Model-free adaptive control method, system, equipment and medium in titration process

Abstract

The invention discloses a model-free adaptive control method, system and equipment in a titration process and a medium. The method comprises the following steps: 1) detecting color information of a solution in a through-flow pool; 2) performing data fusion on the solution color information detected this time and the solution color information obtained by previous N times of detection to obtain fused data; 3) generating a control signal of the dosing injection pump according to the detected solution color information and the fused data; 4) controlling the injection pump through the control signal of the dosing injection pump, and titrating the medicament into the through-flow pool through the injection pump; (5) fully reacting the medicament in the through-flow pool with the sample through a stirring component; (6) detecting the color information of the solution in the current through-flow pool, and judging whether the titration end point is reached or not according to the color information; when the titration end point is not reached, the second step is executed, otherwise, the total dosage is calculated, the control effect of the method, the system, the equipment and the medium is good, and the titration precision and repeatability are high.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control, and relates to a model-free adaptive control method, system, equipment and medium in a titration process. Background Art

[0002] In the field of chemical analysis, titration is a commonly used quantitative analysis method. Traditional titration control relies on an accurate mathematical model of the controlled object (such as a chemical reaction system). However, in actual operation, the kinetic equation of the chemical reaction process of the object to be measured cannot be quantified, and due to the complexity of the chemical reaction and the interference of environmental factors, such as changes in light source intensity and the decrease in cleanliness of the instrument after long-term use, it is often difficult to establish an accurate mathematical model. This results in unsatisfactory control effects of traditional control methods when facing these disturbances, and limited titration accuracy and repeatability. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a model-free adaptive control method, system, device and medium in a titration process. The method, system, device and medium have good control effect and high titration accuracy and repeatability.

[0004] To achieve the above object, the present invention discloses a model-free adaptive control method in a titration process, comprising the following steps:

[0005] 1) Detecting the color information of the solution in the flow cell through a photosensitive element;

[0006] 2) Fusing the solution color information of this test with the solution color information obtained from the previous N tests to obtain fused data;

[0007] 3) Generate a control signal for the dosing injection pump based on the solution color information detected this time and the fused data;

[0008] 4) controlling the injection pump by the control signal of the dosing injection pump, and titrating the medicine into the flow cell through the injection pump;

[0009] 5) The reagent in the flow cell is fully reacted with the sample by means of a stirring element;

[0010] 6) The color information of the solution in the current flow cell is detected by a photosensitive element to determine whether the titration endpoint has been reached; if the titration endpoint has not been reached, go to step 2); if the titration endpoint has been reached, calculate the total dosage.

[0011] Furthermore, the process of generating a control signal for the dosing injection pump according to the solution color information detected this time and the fused data is as follows:

[0012] The solution color information detected this time and the fused data are weighted filtered, and then the result of the weighted filtering is used to generate a control signal for the dosing injection pump.

[0013] Furthermore, the result of weight filtering is used to generate a control signal of the drug injection pump according to PI control.

[0014] Further, the PD control is expressed as:

[0015]

[0016] Among them, u(k-1) is the control output of the previous beat, e(k)=x(k)-x(k-1), e(k) is the error vector, which represents the difference between the current output and the end point RGB, x(k) and x(k-1) represent the system state vectors of the current beat and the previous beat, which are the column vectors of R(k), G(k), B(k) and R(k-1), G(k-1), B(k-1) respectively.

[0017] Furthermore, N=9.

[0018] The present invention discloses a model-free adaptive control system in a titration process, comprising:

[0019] The control module is used to fuse the solution color information of the current test with the solution color information obtained from the previous N tests to obtain fused data.

[0020] Furthermore, the process of generating a control signal for the dosing injection pump according to the solution color information detected this time and the fused data is as follows:

[0021] The solution color information detected this time and the fused data are weighted filtered, and then the result of the weighted filtering is used to generate a control signal for the dosing injection pump.

[0022] Furthermore, the result of weight filtering is used to generate a control signal of the drug injection pump according to PI control.

[0023] The present invention discloses a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the model-free adaptive control method in the titration process are implemented.

[0024] The invention discloses a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the model-free adaptive control method in the titration process are implemented.

[0025] The present invention has the following beneficial effects:

[0026] The model-free adaptive control method, system, device and medium in the titration process described in the present invention do not need to perform kinetic modeling on the chemical reaction process of the titration process during specific operation. Only by establishing the control of the dosing injection pump, stable and precise control of the titration process can be achieved, and the repeatability and control accuracy are high. Specifically, the control signal of the dosing injection pump is generated according to the solution color information detected this time and the fused data, and the operation is simple, convenient and extremely practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 is a flow chart of the method of the present invention;

[0029] Figure 2 This is the control schematic diagram of the control module. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of 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.

[0031] In the description of the present invention, it should be understood that the terms “include” and “comprises” indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0032] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0033] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0034] It should be understood that, although the terms first, second, third, etc. may be used to describe preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0035] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0038] Embodiment 1

[0039] refer to Figure 1 and Figure 2 The model-free adaptive control method in the titration process of the present invention comprises the following steps:

[0040] 1) After receiving the instruction to start working, the colorimetric module starts white balance calibration to eliminate system errors caused by circulation pool contamination and unstable light source.

[0041] 2) Control the operation of the photosensitive element to detect the color information of the solution in the flow cell through the photosensitive element;

[0042] 3) Fusing the solution color information of this test with the solution color information obtained from the previous N tests to obtain fused data;

[0043] 4) The solution color information detected this time and the fused data are input into the control module, and the control module generates a control signal for the dosing injection pump according to the solution color information detected this time and the fused data;

[0044] 5) controlling the injection pump by the control signal of the dosing injection pump, and titrating the medicine into the flow cell through the injection pump;

[0045] 6) Control the operation of the stirring element so that the reagent in the flow cell reacts fully with the sample;

[0046] 7) The color information of the solution in the current flow cell is detected by a photosensitive element to determine whether the titration endpoint has been reached; if the titration endpoint has not been reached, go to step 3); if the titration endpoint has been reached, calculate the total dosage.

[0047] The titration process is a process of measuring an unknown concentration. Since the concentration is unknown, it is difficult to quantify and characterize process parameters such as reaction rate. Therefore, the present invention adopts an adaptive titration control method without parameter model, without the need to perform kinetic modeling on the chemical reaction process of the titration process, and only establishes a dosing injection pump control model to achieve stable and precise control of the titration process.

[0048] System disturbance terms: System disturbance terms include multiple aspects, mainly including: 1) Light source disturbance. The intensity and wavelength of the light source will interfere with the color recognition of the titration process, thereby affecting the titration accuracy; 2) Cleanliness disturbance: After long-term use, the equipment circulation pool will cause the cleanliness to decrease due to the accumulation of residues or dirt. This cleanliness will affect the measurement accuracy of the image sensor; 3) Chemical reaction time lag. The chemical reaction rate is determined by factors such as the concentration and temperature of the reactants. Therefore, the reaction will not be completely carried out within the first time when the drug solution is added to the circulation pool. Therefore, there is a certain lag in the process. In order to deal with the above disturbances, this system can approximate the disturbance as the sum of constant disturbance and white noise disturbance, which can be described as follows:

[0049]

[0050] Where d(s) is Gaussian white noise, 2ξω0σ m is the gain constant, ξ is the damping coefficient, σ mis the disturbance intensity coefficient, ω0 is the disturbance frequency. After adding a certain constant to the above disturbance, the disturbance term of the designed system can be formed.

[0051] The process of the control module generating a control signal for the dosing injection pump according to the solution color information detected this time and the fused data is as follows:

[0052] The solution color information detected this time and the fused data are weighted filtered, and then the result of the weighted filtering is input into the dosing controller. The dosing controller performs PD control on the result of the weighted filtering to obtain a control signal for the dosing injection pump.

[0053] The PD control can be expressed as:

[0054]

[0055] Among them, u(k-1) is the control output of the previous beat, e(k)=x(k)-x(k-1), e(k) is the error vector, which represents the difference between the current output and the end point RGB, x(k) and x(k-1) represent the system state vectors of the current beat and the previous beat, which are the column vectors of R(k), G(k), B(k) and R(k-1), G(k-1), B(k-1) respectively.

[0056] The process of weighted filtering is as follows: in order to retain the detailed features of the original signal to the greatest extent, each set of data collected is weighted with the previous 9 sets of data, where the weight vector is w = (0.6, 0.15, 0.1, 0.08, 0.02, 0.01, 0.01, 0.01, 0.01, 0.01) T .

[0057] Parameter adaptive algorithm: The parameter adaptive algorithm selected in the present invention is a bacterial foraging algorithm, and the fitness function in the algorithm is:

[0058]

[0059] Among them, e(t) is the deviation between the end point RGB and the real-time RGB, t s is the adjustment time, u(t) is the control output of the dosing injection pump, κ 1～5 represents the weight coefficient, and φ is the absolute overshoot.

[0060] The present invention has the following characteristics:

[0061] Improved accuracy: No precise mathematical model is required, and the control accuracy of the titration process is significantly improved through real-time feedback and adaptive adjustment.

[0062] Enhanced stability: Effectively cope with multiple disturbances, such as light source changes and decreased cleanliness, ensuring long-term stability and repeatability of the titration process.

[0063] Intelligent control: Use bacterial foraging algorithms to automatically optimize controller parameters, reduce manual intervention, and improve automation levels.

[0064] Embodiment 2

[0065] The model-free adaptive control system in the titration process of the present invention comprises:

[0066] The control module is used to fuse the solution color information of the current test with the solution color information obtained from the previous N tests to obtain fused data.

[0067] Furthermore, the process of generating a control signal for the dosing injection pump according to the solution color information detected this time and the fused data is as follows:

[0068] The solution color information detected this time and the fused data are weighted filtered, and then the result of the weighted filtering is used to generate a control signal for the dosing injection pump.

[0069] Furthermore, the result of weight filtering is used to generate a control signal of the drug injection pump according to PI control.

[0070] The division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present application may be integrated into a processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0071] Embodiment 3

[0072] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the model-free adaptive control method in the titration process are implemented, for example, comprising: 1) detecting the color information of the solution in the flow cell by a photosensitive element; 2) fusing the color information of the solution detected this time with the color information of the solution obtained by the previous N detections to obtain fused data; 3) generating a control signal of a dosing injection pump according to the color information of the solution detected this time and the fused data; 4) controlling the injection pump by the control signal of the dosing injection pump to titrate the agent into the flow cell through the injection pump; 5) allowing the agent in the flow cell to fully react with the sample by a stirring element; 6) detecting the color information of the solution in the current flow cell by a photosensitive element, and judging whether the titration end point has been reached by this; when the titration end point has not been reached, turning to step 2); when the titration end point has been reached, calculating the total dosage. The memory may include a memory, such as a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk memory, etc. The processor, network interface, and memory are interconnected through an internal bus, and the internal bus may be an industrial standard architecture bus, a peripheral component interconnection standard bus, an extended industrial standard architecture bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory is used to store programs. Specifically, the program may include a program code, and the program code includes computer operation instructions. The memory may include a memory and a non-volatile memory, and provide instructions and data to the processor.

[0073] Embodiment 4

[0074] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the model-free adaptive control method in the titration process are implemented, for example, including: 1) detecting the color information of the solution in the flow cell through a photosensitive element; 2) fusing the color information of the solution detected this time with the color information of the solution obtained by the previous N detections to obtain the fused data; 3) generating a control signal of a dosing injection pump according to the color information of the solution detected this time and the fused data; 4) controlling the injection pump through the control signal of the dosing injection pump, and titrating the agent into the flow cell through the injection pump; 5) allowing the agent in the flow cell to fully react with the sample through a stirring element; 6) detecting the color information of the solution in the current flow cell through a photosensitive element, and judging whether the titration end point has been reached; when the titration end point has not been reached, going to step 2), and when the titration end point has been reached, calculating the total dosage. Specifically, the computer-readable storage medium includes, but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory may include a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include a read-only memory (ROM), a hard disk, a flash memory, an optical disk, a magnetic disk, etc.

[0075] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0076] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0077] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0079] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and disclosure of the invention. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0080] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0081] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A model-free adaptive control method in a titration process, characterized in that: The following steps are involved: 1) Detecting the color information of the solution in the flow cell through a photosensitive element; 2) Fusing the solution color information of this test with the solution color information obtained from the previous N tests to obtain fused data; 3) Generate a control signal for the dosing injection pump based on the solution color information detected this time and the fused data; 4) controlling the injection pump by the control signal of the dosing injection pump, and titrating the medicine into the flow cell through the injection pump; 5) The reagent in the flow cell is fully reacted with the sample by means of a stirring element; 6) Detect the color information of the solution in the current flow cell through the photosensitive element, and use it to determine whether the titration endpoint has been reached; When the titration endpoint is not reached, go to step 2); when the titration endpoint is reached, calculate the total dosage.

2. The model-free adaptive control method in the titration process according to claim 1, characterized in that: The process of generating the control signal of the dosing injection pump based on the solution color information detected this time and the fused data is as follows: The solution color information detected this time and the fused data are weighted filtered, and then the result of the weighted filtering is used to generate a control signal for the dosing injection pump.

3. The model-free adaptive control method in the titration process according to claim 1, characterized in that: The result of weight filtering is used to generate a control signal for the drug injection pump according to PI control.

4. The model-free adaptive control method in the titration process according to claim 1, characterized in that: The PD control is expressed as: Among them, u(k-1) is the control output of the previous beat, e(k)=x(k)-x(k-1), e(k) is the error vector, which represents the difference between the current output and the end point RGB, x(k) and x(k-1) represent the system state vectors of the current beat and the previous beat, which are the column vectors of R(k), G(k), B(k) and R(k-1), G(k-1), B(k-1) respectively.

5. The model-free adaptive control method in the titration process according to claim 1, characterized in that: N＝9。 6. A model-free adaptive control system in a titration process, characterized in that: include: The control module is used to fuse the solution color information of the current test with the solution color information obtained from the previous N tests to obtain fused data.

7. The model-free adaptive control system in the titration process according to claim 6, characterized in that: The process of generating the control signal of the dosing injection pump based on the solution color information detected this time and the fused data is as follows: The solution color information detected this time and the fused data are weighted filtered, and then the result of the weighted filtering is used to generate a control signal for the dosing injection pump.

8. The model-free adaptive control system in the titration process according to claim 6, characterized in that: The result of weight filtering is used to generate a control signal for the drug injection pump according to PI control.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the model-free adaptive control method in the titration process according to any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the model-free adaptive control method in the titration process according to any one of claims 1 to 5 are implemented.

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