TW200540586A - Leveling apparatus - Google Patents

Abstract

A leveling apparatus having a tilt sensor, a processor, and an actuator is provided. The tilt sensor detects a tilt angle and accordingly outputs a sensor signal to the processor. The processor further includes a reference unit providing a reference signal and a PID control unit performing a PID operation to output a control signal based on the difference between the sensor signal and the reference signal. The actuator adjusts the tilt angle based on the control signal.

Description

200540586 V. Description of the invention (1) 1. [Technical field to which the invention belongs] The present invention relates to a level adjustment device. The invention further relates to a level adjustment device using a PID control method. 2. [Previous Technology] In engineering applications, ‘proportional integral derivative control (Pr 〇 P ο r t i 〇 n a 1 — integral-derivative control, referred to as PID control) has a wide range of uses. The PID controller is simple to set up, has good stability and reliability, and is easy to adjust. Especially when it is impossible to grasp the structure and coefficients of the controlled object, or it is difficult to construct accurate mathematical models, it is difficult to use the design technology under control theory. PID control technology is most applicable. When it is impossible to understand a system and the controlled object, or the coefficients of the system cannot be obtained through effective measurement methods, P 丨 D control technology can be used. PID control includes three parts: proportional (P), integral (I), and derivative (D). There are also PI and PD controllers. The PID controller calculates the control amount based on the system error 77 using proportional integral differentiation. The relationship between the controller output and the control input (error) is expressed in the time domain as shown below. The output of the controller, e (t) represents the controller input ^ error ^ ^ KP is the proportional coefficient, K! Is the integral coefficient, and heart is the differential coefficient.

200540586 V. Description of Invention (2)

u (t) = Kpe {t) + KIJ Proportional control (P control) is the simplest control method. It indicates that the output of the controller is proportional to the input error signal. When there is only proportional control, the system output has a Steady-state error. In integral control (I control), the output of the controller is proportional to the integral of the input (error) signal. For an automatic control system, if there is a steady-state error after entering the steady-state, the control system has a steady-state error or is called a system with steady-state error. In order to eliminate the steady-state error, the "integral term" must be introduced into the controller. The integral term integrates the error with respect to time. As time increases, the integral term increases. In this way, even if the error is small, the integral term It will also increase with the increase of time. It promotes the output of the controller to reduce the steady-state error until it is equal to zero. Therefore, the proportional integral (pl) controller can make the system into a stable state after entering a steady state. Error. In differential control, the output of the controller is proportional to the microsecond of the input (error) signal (that is, the rate of change of the error). The automatic control system may overcome oscillations or even instability during the adjustment process: 纟The reason is that the element with larger inertia and the element with delay make the effect of the difference of two primes! The change always lags behind the change of the error. Solving the problem of error: The effect of error The change needs to be, ahead of time, that is, after the error is connected ... 'the role of the error should be zero. That is to say, in control

200540586 V. Description of the invention (3) ------ ~ It is often not enough to introduce only the "proportion" term in the device. The effect of the proportional term is only the magnitude of the large error, and the current need to increase is the "differential" "Differential ^" can predict the trend of the error change. In this way, the two devices with proportional differentiation can make the control effect of overcoming the error equal to zero or even the backup value in advance, thereby avoiding the overshoot of the controlled quantity. Therefore, for controlled objects with large inertia and & watt, the proportional and derivative (PD) controller can improve the dynamic characteristics of the process. All I-tunes are: • There are many ways to adjust the coefficients in the PID controller. There are two general categories. One is the theoretical calculation adjustment method. It is mainly based on the mathematical model of the system, using some methods in control theory, and theoretically determining the controller coefficient. This method is not only tedious to calculate, but also relies too much on the system: the calculation data obtained by the mathematical model 丄 may not be directly usable, but must also be adjusted and modified through engineering. The other is the engineering adjustment method, which mainly depends on engineering experience and is directly performed in the control system experiment. The method is simple, easy to master, and quite practical, and is therefore widely used in engineering practice. The engineering adjustment methods of the coefficients of PID controllers mainly include the critical proportional method, the response curve method, and the attenuation method. The three methods each have their own characteristics, and their common points, through experiments, and then the coefficients of the controller are adjusted according to the engineering experience formula. However, no matter which method is adopted, the controller coefficients need to be adjusted and improved in actual operation.

200540586 V. Description of the invention (4) In the laser level adjustment device, achieving fast and accurate level adjustment is the ultimate goal of level adjustment, but as the mechanism design 3 is limited to ΐ: the response of the sensing device Speed and level signal processing, etc. \ \ There are still shortcomings in achieving fast and precise goals. The PID control method has the above-mentioned characteristics. Therefore, if it can and has one application, it will have better advantages. 3. [Summary of the Invention] The main purpose of level UI is to provide a kind of application. Another object of the present invention of the ID control method is to provide a level adjustment device, which is designed to precisely control the pulse current for straight control-straight horizontal nG, and also to provide a thousands of devices using the PID control method. You can easily adjust the coefficients in PID calculation. . Ming mentions: a level adjustment device, including a tilt signal; ^: This tilt sensor is used for sensing-tilt L; unit spot lpiD: b system unit geographic wide. The Λ processing I element also contains the reference control. This reference unit is for reference. 4AOCI04007TW.ptd Page 9 200540586 V. Description of the invention (5) This PID control unit is based on the difference between the sensing signal and this reference signal. A PID calculation is performed to output a control signal. The actuator is used to adjust the tilt angle according to the control signal. The invention also provides a control module for a level adjustment device, which is set in a level adjustment device, and the level adjustment The device includes an inclination sensor and a DC motor. The inclination sensor is used to sense an inclination to output a sensing signal to the control module. The control module further includes a horizontal reference unit and a digital PID control unit. The horizontal reference unit provides a horizontal reference signal; the digital PID control unit performs a PID calculation based on the difference between the sensing signal and the horizontal reference signal to output a control signal. The actuator supplies the control signal according to the control signal. The inclination angle is adjusted. The present invention provides an improved level adjustment device and a control module for the level adjustment device, which can reduce the balance. The time required for the state. In addition, through the digital PID control unit, the direct current motor is controlled by pulse current, which can increase the control accuracy and avoid the expensive cost required by the stepper motor. [Embodiment] Figure 1 is According to an embodiment of the present invention, the level adjustment device 10 includes an inclination sensor 12, a processing unit i 4, and an actuator J 6. The inclination sensor 12 is used for sensing an inclination angle, and At least one sensing signal. In addition, the present invention can be combined with a laser light source 18 for emitting a laser beam.

4AOCI04007TW.ptd Page 10 200540586 V. Description of the invention (6) The laser beam can scan a plane. It is also within the scope of the present invention to scan with other light sources (such as an infrared beam) or to define a plane in combination with the present invention. FIG. 2 a is a functional block diagram of a level adjustment device 10 according to an embodiment of the present invention. The processing unit 14 includes a reference unit 142 and a PID-specific control unit 1 4 4 ′ performs a pid operation based on the difference between the sensing signal 1 41 and the reference signal 14 3 to output a control signal 1 45. The actuator 16 is provided for adjusting the tilt angle 13 according to the control signal 145. The inclination sensor 12 is a two-way inclination sensor, and can detect an inclination in the X direction and the Y direction, respectively. In another embodiment, the inclination sensor is a unidirectional inclination sensor, and can detect an inclination in a predetermined direction. The present invention is preferably implemented using a two-way inclination sensor ^ In order to simplify, the following description uses the inclination angle detected by the inclination sensor 12 in the 乂 direction. The inclination sensor 12 converts the inclination angle 13 detected in the X direction into a sensing signal 141, and outputs it to the processing unit 14. The voltage value of the sensing signal 141 corresponds to the inclination angle 13, which means that the larger the detected inclination angle 3, the greater the voltage value of the sensing signal 141. In this embodiment, ... this voltage ranges from 0 to 2.5V. In addition, in order to output the sensing gas number 141, the inclination sensor _ sensor 12 can also include signal processing such as amplifiers, filters, etc. ~ The reference unit 142 of the device is based on the user's preset settings, and the wheel-fu test signal 143 to PID control Unit 144. In this embodiment, 考 夫 考 $

4AOCI04007TW.ptd Page 11 200540586

Bl 143 is a horizontal reference signal, which means that the voltage value in the reference signal is equivalent to the voltage value in the sensing signal output by the inclination sensor 12 when the level adjustment device reaches a level. It is worth mentioning that the so-called "level" of the present invention is subjectively determined by the user, so different reference signals can be set according to the purpose of use. 143 Control unit 1 4 4 测 Measure this sensing signal 1 41 Voltage The difference between this reference signal 1 4 3 and the voltage 'this difference corresponds to the magnitude of the inclination angle 13'. The p D control unit 44 performs a PID operation according to the difference value to output a control signal 147 to the actuator 16. The inclination sensor 12 is disposed on a flat plate or a base (as shown in Fig. 1), and the actuator 16 moves the plate / base according to the control signal 147, and the inclination angle 13 is adjusted. In other words, the inclination angle 13 after the actuator moves the plate / base is smaller than the inclination angle 13 before the actuator 16 moves the plate / base. In one embodiment, the level adjusting device 10 repeatedly adjusts the inclination angle 13 until it reaches a level. In this embodiment, the "horizontal" means that the value of the inclination angle 13 is less than or equal to a first value (for example, 0.1 degree) in an equilibrium state. In another embodiment, when the "level" is in an equilibrium state, the difference between the 'sensing signal 141 and the reference signal 143 is less than or equal to a second value (for example, 0 · 0 1V). In addition, the actuator 16 is a direct current motor, and the control signal 1 & 5 provides the DC motor 16-a control current, thereby controlling the operation of the DC horse 6. The actuator 16 can also be a stepping motor, which controls its operation more precisely, but the relative manufacturing cost is also higher than the DC motor. Other common actuators' include devices that use electric, magnetic, mechanical, thermal, optical and other means to achieve braking, which are all within the scope of the present invention.

200540586

In one embodiment, the PID control unit 144 includes an analog PID control circuit. In another embodiment, the PID control unit 44 includes a digital PID control circuit. Referring to FIG. 2b, the inclination sensor 12 has an analog / digital converter (not shown) for converting the detected inclination angle 13 and outputting a digital sensing signal 1 41 to a processing unit.丨 4. This ratio-to-digital converter has a 12-bit accuracy, which means that the corresponding value of this digital sensing signal 1 41 can be 1 to 4096 (12 to the power of 2). The reference unit 142 also provides a digital reference signal 1 4 3 (for example, the reference signal for setting the level 丨 4 3 has a value of 2000). The PID control unit 144 outputs a digital control signal 145 according to the difference between the digital sensing signal 141 and the digital reference signal 143. The processing unit 14 further includes a pulse generator 146. The pulse generator 146 generates a pulse signal 1 4 7 based on the digital control signal 1 4 5 ′. This pulse signal 1 4 7 provides actuator 16-pulse current, thereby controlling the operation of the actuator 6. For example, when the actuator 16 is a DC motor, enter 0 and 1 js at the positive and negative terminals, and say 'the DC motor rotates positively; input signals 1 and 0 at the positive and negative terminals, respectively. The DC motor is reversed; input the signals 丨 and 〖at the positive and negative ends respectively to brake the DC motor so that it will not be adjusted excessively due to inertia, thereby improving accuracy. When the 0 and 1 signals are input at the positive and negative terminals, and then the 1 and 1 signals are input respectively, the DC motor completes a pulse motion, and a pulse signal enables the DC motor to complete a plurality of pulse motions. Those skilled in the art should know that the means of controlling by this pulse current can also achieve the equivalent performance of a stepping motor. In other embodiments, the processing unit 14 may be a remote-type processor or a special-purpose processor. The reference unit 142, the PID control unit 144, and the pulse generator 146 may be implemented by software, hardware, Or soft

4AOCI04007TW.ptd Page 13 200540586 V. Description of the Invention (9) The combination of hardware and hardware is implemented. Figures 3 and 4 both show the change of the sensing signal 41 during the horizontal adjustment of the tilting device 13 repeatedly to a horizontal state. In FIG. 3, the PID control unit 144 selects a larger integral coefficient (integrabterm coefficient)! ^ ', Thereby speeding up the response of the actuator 16, but it also causes a larger oscillation. In FIG. 4, the pid control unit 144 selects a smaller one of the integration coefficients! ^, So the resulting shock is small. In Figs. 3 and 4, the PID control unit 144 performs a PID operation according to a preset coefficient. However, as shown in FIG. 2C or FIG. 2d, the processing unit 14 may further include an adjustment unit 148 for outputting an adjustment signal 149 to the PID control unit 144 to selectively adjust at least one coefficient in the pId operation, such as a Integration coefficient K !. When the adjustment signal 1 49 increases the integration coefficient &, the response of the actuator 16 to adjust the tilt angle 13 is accelerated. In addition, the output adjustment signal 1 4 9 is used to adjust a proportional coefficient (pr 〇p 〇rti ο η -1 erm coef ficient) KP and / or a differential coefficient (differential-term coef f icient) KD, or even The means for computer hardware / software to implement this output adjustment signal 149 to change the coefficients in the PID operation is also within the scope of the present invention. The method of selecting appropriate PID calculation coefficients should be known to those skilled in the art, and will not be described in detail here. The adjustment unit 148 may be implemented by hardware, software, or a combination of software and hardware.

4AOCI04007TW.ptd Page 14 200540586 V. Description of the invention (shown in Figure 2c) where the adjustment unit 1 4 8 is based on the value of the inclination angle 13 to output an adjustment message 1 4 9. For example, in the first stage, when the value of the inclination angle 13 is greater than 10 degrees, an adjustment signal 丨 49 is output to increase the integral coefficient 1 ^ ', so that the response of the actuator 16 to adjust the inclination angle 13 is accelerated. In the second stage, when the value of the inclination angle 13 is less than 10 degrees but greater than 3 degrees, the output of the adjustment signal 1 4 9 is stopped until the PID control unit 1 4 4 makes the p ID control unit 1 4 4 adopt the Set the integration coefficient. In the third stage, when the inclination angle 13 is less than 3 degrees, an adjustment signal 1 4 9 is output to reduce the integration coefficient & to avoid excessive vibration of the actuator 16. In another embodiment, the adjusting unit 1 4 8 outputs an adjusting signal 149 according to the difference between the sensing signal 1 41 and the reference signal 143. For example, in the first stage, when the difference is greater than 0.4, an adjustment signal 149 is output to increase the integration coefficient K, so that the response of the actuator 16 to adjust the inclination angle 13 is accelerated. In the second stage, when the difference is less than 〇 丨 ν but greater than 〇 5 ν, an adjustment signal 1 49 is output to restore the preset integral coefficient 1 and increase a proportional coefficient KP. In the third stage, when the difference is less than 〇 · 〇1 ν, the adjustment signal 1 49 is restored to the preset proportional coefficient κρ and a differential coefficient κ is added. As shown in Fig. 2d, the adjustment unit 48 is also based on The difference between the sensing signal 14m and the reference signal 143 is used to output the adjustment signal 149. However, the sensing signal / 141 is a digital signal, and the corresponding value can be 1 to 4096 (2 to the power of 12). The reference signal 1 4 3 is also a digital signal, and its corresponding value is

200540586 V. Description of the invention (11) 2 220 0: 0: column t says 'in the first stage' When the difference is greater than 500, then the integral coefficient V of the booster ° is used. Γ: The response of adjusting the inclination angle 13 is accelerated. In the second stage, when = = 〇〇 but greater than 10 ', the adjustment signal 149 is rotated to restore the preset integral coefficient K 丨 and increase a proportional coefficient Kp. In the third stage, when the difference is less than 10, the adjustment signal 149 is returned to the preset ratio ^ number and a differential coefficient KD is added. Although the present invention is disclosed as above with the embodiment, it is not 6 inventions, anyone familiar with this Artists can make various modifications and retouching without departing from the limited edition of the present invention, so the arsenic and scope of the present invention are determined by the scope of the attached patent scope.

4AOCI04007TW.ptd Page 16 200540586

Brief Description of the Drawings 5. Brief Description of the Drawings The drawings are used to explain the present invention in conjunction with the description. Fig. 1 is a schematic diagram of a level adjustment device in an embodiment; Fig. 2a is a functional block diagram of a level adjustment device in an embodiment; Fig. 2b is a functional block diagram of a level adjustment device in another embodiment; Fig. 2c is an implementation An example of a horizontal adjustment block diagram with an adjustment unit; Figure 2d is a block diagram of a horizontal adjustment package with an adjustment unit in another embodiment;

Fig. 3 shows the process of adjusting the inclination angle in an embodiment, which has a large integration coefficient; Fig. 4 shows the process of adjusting the inclination angle in an embodiment, whose integration coefficient is higher than / J, ○ Unit 144 PID control unit 1 4 6 Pulse generator 148 Adjustment unit 1 6 Actuator 1 0 Level adjustment device 1 2 Tilt sensor 1 3 Tilt 1 41 Sensing signal 1 4 3 Reference signal 1 4 5 Control signal 1 4 7 Pulse signal 149 Adjust signal 1 8 Laser light source

4AOCI04007TW.ptd Page 17

Claims (1)

200540586 6. Scope of patent application 1 · A level adjustment device (1 eve 1 ingapparatus), including: a tilt sensor (ti 11 sensor) for sensing a tilt angle to output a sensing signal; a processing unit for receiving In the sensing signal, the processing unit includes: a reference unit for providing a reference signal; and a PID-propertional-integral-derivative control unit, which performs the measurement based on the difference between the sensing signal and the reference signal A P ID operation to output a control signal; and an actuator for adjusting the tilt angle according to the control signal. 2. The level adjustment device according to item 1 of the scope of the patent application, wherein the level adjustment device repeatedly adjusts the inclination angle until the value of the inclination angle is less than or equal to a first value. 3. The level adjustment device according to item 1 of the scope of patent application, wherein the level adjustment device repeatedly adjusts the inclination angle until the difference between the sensing signal and the reference signal is less than or equal to a second value. 4. The level adjustment device according to item 1 of the scope of patent application, wherein the processing unit further includes an adjustment unit for outputting an adjustment signal to the PID control unit to adjust at least one coefficient in the PID operation. 4AOCI04007TW.ptd page 18 200540586 6. Scope of patent application 5 · The level adjustment device as described in item 4 of the scope of patent application, wherein the adjustment unit rotates the adjustment signal according to the value of the tilt angle. 6. The level adjustment device according to item 4 of the scope of patent application, wherein the adjustment unit outputs the adjustment signal according to a difference between the sensing signal and the reference signal. X 7. The level adjustment device according to item 1 of the scope of patent application, wherein the piD control unit includes an analog p ID control circuit. 8. The level adjustment device according to item 1 of the scope of patent application, wherein the PID control unit includes a digital PID control circuit. 9. The level adjusting device according to item 8 of the scope of the patent application, wherein the processing unit further includes a pulse generator for generating a pulse signal according to the control signal; wherein the actuator is further adjusted according to the pulse signal. The inclination angle 0 I 0 · The level adjustment device described in item 1 of the scope of patent application, the actuator is a stepping motor. II. The leveling device described in item 1 of the scope of patent application, the actuator is a DC motor. 4AOCI04007TW.ptd Page 19 200540586 6. Scope of patent application 1 2 · A level adjustment device, including: an inclination sensor for detecting an inclination to output a sensing signal; a processing unit for receiving the sensor The measuring signal includes: a horizontal reference unit for providing a horizontal reference signal; a digital PID control unit for performing a PID calculation based on the difference between the sensing signal and the horizontal reference signal to output a control signal And a pulse generator for generating a pulse signal according to the control signal; and a DC motor for adjusting the tilt angle according to the pulse signal. 1 3 · The level adjustment device as described in item 2 of the patent application scope, wherein the level adjustment device repeatedly adjusts the inclination angle until the value of the inclination angle is less than or equal to a first value. 1 4 · The level adjustment device as described in item 丨 2 of the scope of patent application, the level adjustment device repeatedly adjusts the inclination angle until the difference between the sensing signal and the horizontal reference signal is less than or equal to / a second value . 1 5. The level adjustment device as described in item 2 of the patent application scope, wherein the processing unit further includes an adjustment unit for outputting an adjustment signal to the PID control unit to adjust at least one coefficient in the p ID operation. 1 6 · If the level adjustment device described in item 15 of the scope of patent application ’, where 200540586 6. Scope of Patent Application The adjustment unit outputs the adjustment signal according to the value of the tilt angle. 1 7 · The level adjustment device according to item 5 of the patent application scope, wherein the adjustment unit outputs the adjustment signal according to the difference between the sensing signal and the horizontal reference signal. 1 8 · —A control module for a level adjustment device, which is set in a level adjustment device 'the level adjustment device has an inclination sensor and a DC motor' δ 倾 inclination sensor for detecting an inclination angle to Output a sensing signal to the control module 'The control module includes: a horizontal reference unit for providing a horizontal reference signal; a digital P ID control unit for detecting the difference between the sensing signal and the horizontal reference signal 'Perform a ρ ID operation to output a control signal; and a pulse generator for generating a pulse signal according to the control signal; wherein the DC motor is used to adjust the tilt angle according to the pulse signal. 19. The control module as described in item 8 of the scope of patent application, the control module is for the level adjustment device to repeatedly adjust the tilt angle until the value of the tilt angle is less than or equal to a first value. 20. The control module as described in item 18 of the scope of patent application, the control module is for the level adjustment device to repeatedly adjust the tilt angle until the difference between the sensing signal and the horizontal reference signal is less than or equal to a first Binary. 200540586 VI. Application scope " ~ '--- 21 · As described in the patent application scope item 18, the control module further includes an adjustment unit for outputting an adjustment signal to the PID control unit. To adjust at least one coefficient in the pID operation. 22. The control module according to item 18 of the scope of application for a patent, wherein the adjusted early element is based on the value of the inclination to output a signal for violation of the adjustment. 2 3 · The control module according to item 18 of the scope of patent application, wherein the adjustment unit rotates the adjustment signal according to the difference between the sensing signal and the horizontal reference signal. 4AOCI04007TW.ptd Page 22