconsistent elastic force of the vibration damping column and the spring sheet, the size of the gap between the armature and the electromagnet, and the excessive error of the electromagnet power may cause them to respond inconsistently to the same vibration signal. (5) Poor stability. When the material flow changes, the system is difficult to respond in time, and the adjustment of the vibrator lags. Especially when processing fine particles, the feeding speed is prone to fluctuations and is difficult to maintain stability. (6) Poor dynamic performance. When the frequency and load of the existing single closed-loop system change significantly, it is easy to oscillate, which in turn affects the continuity of material supply. In severe cases, it may cause equipment damage or feeding interruption. Only single closed-loop control is performed by feedback of the material speed value of vibration, and multi-closed-loop control cannot be formed.

[0003] The system design and implementation of the current existing technology are relatively simple and suitable for scenarios with low performance requirements. Summary of the invention

[0004] The object of the present invention is to provide a three-closed-loop system based on PID control of an electromagnetic vibration feeder to solve the problems raised in the above background technology.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions:

[0006] A three-closed-loop system based on PID control of electromagnetic vibration feeder, including a DC24V electromagnetic vibration feeder, a camera and a control board;

[0007] The DC24V electromagnetic vibration feeder includes a base, a vibration-damping column, a vibration base plate, an electromagnet seat, a DC24 electromagnet, a vibration plate, a material feeding trough, a sensor and an armature;

[0008] The vibration-damping columns are arranged at the four corners of the base, and the vibration base plate is fixed on the vibration-damping columns by screws;

[0009] The electromagnet seat, DC24 electromagnet and armature are all fixed to the vibration base plate by screws;

[0010] The front and rear ends of the vibration base plate are both provided with obliquely symmetrical spring sheets;

[0011] A vibration plate and a sensor are arranged on the top of the vibration bottom plate, and the sensor is arranged between the two vibration plates;

[0012] The material distribution trough is fixed on the two vibration plates by screws;

[0013] Industrial cameras will capture continuous images of particle flow, and image processing algorithms will detect and mark the location of particles in each frame;

[0014] The control board performs PID algorithm control based on the collected voltage, current, amplitude, displacement, and speed;

[0015] Through the vibration of DC24V electromagnet, the multi-layer feedback control strategy of power, amplitude and speed is adopted to achieve the stability of the falling speed of the material flow particles. Vibration is used to disperse and spread the material flow particles evenly to meet the requirements of industrial cameras to capture particle images.

[0016] The three-closed-loop system based on PID control of electromagnetic vibration feeder is preferably configured such that the material flow particles can be detected by edge detection, threshold segmentation, or deep learning.

[0017] The three-closed-loop system based on PID control of electromagnetic vibration feeder, its preferred solution is that after the industrial camera obtains the displacement information of the material flow particles in different image frames through the machine vision algorithm, the speed of the material flow particles can be calculated by the following companies;

[0018] Material flow velocity: v = △x / △t

[0019] Among them, v is the velocity of the material flow particles, △x is the displacement of the material flow particles in adjacent frames, and △t is the time interval between two frames of images taken by the camera.

[0020] The three-closed-loop system based on PID control of electromagnetic vibration feeder, its preferred solution is that the PID algorithm is implemented by a control board, and the PID controller can adjust the amplitude, frequency, speed and acceleration of the electromagnetic vibration so that the system maintains stable vibration under specific conditions;

[0021] The control panel is powered by a safe low voltage DC24V and has multiple interfaces for connecting with external devices;

[0022] The control board collects the current and working voltage in the DC24V electromagnet to complete the power closed-loop feedback to realize the outermost loop control; the vibration speed, acceleration, displacement angle and frequency of the material flow particles are collected by the sensor as needed to form the closed-loop control of the secondary inner loop a; the industrial camera completes the calculation of the material flow speed and feeds it back to the control board in real time to form the closed-loop control of the inner loop b;

[0023] The outermost ring is the first ring, the inner ring a is the second ring, and the inner ring b is the third ring;

[0024] Through the precise control of the three closed loops formed by the outermost loop, inner loop a, and inner loop b, the system can adjust and optimize the working state of the electromagnetic coil in real time to stabilize the vibration frequency and amplitude within the optimal range.

[0025] The three-closed-loop system based on PID control of electromagnetic vibration feeder has a preferred solution that the DC24V electromagnet is made of alloy magnetic material, the number of turns of the coil is optimized to increase the magnetic flux, and the electromagnet is driven by a half-bridge push-pull drive, and can operate at a maximum frequency of 1KHz.

[0026] The three-closed-loop system based on PID control of electromagnetic vibration feeder is preferably configured such that the sensor adopts a multifunctional parameter sensor, which can collect the vibration velocity, acceleration, displacement angle and frequency of the material flow particles as needed, and is combined with advanced high-speed circuit design to achieve optimized control of the material feeding process with high precision, stability and dynamic response performance.

[0027] The three-closed-loop system based on PID control of electromagnetic vibration feeder, its preferred solution is that the sensor can be replaced by a six-axis posture sensor or a nine-axis motion sensor device.

[0028] The three-closed-loop system based on PID control of the electromagnetic vibration feeder has a preferred solution that, on the basis of PID control, adaptive and image vision control algorithms can also be introduced.

[0029] The three-closed-loop system based on PID control of the electromagnetic vibration feeder is preferably configured to use a feedback mechanism such as current feedback to adjust the vibration parameters of the electromagnetic vibration system in addition to power feedback.

[0030] Beneficial Effects

[0031] The present invention significantly improves the performance of the electromagnetic vibrating feeder through a three-closed-loop PID control system. The specific advantages are as follows: (1) High-precision feeding: an electromagnet powered by DC24V is used, and the working voltage and current of the electromagnet are collected to calculate the power. The control board can accurately control the suction force of the electromagnet by controlling the magnitude of the current through the PID algorithm, thereby achieving fine control. The three-closed-loop control enables the system to accurately adjust the flow rate, vibration amplitude, power and other parameters of the material flow particles to adapt to changes in the characteristics of different material flow particles. (2) Safe and reliable: DC24V direct voltage belongs to the low voltage range, and it poses a lower safety risk to the human body than higher voltage systems. DC24V direct power supply and related control components are usually low in cost. Compared with high voltage systems, DC24V direct current systems generate less electromagnetic interference, which helps to improve the system's anti-interference ability. Low voltage systems generate less heat, which helps to reduce component wear and extend the service life of electromagnets. (3) Fast response: DC24V is a relatively low voltage level, which means that the internal resistance of the power supply system is small, and the current change can be transmitted to the electromagnet more quickly. The integrated sensor feedback system (such as displacement) can monitor the state of the electromagnet and quickly adjust the current when necessary to achieve precise and fast control, thereby achieving fast response. Real-time feedback ensures that the system can quickly adjust the vibration parameters to avoid feed fluctuations caused by load changes. (4) Reduce oscillation risk: Feedback control helps to reduce the impact of system errors and external interference, and improve the stability of the system. The three-loop feedback mechanism effectively suppresses the oscillation phenomenon during high-frequency vibration or large load changes. The system can adapt to different working environments and conditions, such as temperature changes, power supply fluctuations, etc., which improves the stability of the equipment.

[0032] The present invention solves the problems of strong electromagnetic interference, insufficient control accuracy, poor consistency, poor stability, and poor dynamic performance caused by the AC220V power supply system. The system not only effectively reduces electromagnetic interference, but also significantly improves the response speed and control accuracy of the feeder, ensuring that high consistency and stability can be maintained under complex working conditions, meeting the demand for high-precision material supply in industrial automation production. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is the front view of the electromagnetic vibration feeder;

[0034] Figure 2 It is a top view of the electromagnetic vibration feeder;

[0035] Figure 3 It is the left view of electromagnetic vibration feeder;

[0036] Figure 4 A is a three-dimensional structural diagram of an electromagnetic vibration feeder;

[0037] Figure 5 b is a three-dimensional structural diagram of an electromagnetic vibration feeder;

[0038] Figure 6 It is the block diagram of the three-closed-loop system of the electromagnetic vibration feeder;

[0039] Figure 7 This is the circuit block diagram of the control module.

[0040] Among them, 1. base, 2. vibration damping column, 3. vibration bottom plate, 4. electromagnet seat, 5. DC24 electromagnet, 6. vibration plate, 7. feeding trough, 8. sensor, 9. armature, 10. spring sheet, 11. screw, 12. industrial camera, 13. material flow particles. DETAILED DESCRIPTION

[0041] The present invention will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Please refer to the attached Figure 1-7 , a three-closed-loop system based on PID control of electromagnetic vibration feeder, including a DC24V electromagnetic vibration feeder, an industrial camera 12 and a control board;

[0043] The DC24V electromagnetic vibration feeder includes a base 1, a vibration-damping column 2, a vibration base plate 3, an electromagnet seat 4, a DC24 electromagnet 5, a vibration plate 6, a material feeding trough 7, a sensor 8 and an armature 9;

[0044] The vibration-damping columns 2 are arranged at the four corners of the base 1, and the vibration base plate 3 is fixed on the vibration-damping columns 2 by screws;

[0045] The electromagnet seat 4, DC24 electromagnet 5 and armature 9 are all fixed on the vibration base plate 3 by screws 11;

[0046] The front and rear ends of the vibration base plate 3 are both provided with obliquely symmetrical spring sheets 10;

[0047] A vibration plate 6 and a sensor 8 are arranged on the top of the vibration base plate 3, and the sensor 8 is arranged between the two vibration plates 6;

[0048] The material distribution trough 7 is fixed on the two vibration plates 6 by screws;

[0049] An industrial camera 12 is used to capture continuous images of the flow of material particles, and an image processing algorithm detects and marks the position of the material flow particles in each frame of the image;

[0050] The control board performs PID algorithm control based on the collected voltage, current, amplitude, displacement, and speed;

[0051] Through the vibration of the DC24V electromagnet 5, a multi-layer feedback control strategy of power, amplitude and speed is implemented to achieve the stability of the falling speed of the material flow particles. Vibration is used to disperse and spread the material flow particles evenly to meet the requirements of the industrial camera 12 to capture particle images.

[0052] The material flow particles 13 can be detected by edge detection, threshold segmentation, or using deep learning.

[0053] After the industrial camera 12 obtains the displacement information of the material flow particles in different image frames through the machine vision algorithm, the speed of the material flow particles can be calculated by the following companies;

[0054] Material flow velocity: v = △x / △t

[0055] Among them, v is the velocity of the material flow particles, △x is the displacement of the material flow particles in adjacent frames, and △t is the time interval between two frames of images taken by the camera.

[0056] The PID algorithm is implemented by the control board, and the PID controller can adjust the amplitude, frequency, speed and acceleration of the electromagnetic vibration so that the system can maintain stable vibration under specific conditions;

[0057] The control panel is powered by a safe low voltage DC24V and has multiple interfaces for connecting with external devices;

[0058] The control board collects the current and working voltage in the DC24V electromagnet to complete the power closed-loop feedback to realize the outermost loop control; the vibration speed, acceleration, displacement angle and frequency of the material flow particles are collected by the sensor as needed to form the closed-loop control of the secondary inner loop a; the camera completes the calculation of the material flow speed and feeds it back to the control board in real time to form the closed-loop control of the inner loop b;

[0059] The outermost ring is the first ring, the inner ring a is the second ring, and the inner ring b is the third ring.

[0060] Through the precise control of the three closed loops formed by the outermost loop, inner loop a, and inner loop b, the system can adjust and optimize the working state of the electromagnetic coil in real time to stabilize the vibration frequency and amplitude within the optimal range.

[0061] The DC24V electromagnet 5 is made of alloy magnetic material, the number of turns of the coil is optimized to increase the magnetic flux, and the electromagnet is driven by a half-bridge push-pull drive, and can work at a maximum frequency of 1KHz.

[0062] The sensor 8 adopts a multifunctional parameter sensor, which can collect the vibration speed, acceleration, displacement angle and frequency of the material flow particles as needed, and combines with advanced high-speed circuit design to achieve optimized control of the high precision, stability and dynamic response performance of the material supply process.

[0063] The sensor 8 can be replaced by a six-axis attitude sensor or a nine-axis motion sensor device.

[0064] On the basis of PID control, adaptive and image vision control algorithms can also be introduced.

[0065] In addition to power feedback, feedback mechanisms such as current feedback can also be used to adjust the vibration parameters of the electromagnetic vibration system.

[0066] An electromagnetic vibration feeder composed of a base 1, a vibration-damping column 2, a vibration bottom plate 3, an electromagnet seat 4, an electromagnet 5, a vibration plate 6, a material feeding trough 7, a sensor 8, an armature 9, a spring sheet 10, and a screw 11 realizes the precise supply of cooking particles through electromagnetic vibration.

[0067] The DC24V electromagnetic vibration system can form multiple closed-loop control systems. Closed-loop control schemes include power closed-loop control, amplitude (displacement) control, and material flow speed control. Each closed-loop system involves dedicated sensor feedback, control algorithms, and drive actuators.

[0068] The control board performs PID algorithm control based on the collected voltage, current, amplitude, displacement, and speed, which can effectively handle the feedback control problem of the system and improve the stability and dynamic response of the system. Specifically, the PID controller can adjust the amplitude, frequency, speed, and acceleration of the electromagnetic vibration, so that the system can maintain stable vibration under specific conditions.

[0069] The following is an example of a closed-loop control scheme;

[0070] Example 1

[0071] Power closed loop control

[0072] Objective: The control board collects the voltage and current of the electromagnet and calculates the power in real time to form the outermost loop control in the first closed loop.

[0073] The closed-loop process: The power line from the electromagnet 5 is connected to the control board. The control board collects the working voltage and current of the electromagnet to calculate the power, forming the first closed loop. The control board calculates the error (the difference between the expected position and the actual position) through algorithms such as PID based on the collected electrical signal of the electromagnet 5. The controller drives the MOS tube in the control board to adjust the voltage and frequency of the electromagnet through the duty cycle of PWM according to the error adjustment, thereby changing the current of the electromagnet. The change in current and frequency causes the change in the magnetic field of the electromagnet 5, resulting in the change in the suction force of the armature 9, to adjust the displacement and frequency of the vibration plate 6 to reach the target position. Feedback continues until the position of the vibration plate 6 remains stable at the set value.

[0074] Example 2

[0075] Amplitude (displacement) closed-loop control

[0076] Objective: According to the signal of the acquisition sensor 8, the control board outputs the signal to control the electromagnet 5 and the electromagnet seat 4, and the electromagnet controls the displacement of the vibration plate through the current to ensure that the vibration meets the process requirements.

[0077] Composition: sensor 8 monitors the vibration amplitude (displacement) of the vibration plate in real time, electromagnet 5 and electromagnet seat 4. The electromagnet adjusts the vibration amplitude by receiving the voltage change, thereby controlling the displacement of the material flow particles in the feeding trough 7. The spring sheet 10 is an elastic structure that provides damping and reset force. The vibration base plate 3 and the vibration-damping column reduce unnecessary vibration through physical structure. The vibration plate 6, the spring sheet 10 and the armature 9 form the core mechanism of vibration, and the vibration plate realizes periodic vibration through the reaction force of the spring sheet.

[0078] Closed-loop process: Sensor 8 measures the vibration amplitude of the vibration plate. The control board compares the target amplitude and calculates the error. The control board adjusts the electromagnet drive voltage to change the electromagnet current and adjust the vibration amplitude. The adjustment result is fed back to the sensor to form a closed-loop control.

[0079] Example 3

[0080] Closed loop control of material flow rate

[0081] Objective: To analyze the pictures taken by the camera within a fixed time, determine the speed by analyzing the displacement of the material flow particles in the two frames of images, and control the flow of material flow particles in the distribution trough to ensure uniform feeding.

[0082] Composition: The camera 12 provides visual feedback to help accurately control the flow of material particles. The electromagnet 5 and the vibration plate 6 adjust the vibration frequency and amplitude to affect the flow rate of the material. The distribution trough 7 carries the material flow particles and moves the material flow particles through vibration.

[0083] Closed-loop process: Camera 12 and sensor 8 monitor the flow velocity and vibration velocity of the material flow particles in the feeding trough. The control board calculates the material flow based on the camera, and then inputs the feedback signal to the control board. The main control chip of the control board outputs PWM to change the duty cycle and frequency to drive the power MOS tube to drive the electromagnet to adjust the intensity and frequency of the vibration. The vibration amplitude and frequency are controlled by adjusting the electromagnet current to adjust the material flow particles 13. The flow velocity of the material flow particles is controlled by adjusting the vibration of the vibration plate. Feedback is continuous to ensure that the material flow is within the set range.

[0084] The power closed-loop control realizes position control by feeding back the working voltage and current signals of the electromagnet coil and adjusting the electromagnet current.

[0085] Vibration closed-loop control adjusts the current of the electromagnet to control the vibration state through feedback of vibration frequency and amplitude.

[0086] The closed-loop control of the material flow monitors the material flow particles in the material distribution trough and adjusts the vibration parameters to control the flow of material particles. These closed-loop control systems work together to achieve efficient operation of the electromagnetic vibration system.

[0087] The system adopts PID control algorithm to adjust the vibration frequency and amplitude of the electromagnet through the circuit to ensure the accuracy of material supply. The control system realizes closed-loop regulation through three-way feedback signals fed back to the control board.

[0088] Three-loop PID control is to connect three PID control systems (for example: power loop, amplitude (displacement) loop and speed loop) in series, and then calculate the deviation of the output of the previous system (outer loop), and use the calculation result as the input of the next system (inner loop). The speed of the material flow captured by the camera is the priority control object, and the process of three-loop PID control is as follows:

[0089] ①First, set the power intensity. The system will calculate the power intensity deviation and then input the deviation into the power ring (outermost ring);

[0090] ② The output of the power loop and the displacement of the actual sensor output are used to calculate the deviation, and the calculated deviation is input into the amplitude (displacement) loop (second outer loop);

[0091] ③ The output of the amplitude (displacement) loop and the material flow speed deviation output by the camera are calculated comprehensively, and the calculated deviation is input into the current loop (inner loop). The output of the current loop is used to control the duty cycle and frequency of the PWM of the MOS tube in the control board, and then finally control the material flow speed. Make the material flow particles stable, the measured particle size and shape results are accurate, and the consistency between instruments is small.

[0092] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-closed-loop system based on PID control of electromagnetic vibration feeder, characterized in that: Including DC24V electromagnetic vibration feeder, camera and control board; The DC24V electromagnetic vibration feeder includes a base, a vibration-damping column, a vibration base plate, an electromagnet seat, a DC24 electromagnet, a vibration plate, a material feeding trough, a sensor and an armature; The vibration-damping columns are arranged at the four corners of the base, and the vibration base plate is fixed on the vibration-damping columns by screws; The electromagnet seat, DC24 electromagnet and armature are all fixed to the vibration base plate by screws; The front and rear ends of the vibration base plate are both provided with obliquely symmetrical spring sheets; A vibration plate and a sensor are arranged on the top of the vibration bottom plate, and the sensor is arranged between the two vibration plates; The material distribution trough is fixed on the two vibration plates by screws; Industrial cameras will capture continuous images of the flow of material particles, and image processing algorithms will detect and mark the position of particles in each frame of the image; The control board performs PID algorithm control based on the collected voltage, current, amplitude, displacement, and speed; Through the vibration of DC24V electromagnet, the multi-layer feedback control strategy of power, amplitude and speed is adopted to achieve the stability of the falling speed of the material flow particles. Vibration is used to disperse and spread the material flow particles evenly to meet the requirements of industrial cameras to capture particle images.

2. A three-closed-loop system based on PID control of electromagnetic vibration feeder according to claim 1, characterized in that: The material flow particles can be detected by edge detection, threshold segmentation, or using deep learning.

3. A three-closed-loop system based on PID control of electromagnetic vibration feeder according to claim 1, characterized in that: After the industrial camera obtains the displacement information of the material flow particles in different image frames through the machine vision algorithm, the speed of the material flow particles can be calculated by the following companies; Material flow velocity: v = △x / △t Where v is the particle size of the material flow, △x is the displacement of the material flow particles in adjacent frames, and △t is the time interval between two frames of images taken by the camera.

4. A three-closed-loop system based on PID control of electromagnetic vibration feeder according to claim 1, characterized in that: The PID algorithm is implemented by a control board, which is powered by a safe low voltage DC24V and has multiple interfaces for connecting with external devices; The control board collects the current and working voltage in the DC24V electromagnet to complete the power closed-loop feedback to realize the outermost loop control; the vibration speed, acceleration, displacement angle and frequency of the material flow particles are collected by the sensor as needed to form the closed-loop control of the secondary inner loop a; the camera completes the calculation of the material flow particle speed and feeds it back to the control board in real time to form the closed-loop control of the inner loop b; The outermost ring is the first ring, the inner ring a is the second ring, and the inner ring b is the third ring; Through the precise control of the three closed loops formed by the outermost loop, inner loop a and inner loop b, the working state of the electromagnetic coil is adjusted and optimized in real time to stabilize the vibration frequency and amplitude within the optimal range.

5. The three-closed-loop system based on PID control of electromagnetic vibration feeder according to claim 1 is characterized in that: The DC24V electromagnet is made of alloy magnetic material, the number of turns of the coil is optimized to increase the magnetic flux, and the electromagnet is driven by a half-bridge push-pull drive, and can work at a maximum frequency of 1KHz.

6. A three-closed-loop system based on PID control of electromagnetic vibration feeder according to claim 1, characterized in that: The sensor adopts a multifunctional parameter sensor, which can collect the vibration speed, acceleration, displacement angle and frequency of the material flow particles as needed, and combines with advanced high-speed circuit design to achieve optimized control of the high precision, stability and dynamic response performance of the material supply process.

7. A three-closed-loop system based on PID control of electromagnetic vibration feeder according to claim 1, characterized in that: The sensor can be replaced by a six-axis attitude sensor or a nine-axis motion sensor device.

8. A three-closed-loop system based on PID control of electromagnetic vibration feeder according to claim 4, characterized in that: On the basis of PID control, adaptive and image vision control algorithms can also be introduced.

9. A three-closed-loop system based on PID control of electromagnetic vibration feeder according to claim 1, characterized in that: In addition to power feedback, feedback mechanisms such as current feedback can also be used to adjust the vibration parameters of the electromagnetic vibration system.

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