Packaging production line detection control method based on event triggering mechanism

Abstract

In order to solve the problem of product quality detection in an automatic packaging production line, the invention provides a packaging production line detection control method based on an event trigger mechanism, and the method comprises the steps: building a mathematical model of a detection control system through a linear time delay system model with uncertainty; a state predictor based on a system state observer and an event controller are introduced, and then a state feedback controller using the structure is provided. Firstly, a state observer is designed based on the measurement output of the system to estimate the real-time state of the system. Secondly, in consideration of network control signal delay, a state predictor is provided for calculating the future state of the system after time delay. And finally, an event triggering strategy is designed, a state feedback controller is designed, the influence of network signal delay is eliminated, the feasibility of the designed control system is ensured, and the event triggering interval of the system has a right lower bound, that is, Zeno Behavior does not exist. Compared with a control system adopting a time period triggering strategy or a general event triggering strategy, the method has the advantages that the triggering times of the control signals are obviously reduced, the communication resources of a control channel are saved, the action of the controller is triggered as required, the mechanical wear and the energy consumption are reduced, the deviation is corrected in real time, and the control precision is ensured.

Description

Technical Field

[0001] This invention relates to the field of specialized equipment manufacturing technology, specifically to a detection and control method for a packaging production line based on an event-triggered mechanism. This method is applicable to related fields such as food processing equipment, packaging machinery engineering, and intelligent equipment. Background Technology

[0002] Packaging production lines represent a significant technological direction in specialized equipment manufacturing. These are complete production systems that automate or semi-automate the process of transforming products from bare parts or individual components into finished packaged goods. Automation systems perform repetitive or high-precision tasks, improving production efficiency and consistency. Traditional assembly lines primarily employ time-driven mechanisms. These mechanisms (fixed-cycle control / detection / action execution) retain irreplaceable value in specific scenarios due to their simple logic, high stability, and ease of synchronization. Their core applications are concentrated in production processes with stable operating conditions, fixed action sequences, and strong synchronization among multiple devices. However, time-driven mechanisms also have significant drawbacks. Because the action execution interval is determined by a fixed cycle, they cannot respond in real-time to sudden changes in the production line, easily leading to resource waste, response delays, insufficient flexibility, and decreased control precision.

[0003] Event-triggered control is an event-driven control strategy. Its core logic is that control commands or data interactions are triggered only when the system state deviates from the expected value to a threshold, external disturbances occur, or key variables change. Therefore, in automated production line control, it offers advantages such as significantly improved resource utilization, higher real-time control and response sensitivity, better system stability, and stronger adaptability. For example, in the production line inspection process, an event-triggered mechanism can initiate inspection actions on demand, accurately respond to inspection results, and coordinate the execution of subsequent processes. Therefore, developing a packaging production line inspection control method based on an event-triggered mechanism has significant theoretical and practical implications. Summary of the Invention

[0004] To effectively address the aforementioned problems in existing technologies, this invention provides a packaging production line detection and control method based on an event-triggered mechanism, mainly comprising:

[0005] S1: The model of the linear time-delay control system with uncertainty in the packaging production line detection and control system is as follows:

[0006]

[0007] in For the state of the system, for The first derivative, Input signals to the system's controller, Given the system's known network latency, Indicates the current time. , , These are the system parameter matrices, This represents the system uncertainty term caused by modeling errors, satisfying... and .

[0008] S2: For the above control system, design the state observer as follows:

[0009] ,

[0010] in For the observer state, For observer output, Let the gain of the observer to be designed be and the observation error be defined as . ,but:

[0011]

[0012] S3: By designing a state predictor to handle network latency in the network control system, the future state of the system after the latency is obtained. The predictor that obtains the predicted state based on the system observer state is as follows:

[0013] .

[0014] S4: A novel event-triggered mechanism based on future states is designed to eliminate system network latency caused by hysteresis. The novel event-triggered mechanism is as follows:

[0015] , ,

[0016] in , This is the current predicted state. This is the status value from the last communication. This is the event trigger coefficient;

[0017] Indicates the trigger time, where The first trigger time is The next trigger time is .

[0018] S5: Using linear matrix inequality techniques, a state feedback controller is designed for the packaging production line control system model established in S1. This significantly reduces the number of control signal triggers, saves communication resources in the control channel, and ensures control accuracy by correcting deviations in real time. The controller designed based on the above conditions is as follows:

[0019] ,

[0020] in, For the system controller gain, when The system controller receives status information at a certain time. Meanwhile, the status information parameters are retained until the next trigger time. The aforementioned controller gain ,parameter and It can be calculated from the following linear matrix inequalities and system parameters:

[0021] ,

[0022] in , , , , , .

[0023] Compared with the prior art, the present invention has the following features and beneficial effects:

[0024] (1) The proposed event-triggered mechanism-based detection and control method for packaging production lines significantly reduces the number of control signal triggers, saves communication resources of the control channel, and enables the controller to be triggered on demand, reducing mechanical wear and energy consumption.

[0025] (2) The designed state predictor is used to handle network delay in the network control system and obtain the future state of the system after the delay. This triggering mechanism can eliminate the system network delay caused by the hysteresis effect. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0027] Figure 1 This is a system model framework diagram of the packaging production line detection and control method based on the event triggering mechanism in this embodiment of the invention;

[0028] Figure 2 This is an event triggering sequence diagram in the event triggering mechanism of this invention embodiment;

[0029] Figure 3 This is a comparison diagram of state signals of the control system with and without a state predictor in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the controller signals of the control system in an embodiment of the present invention;

[0031] Figure 5This is a diagram showing the periodic (time) triggering time interval in an embodiment of the present invention;

[0032] Figure 6 This is an event triggering interval diagram of the stateless predictor in an embodiment of the present invention;

[0033] Figure 7 This is an event triggering interval diagram with a state predictor added in an embodiment of the present invention. Detailed Implementation

[0034] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0035] To effectively improve resource utilization, real-time control, and response sensitivity in automated production line control, and enhance system stability, this invention proposes a state-predictive event-triggered control mechanism and applies it to the detection and control of a packaging production line with network latency and model uncertainty. By introducing a state observer into the controlled system, a system state predictor based on the observer is designed, and the structure of the state feedback controller is presented to ensure system stability under the event-triggered strategy. A gain algorithm for the state feedback controller is designed based on linear matrix inequality techniques to eliminate the influence of network latency, and it is proven that the controlled system does not exhibit the Zeno phenomenon. Compared to time-driven mechanisms and systems using only event-triggered strategies, this method significantly reduces the number of control signal triggers, saving communication resources in the control channel and reducing mechanical wear and energy consumption. Experimental verification shows that the designed system controller and state predictor structure enable the closed-loop control system to have good stability, and simulation examples verify the effectiveness of the designed event-triggered control strategy.

[0036] Figure 1 This is a system model framework diagram of the packaging production line detection and control method based on an event-triggered mechanism in this embodiment of the invention, specifically including:

[0037] The model for a linear time-delay control system with uncertainties in the packaging production line detection and control system is as follows:

[0038]

[0039] in For the state of the system, for The first derivative, Input signals to the system's controller, Given the system's known network latency, Indicates the current time. , , These are the system parameter matrices, This represents the system uncertainty term caused by modeling errors, satisfying... and .

[0040] like Figure 1 As shown, the packaging production line receives control signals from the controller and performs actions through actuators; sensors monitor the state of the controlled object and output signals. A signal sampler samples the sensor outputs and sends the resulting signals to an event trigger; the event trigger determines, according to rules, whether to send an updated control signal to the controller via the network; upon receiving the signal, the controller calculates the new control command, converts the discrete control signal into a continuous signal using a zero-order hold, and drives the actuator. The entire system is connected via a network, and the communication delay introduced by the network affects signal transmission time. This framework, combining an event triggering mechanism and network communication, aims to effectively control the controlled object while reducing unnecessary data transmission and improving system efficiency.

[0041] Figure 2 The diagram illustrates the event triggering sequence, in which... ( () indicates the trigger time, and the network latency is... Without a state predictor (as shown by the dashed arrow in the figure), the system has... The delay is a second. This delay prevents the system from receiving the control signal immediately upon triggering, thus hindering its ability to react promptly. To address this issue, a state predictor (as shown by the solid arrow in the figure) is introduced to enable the controller to trigger and achieve real-time control.

[0042] For the above control system, the state observer is designed as follows:

[0043] ,

[0044] in For the observer state, For observer output, Let the gain of the observer to be designed be and the observation error be defined as . ,but:

[0045]

[0046] By designing a state predictor to handle network latency in a networked control system, the future state of the system after the latency is obtained. The future state of the system is as follows.

[0047] .

[0048] Design a predictor that obtains the predicted state based on the system observer state:

[0049] .

[0050] Unlike most current event-triggered mechanisms based on the current state, a novel event-triggered mechanism based on the future state is designed. This mechanism eliminates system network latency caused by hysteresis effects. The novel event-triggered mechanism is as follows:

[0051] , ,

[0052] in , This is the current predicted state. This is the status value from the last communication. This is the event trigger coefficient. Indicates the trigger time, where The first trigger time is The next trigger time is .

[0053] A state feedback controller for a packaging production line control system model is designed using linear matrix inequality techniques. This significantly reduces the number of control signal triggers, saves communication resources in the control channel, and ensures control accuracy through real-time deviation correction. The controller designed based on these conditions is as follows:

[0054] ,

[0055] in, For the system controller gain, when The system controller receives status information at a certain time. Meanwhile, the status information parameters are retained until the next trigger time. .

[0056] After introducing the above controller into the state predictor, the predicted state of the system can be expressed as:

[0057]

[0058] Taking the derivative yields its first derivative:

[0059]

[0060]

[0061]

[0062] .

[0063] definition , ,but:

[0064] ,

[0065] It can be further rewritten as:

[0066] ,

[0067] in , , , , , .

[0068] The specific calculation method for controller gain is given below.

[0069] Constructing Lyapunov functions:

[0070] , ,

[0071] Then we can get

[0072] ,

[0073] in

[0074] ,

[0075]

[0076] ,

[0077] .

[0078] set up , can be obtained

[0079] ,

[0080] in , , , , , .

[0081] Calculate using linear matrix inequality techniques and The controller gain can then be calculated. .

[0082] It can be proven that the controller designed by the application can guarantee that the system is asymptotically stable, and that the event triggering interval of the system has a positive lower bound. That is, Zeno's behavior does not exist.

[0083] To verify the effectiveness of the method proposed in this invention, the following experiment was conducted using the method proposed in this invention, with relevant system modeling parameters provided.

[0084] ,

[0085] , , , , , The initial state of the system is .

[0086] Use the pole placement method and calculate the observer gain. , can be obtained .

[0087] Let trigger parameters The controller gain is solved using the method described in this invention. .

[0088] The table below compares the number of triggers and their performance improvement under different triggering mechanisms. The results show that the traditional time-triggered method triggers the most times (50 times), but fails to effectively reduce the communication burden. The event-triggered control strategy significantly reduces the number of triggers; event triggers without a state predictor are reduced to 35 times, a 30% improvement; while event triggers with a state predictor are further reduced to 15 times, a 70% improvement. This indicates that introducing a state predictor can significantly reduce the number of communications and improve the system's communication efficiency and control performance.

[0089] Table 1. Trigger frequency and effect improvement under different mechanisms

[0090] Triggering method Trigger count Improved results Time Trigger 50 -- Event triggering without a predictor 35 30% With predictor event triggering 15 70%

[0091] Figure 3 The results demonstrate the changes in system state over time with and without a state predictor. Without a state predictor, the system state fluctuates significantly and converges slowly; however, with the state predictor introduced, the system state converges to the equilibrium point quickly and smoothly, indicating that the state predictor significantly improves the system's stability and response speed. Figure 4 The changes in system control input over time are presented. The control input fluctuates significantly in the initial stage, then gradually stabilizes, indicating that the system underwent relatively drastic adjustments in the initial stage before reaching a steady state.

[0092] Figures 5-7 The results of comparative experiments on event-triggered control mechanisms under network latency environments are presented. Figure 5As a traditional periodic time triggering mode, its triggering times are evenly distributed along the time axis, and data interaction sampling is performed frequently, reflecting the triggering characteristics of fixed intervals. Figure 6 The event triggering interval for a stateless predictor shows a dense and irregular distribution of trigger points, indicating that network latency causes frequent event triggering and controller updates; while Figure 7 After introducing the state predictor, the triggering interval increased significantly and its distribution became more uniform, indicating that the state predictor reduced redundant triggering by predicting system dynamics, effectively alleviating network resource pressure. The results show that the designed state predictor optimizes the event triggering mechanism under network latency, significantly reducing communication frequency while ensuring control performance, thus verifying the effectiveness and robustness of the algorithm.

[0093] The beneficial effects of this invention are: Compared with the prior art, the advantages of this invention are:

[0094] (1) The proposed event-triggered mechanism-based detection and control method for packaging production lines significantly reduces the number of control signal triggers, saves communication resources of the control channel, and enables the controller to be triggered on demand, reducing mechanical wear and energy consumption.

[0095] (2) The designed state predictor is used to handle network delay in the network control system and obtain the future state of the system after the delay. This triggering mechanism can eliminate the system network delay caused by the hysteresis effect.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A packaging production line detection and control method based on an event-triggered mechanism, characterized in that, include: S1: The model of the linear time-delay control system with uncertainty in the packaging production line detection and control system is as follows: in For the state of the system, for The first derivative, Input signals to the system's controller, Given the system's known network latency, Indicates the current time. , , These are the system parameter matrices, This represents the system uncertainty term caused by modeling errors, satisfying... and ; S2: For the above control system, design the state observer as follows: ， in For the observer state, For observer output, Let the gain of the observer to be designed be and the observation error be defined as . ,but: ； S3: By designing a state predictor, network latency in a network control system can be handled, thereby obtaining the future state of the system after the latency. S4: A novel event-triggered mechanism based on future states is designed to eliminate system network latency caused by hysteresis effects; S5: Using the linear matrix inequality technique, a state feedback controller is designed for the packaging production line control system model established in S1. This significantly reduces the number of control signal triggers, saves communication resources in the control channel, and corrects deviations in real time to ensure control accuracy.

2. The packaging production line detection and control method based on an event-triggered mechanism as described in claim 1, characterized in that, In S3, the predictor that obtains the predicted state based on the system observer state is: 。 3. The packaging production line detection and control method based on an event-triggered mechanism as described in claim 1, characterized in that, In S4, the novel event triggering mechanism is as follows: ， ， in , This is the current predicted state. This is the status value from the last communication. This is the event trigger coefficient; Indicates the trigger time, where The first trigger time is The next trigger time is .

4. The packaging production line detection and control method based on an event-triggered mechanism as described in claim 1, characterized in that, In S5, the controller designed based on the above conditions is as follows: ， in, For the system controller gain, when The system controller receives status information at a certain time. Meanwhile, the status information parameters are retained until the next trigger time. .

5. A computer device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes a computer program to implement the steps of the packaging production line detection and control method based on the event triggering mechanism as described in claims 1-4.

6. A computer-readable storage medium, characterized in that, The device contains a computer program that, when executed by a processor, implements the steps of the event-triggered mechanism-based packaging production line detection and control method as described in claims 1-4.

7. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a processor, implement the steps of the packaging production line detection control method according to claims 1-4 based on an event-triggered mechanism.

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