基于STM32的茶叶揉捻机揉捻桶转速模糊PID设计

Fuzzy PID design for rotating speed of rolling drum of tea twisting machine based on STM32

[目的]满足茶叶揉捻时揉捻桶转速恒定可调及揉捻桶恒速转动的要求。[方法]以6CR-55型单柱式揉捻机为研究对象,基于STM32单片机,利用模糊控制算法和PWM闭环控制方法,对揉捻桶转速进行稳定控制研究,建立揉捻桶转速控制系统数学模型,并采用MATLAB进行无校正、PID和模糊PID算法控制仿真试验。[结果]相比于无校正控制和PID控制,模糊PID转速控制系统输出转速更稳定精确,抗干扰能力更强,其转速误差控制在3 r/min以内。[结论]采用模糊PID控制方法可满足茶叶揉捻时揉捻桶转速恒定可调的要求,从而提高茶叶成条率和细胞破损率。

[Objective]To meet the requirements of constant and adjustable rotation speed of rolling barrel and constant rotation speed of rolling barrel when tea is rolled.[Methods]The 6CR-55 single-column disc twisting machine was used as the research object in this paper.Fuzzy control algorithm and PWM closed-loop control method were investigated to study the stable control of rotating speed of rolling drum,and established the mathematical model of rotating speed control system of rolling drum based on the STM32 single-chip microcontroller.The simulation experiments of uncorrected,PID and fuzzy PID algorithm control system were carried out by MATLAB.[Results]Compared with uncorrected control and PID control,the output speed of the fuzzy PID speed control system was more stable and accurate,and the anti-interference ability was stronger.The speed error was controlled within 3 r/min.[Conclusion]The fuzzy PID control method can meet the requirement for the constant and adjustable rotating speed of the rolling drum during tea rolling,and improve the rate of tea forming and cell breakage.