智能茶饮机配料称质量控制系统设计  

Research and Design of Ingredient Weighing Control System for Intelligent Tea Dispenser

作　　者：刘健 孙磊[1] 王喜朋 任强峰 姚阿庆 史伟民[1] LIU Jian;SUN Lei;WANG Xipeng;REN Qiangfeng;YAO Aqing;SHI Weimin(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China;Hangzhou Elohim Cloud Robotics Technology Co.,Ltd.,Hangzhou311103,China)

机构地区：[1]浙江理工大学机械工程学院,浙江杭州310018 [2]杭州以勒上云机器人科技有限公司,浙江杭州311103

出　　处：《轻工机械》2025年第1期47-54,71,共9页Light Industry Machinery

摘　　要：针对智能茶饮机的配料称质量系统在工作中易受茶料大小形状不同、传感器延时和滞空物料(料盒投料口关闭时处于半空中未落到杯中的粉料)等因素造成的非线性和滞后问题,课题组提出了2级落料和基于反向传播神经网络的比例-积分-微分(Back Propagation Neural Network Proportional-Integral-Derivative,BPNNPID)控制算法细投控制的策略。2级投料确保配料称质量的速度,采用BPNNPID算法的细投控制来提升称质量精度;基于茶饮机配料称质量系统的机械结构,设计了由STM32F103C8T6单片机和基于Modbus协议的高精度485电子秤以及步进电机组成的嵌入式控制系统;通过实验采集数据进行MATLAB系统辨识,得到控制对象的传递函数;使用Simulink构建BPNNPID控制器仿真模型,并与传统比例-积分-微分(Proportional-Integral-Derivative,PID)控制器进行仿真比较。结果表明:该智能茶饮机的配料称质量控制系统具有较高的稳定性和可靠性,有效提高了称质量的控制精度。This study addressed nonlinearities and hysteresis in a smart tea beverage dispensing system′s ingredient weighing mechanism caused by variations in tea ingredient sizes,sensor delays,and residual materials(powder that does not fall into the cup when the feed port of the box is closed).Research group proposed a dual-stage dispensing approach combined with a Back Propagation Neural Network Proportional-Integral-Derivative(BPNNPID)control algorithm for precise dispensing control.The dual-stage mechanism ensured optimal weighing speed,while the BPNNPID algorithm enhanced weighing accuracy.The system integrated an embedded control system comprising an STM32F103C8T6 microcontroller,a high-precision 485 electronic scale based on the Modbus protocol,and stepper motors.Experimental data were used for MATLAB system identification to derive the control object′s transfer function.Simulink simulations were employed to model the BPNNPID controller and compare its performance with a traditional Proportional-Integral-Derivative(PID)controller.Results demonstrates enhanced stability and reliability of the smart tea beverage dispensing system′s ingredient weighing control,significantly improving weighing precision.

关 键 词：茶饮机 称质量 配料 2级落料 BP神经网络 PID细投控制策略 

分 类 号：TS272.3[农业科学—茶叶生产加工] TH39[轻工技术与工程—农产品加工及贮藏工程]