Adaptive control method, apparatus and device

Abstract

An adaptive control method, apparatus and device. The adaptive control method is applied to a hydraulic system comprising a hydraulic control element using PID closed-loop regulation. The method comprises: acquiring a measured value of at least one hydraulic factor, the measured value being used for determining PID parameters of the hydraulic control element or serving as a feedback signal when the PID parameters of the hydraulic control element are fixed; and, on the basis of the PID parameters and the feedback signal, the hydraulic control element executing PID closed-loop regulation. The method exhibits high control precision and is convenient for large-scale application.

Description

Cross Reference to Related Applications The present disclosure claims the rights and benefits of Chinese Patent Application 202211612598.0 filed on December 14, 2022, which is incorporated herein in its entirety by reference. Field of the Invention The present disclosure relates to the technical field of electromechanical-hydraulic intelligent control, and in particular, to a method for adaptive control, an apparatus for adaptive control, a device for adaptive control, and a computer-readable storage medium. Background of the Invention Traditional proportional-integral-derivative (PID) closed-loop control, fuzzy adaptive PID control, and expert PID control are used to tune PID parameters (that is, according to the load change of a controlled object or influence from interference factors) through fuzzy control rules or expert algorithms. They are essentially single-input and single-output control systems, and have different defects. The traditional PID closed-loop control, a type of black-box control, has simple control principles and is easy to implement. As a time-varying nonlinear system, the traditional PID closed-loop control needs to set different parameters and select different PID parameters for different working conditions (such as load change, oil temperature change, and attitude change) in actual application. In this case, parameter tuning is extremely troublesome, and parameter adjustment workload in all working conditions is heavy, making the application to a main engine in all working conditions difficult. The fuzzy adaptive PID control is a variant of the PID closed-loop control. A fuzzy controller is mainly composed of a fuzzification module, a fuzzy inference module, and a defuzzification module, and has a complicated fuzzy process. Due to the complex working conditions and numerous compound actions of main engines of construction machinery, the consistency between different main engines is difficult to ensure, and the fuzzy adaptive PID control is difficult to popularize and apply to the construction machinery in batches. The expert PID control solves problems by imitating a way in which experts make inference according to their own rich knowledge and experience, and includes abundant expert knowledge and experience. However, it is difficult to establish an expert knowledge base without hydraulic engineers or electrical engineers that have rich experience. Summary of the Invention An objective of examples of the present disclosure is to provide a method, apparatus and device for adaptive control for solving some problems in the prior art. In order to achieve the objective, a first aspect of the present disclosure provides a method for adaptive control. The method includes: acquiring a measured value of a hydraulic factor; generating a control signal for a hydraulic control element according to the measured value; and controlling the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element. Preferably, the hydraulic factor includes at least one of the following: a pressure drop, a flow rate, an oil temperature, a system pressure, and an oil viscosity. Preferably, the hydraulic control element includes: a multi-way valve, a directional valve, or an engine revolution speed control module. Preferably, the generating a control signal for a hydraulic control element according to the measured value includes: acquiring a change trend of the measured value and a correlation between a trend and control signal, where the correlation between a trend and control signal includes a correspondence relationship between the change trend of the measured value and the control signal; and generating the control signal for controlling an outputted variable of the hydraulic control element according to the change trend of the measured value and the correlation between a trend and control signal. Preferably, the hydraulic factor is a main valve spool pressure drop, the hydraulic control element is an engine revolution speed control module, and the outputted variable of the hydraulic control element is an engine revolution speed; and the generating a control signal for a hydraulic control element according to the measured value includes: acquiring a change trend of the main valve spool pressure drop according to the main valve spool pressure drop measured in real time; generating an engine revolution speed increase instruction when the main valve spool pressure drop is detected to decrease, where the engine revolution speed increase instruction is used for increasing the engine revolution speed; and maintaining the engine revolution speed unchanged when the main valve spool pressure drop is detected to increase to an upper limit of an allowable range. Preferably, the controlling the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element includes: inputting a fed-back error signal and the instruction signal into a proportional-integral-derivative (PID) controller; and controlling the hydraulic control element according to an output of the PID controller and the control signal. Preferably, the method further includes: determining a PID parameter of the PID controller according to the measured value of the hydraulic factor. Preferably, the determining a PID parameter of the PID controller according to the measured value of the hydraulic factor includes: determining the PID parameter corresponding to the measured value through a relationship table or a fitting curve, where the relationship table or the fitting curve has at least the PID parameter corresponding to the measured value. In a second aspect of the present disclosure, an apparatus for adaptive control is further provided. The apparatus includes a parameter feedback module configured to acquire a measured value of a hydraulic factor, where the measured value is used for determining a PID parameter of a hydraulic control element or serving as a feedback signal when the hydraulic control element fixes the PID parameter; and an adjustment performance module configured to perform, by the hydraulic control element, PID closed-loop adjustment according to the PID parameter and the feedback signal. In a third aspect of the present disclosure, a device for adaptive control is further provided. The device for adaptive control includes a memory, a processor, and a computer program that is stored in the memory and is runnable on the processor, where the processor implements steps of the foregoing method for adaptive control when executing the computer program. In a fourth aspect of the present disclosure, a computer-readable storage medium is further provided. The computer-readable storage medium stores instructions, where the instructions cause a computer to perform steps of the foregoing method for adaptive control when run on the computer. In a fifth aspect of the present disclosure, a computer program product is provided. The computer program product includes a computer program, where the computer program implements the foregoing method for adaptive control when executed by a processor. The technical solution described above has at least the following beneficial effects: (1) In embodiments of the present disclosure, the hydraulic factor is used as a feedback variable to establish a closed loop with the hydraulic control element. Compared with an original closed loop with an external factor such as machinery, closed loop links are shortened, and accuracy of closed loop control is improved. (2) The hydraulic factor is directly acquired from the hydraulic system, improvement on an original system is little, and a lot of hardware devices are not needed. Thus, cost is low, and large-scale application is easy to implement. (3) The closed loop of the hydraulic factor in the embodiment of the present disclosure can be integrated with the original PID closed loop of the system to form a typical two-input and one-output nonlinear control system. The PID parameter does not need to be re-tuned, and control precision of the original PID closed loop is improved. (4) Scalability is achieved. Other functions can be achieved by writing a vehicle control strategy, such as decrease in swing of a boom during drop. Other features and advantages of the examples of the present disclosure will be described in detail in the following specific embodiments. Brief Description of Drawings The accompanying drawings are used for providing further understanding of the examples of the present disclosure as a constituent part of the description, serve to explain the examples of the present disclosure together with following specific embodiments, but do not constitute limitation to the examples of the present disclosure. In the figures: FIG. 1 illustratively shows a schematic diagram of steps of a method for adaptive control according to an embodiment of the present disclosure; FIG. 2 illustratively shows a schematic diagram of a control structure of a two-input and one-output control system according to an embodiment of the present disclosure; FIG. 3 illustratively shows an improved schematic diagram of feedback variable selection according to an embodiment of the present disclosure; FIG. 4 illustratively shows a diagram of a dynamic balance process of a valve spool pressure drop and an engine revolution speed according to an embodiment of the present disclosure; FIG. 5 illustratively shows a schematic diagram of a control structure of a closed-loop control structure according to an embodiment of the present disclosure; FIG. 6 illustratively shows a diagram of an adaptive process of a revolution speed of a hydraulic pump according to an embodiment of the present disclosure; FIG. 7 illustratively shows an improved schematic diagram of implementing closed-loop control in a hydraulic system according to an embodiment of the present disclosure; FIG. 8 illustratively shows an improved schematic diagram of implementing closed-loop control in another hydraulic system according to an embodiment of the present disclosure; and FIG. 9 illustratively shows a schematic structural diagram of an apparatus for adaptive control according to an embodiment of the present disclosure. Brief Description of the Drawings 1-1 hydraulic pump; 2-1a, 2-1b, 2-1c and 2-1d pressure sensor; 3-1 electro-hydraulic proportional directional flow rate control valve; 4-1 actuator; 5-1 controller; 6-1 oil tank; and 7b electric proportional throttle valve. Detailed Description of the Embodiments The specific embodiments of the examples of the present disclosure are described in detail below with reference to accompanying drawings. It should be understood that the specific embodiments described herein are merely used to describe and explain the examples of the present disclosure, rather than limit the examples of the present disclosure. FIG. 1 illustratively shows a schematic diagram of steps of a method for adaptive control according to an embodiment of the present disclosure. As shown in FIG 1, the method for adaptive control includes: S01: acquire a measured value of a hydraulic factor. It is determined that at least one factor is a feedback variable from the hydraulic factors of a hydraulic system. In the prior art, an external factor such as a mechanical factor outputted by a hydraulic system is often used as a feedback variable. In this embodiment, the hydraulic factor is used as the feedback variable, and is readily acquired from the hydraulic system, and the problem of a long feedback delay by using the mechanical factor or the external factor as the feedback variable in the prior art. S02: generate a control signal for a hydraulic control element according to the measured value. The hydraulic control element herein refers to an element that controls the forgoing hydraulic factor. By changing a state of the hydraulic control element according to the control signal, the hydraulic factor is affected, and then a subsequent measured value of the hydraulic factor is affected. It can be seen that control based on feedback of the measured value of the hydraulic factor is established herein. A mapping relationship between the measured value and the control signal is determined according to an actual scenario and an actual parameter, and can be considered as closed-loop control at a physical structure level to some extent. S03: control the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element. FIG. 2 illustratively shows a schematic diagram of a control structure of a two-input and one-output control system according to an embodiment of the present disclosure. As shown in FIG. 2, with controlling an engine revolution speed as an example, the system is the two-input and one-output control system, an instruction speed and the engine revolution speed are inputted variables, and an actually outputted speed of an actuator is an outputted variable. Specifically, the output of the hydraulic system is used to drive the actuator, and the input of the hydraulic system includes an adjustment variable generated according to a feedback signal and an instruction variable generated according to PID closed-loop adjustment. Two-way adjustment is formed between the engine revolution speed and the hydraulic system. As shown by a bold two-way arrow in the figure, the engine revolution speed has no direct relationship with the PID controller or a parameter tuner. That is, the engine revolution speed does not participate in the PID controller and a parameter tuning 5 function, thus avoiding logical improvement in the parameter tuner. The content described above is merely illustratively. In some other embodiments, an oil temperature, a viscosity, etc. may be used as inputted variables or intermediate variables, and the system becomes a multi-input and multi-output system. Through the embodiments, various problems caused by establishing a closed loop using the outputted variable of the hydraulic system are avoided, such as overlapping with the original PID closed loop, re-tuning of the PID parameter, and excessively long closed loop links. In some embodiments of the present disclosure, the hydraulic factor includes, but is not limited to, at least one of the following: a pressure drop, a flow rate, an oil temperature, a system pressure, and an oil viscosity. Specifically, a working condition parameter of hydraulic oil includes a flow rate, a flow speed, and a state of the hydraulic oil, and the state of the hydraulic oil includes a temperature and a viscosity. A working condition parameter of a hydraulic pump includes a hydraulic pump revolution speed, etc. The factor selected from step S01 is a specific hydraulic factor from the hydraulic factors, such as the hydraulic pump revolution speed or the temperature of the hydraulic oil, and their combination. FIG. 3 illustratively shows an improved schematic diagram of feedback variable selection according to an embodiment of the present disclosure. As shown in FIG. 3, traditional control, fuzzy control, expert PID control, etc. do not need to know an exact model of a controlled object, and a control disturbance variable is a mechanical or external factor (such as an attitude, a load, a power limit, and a wind speed), and belongs to black-box control. Essence of the method for adaptive control based on the closed-loop control structure provided by the present disclosure is to convert the mechanical or external factor into the hydraulic factor (such as the pressure drop, the flow rate, the oil temperature, the hydraulic pump revolution speed, and system pressure). The hydraulic factors are readily acquired parameters (the hydraulic parameters are generally integrated into the controller and are readily acquired), and belong to semi-empirical and semi-black box control. For the hydraulic factor incapable of being collected in a case of no corresponding sensors, it is merely necessary to set corresponding sensors at corresponding positions. The foregoing hydraulic control element includes: a multi-way valve, a directional valve, or an engine revolution speed control module. The hydraulic control element in the foregoing physical structure closed loop may be the multi-way valve, the directional valve, or the engine revolution speed control module. With the engine revolution speed control module as an example, the physical structure closed loop between the hydraulic factor and the engine revolution speed may be constructed, and the engine revolution speed may be adjusted by using an internal parameter of the hydraulic system. Thus, faster revolution speed control is implemented, and the problem of control lag caused by the excessively long links when the PID closed loop merely exists originally is avoided. In some embodiments, the step that generating a control signal for a hydraulic control element according to the measured value includes: a change trend of the measured value and a correlation between a trend and control signal are acquired. The correlation between a trend and control signal includes a correspondence relationship between the change trend of the measured value and the control signal. This correspondence relationship may be qualitatively described as positive correlation or negative correlation. The positive correlation indicates that when the correlation between a trend and control signal changes in an increasing trend, the measured value also changes in an increasing direction, and the negative correlation indicates that when the correlation between a trend and control signal changes in an increasing trend, the measured value changes in a decreasing direction. The control signal for controlling the outputted variable of the hydraulic control element is generated according to the change trend of the measured value and the correlation between a trend and control signal. For example, when the change trend of the measured value decreases, in order to keep the measured value constant, the control signal should make the outputted variable of the hydraulic control element change in the increasing trend. In some scenarios, the outputted variable of the hydraulic control element has a preset changing direction, and the outputted variable of the hydraulic control element may be set to merely change in the increasing direction, for example. In this preset change direction, when the change trend of the measured value increases, the outputted variable of the hydraulic control element does not change in the decreasing direction, but remains unchanged. In some other scenarios, the outputted variable of hydraulic control elements has a preset change range, such as a set upper limit. Within this preset change range, when the change trend of the measured value decreases, and the outputted variable of the hydraulic control element changes in the increasing direction, the outputted variable of the hydraulic control element reaches the upper limit of the change range, for example, the upper limit of the revolution speed, will not continue to increase, but keep the current upper limit of the revolution speed unchanged. FIG. 4 illustratively shows a diagram of a dynamic balance process of a valve spool pressure drop and an engine revolution speed according to an embodiment of the present disclosure. As shown in FIG. 4, the engine revolution speed is taken as the inputted variable, and a small value is used generally in consideration of fuel economy, such as an idle speed of 750 rpm. During an entire control process, the main valve spool pressure drop AP is detected in real time, and when the main valve spool pressure drop AP decreases (that is, a process of serial number (1)), the engine revolution speed is automatically increased by a control algorithm (a process of serial number (2)). When the instruction speed remains unchanged and the engine revolution speed increases, the main valve spool pressure drop automatically increases (a process of serial number (3)), and a two-way dynamic balance adjustment process between the main valve spool pressure drop AP and the engine revolution speed is implemented, as shown by 7 a two-way arrow in the figure. On the contrary, when the main valve spool pressure drop AP increases to a particular value (a process of serial number (4)), the engine revolution speed does not increase and remain unchanged, for example, the engine revolution speed maintains an output of 1400 rpm, and the two-way dynamic balance adjustment process between the main valve spool pressure drop AP and the engine revolution speed is implemented. The two-way dynamic balance adjustment process between the engine revolution speed and the main valve spool pressure drop implemented by this embodiment is essentially the physical structure closed loop. In some embodiments of the present disclosure, the step that controlling the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element includes: inputting a fed-back error signal and the instruction signal into a PID controller; and controlling the hydraulic control element according to an output of the PID controller and the control signal. FIG. 5 illustratively shows a schematic diagram of a control structure of a closed-loop control structure according to an embodiment of the present disclosure. As shown in FIG. 5, the electric closed loop in this embodiment is based on integration of common PID closed loop and the physical structure closed loop. The engine revolution speed control module works between the hydraulic valve and the actually outputted speed, a two-way dynamic balance adjustment process is implemented between the engine revolution speed control module and the hydraulic valve, and the engine revolution speed control module affects the actually outputted revolution speed v. The revolution speed v is the feedback variable, a difference between the revolution speed and the instruction speed is input into the PID controller, and the PID controller controls the hydraulic valve to implement the common PID closed loop. A pressure difference of the hydraulic valve and the engine revolution speed control module form the physical structure closed loop. In some embodiments of the present disclosure, a PID parameter of the PID controller is determined according to the measured value of the hydraulic factor. The PID parameter of a to-be-adjusted variable of the engine is determined according to the fed-back variable. The PID parameter adjustment adaptation is to take the hydraulic factors of the hydraulic system or combination relationships between a plurality of hydraulic factors as preferential variables, each preferential variable is automatically matched with the PID parameter, and a relationship between an actuator part of a hydraulic transmission system and the PID parameter is established, so as to complete adaptive adjustment. The to-be-adjusted variable herein is selected from the running working conditions of the engine, such as a speed, a displacement, and a flow rate. The process may also be referred to as the PID parameter adjustment adaptation. In some optional embodiments, the step that determining a PID parameter of the PID controller according to the measured value of the hydraulic factor includes: determining the PID parameter 8 corresponding to the measured value through a relationship table or a fitting curve. The relationship table or the fitting curve has at least the PID parameter corresponding to the measured value. Specifically, a preferential hydraulic factor+PID parameter adjustment adaptation process is to essentially automatically match the preferential variables of single or more combination relationships 5 of the hydraulic factors with the PID parameter, such as main valve spool pressure drop+hydraulic pump revolution speed adaptation, oil temperature+hydraulic pump revolution speed adaptation, and main valve spool pressure drop and oil temperature+hydraulic pump revolution speed adaptation. Table 1 below is an example of the preferential hydraulic factor +PID parameter adjustment adaptation adjustment. As long as the combination of single or more hydraulic factors is taken as the preferential 10 variable, corresponding methods for giving PID parameters fall within the scope of this embodiment. In the preferential PID parameter+hydraulic system adaptation instance, a better PID parameter is fixed. The PID parameter can achieve a better speed tracking effect in some working conditions, and a poor speed tracking effect is caused in all working conditions due to influence from the working condition change or compound actions. 15          Table 1 Preferential hydraulic factor+PID parameter adjustment adaptation relationship Serial No. Hydraulic pump revolution speed (rpm) Oil temperature range interval (°C) PID Parameter 1 Low revolution speed range 700-1000 Small   temperature range interval 10-30 Preferential value of 1 (kp, ki, and kd) Medium temperature range interval 30-50 Preferential value of 2 Large   temperature range interval 50-70 Preferential value of 3 2 Medium revolution speed range 1000-1300 Small   temperature range interval 10-30 Preferential value of 4 Medium temperature range interval 30-50 Preferential value of 5 Large   temperature range interval 50-70 Preferential value of 6 3 High revolution 1300-1600 Small   temperature range interval 10-30 Preferential value of 7 speed range Medium temperature range interval 30-50 Preferential value of 8 Large   temperature range interval 50-70 Preferential value of 9 In a case of PID determined in the previous embodiment or fixed PID, a control relationship between the PID parameter and the actuator part of the hydraulic transmission system is established to complete the adaptation adjustment process. Herein, a control instruction of a to-be-controlled variable changes according to selection of the to-be-controlled variable. For example, the control instruction may be a flow rate instruction, a signal instruction, a displacement instruction, and a speed instruction. Target values of the to-be-controlled variables included in the control instruction are correspondingly referred to as an instruction flow rate, an instruction signal, an instruction displacement, and an instruction speed. FIG. 6 illustratively shows a diagram of an adaptive process of a revolution speed of a hydraulic pump according to an embodiment of the present disclosure. As shown in FIG. 6, with an upper limit and a lower limit of the main valve spool pressure drop as the limiting conditions, when the main valve spool pressure drop AP is less than or equal to the lower limit value, an increase in the engine revolution speed is a positive value, and an actual engine revolution speed is acquired by adding an idle speed of 750 rpm and the revolution speed increase. The actual engine output speed in this process is within an increase range. When the main valve spool pressure drop AP is greater than or equal to the upper limit, an increase in the engine revolution speed is 0, and the actually outputted engine revolution speed does not increase. In this process, the PID parameter remains unchanged with merely adaptation of the hydraulic system itself, that is, the adaptation adjustment of the hydraulic pump revolution speed. This method has high practicability and can be popularized and used in main engines of construction machinery under all working conditions, and other working conditions parameters do not need to be adjusted when the method is used under all working conditions. The mapping relationship herein may adopt proportional mapping, set function mapping, or stage function mapping. Most of the foregoing hydraulic factors may be directly acquired from the controller. These hydraulic factors or hydraulic parameters are generally integrated in the controller. For a hydraulic or electrical engineer, these hydraulic factors are readily acquired parameters, and belong to semi-empirical and semi-black box control. However, corresponding sensors are not arranged for acquiring some hydraulic factors or hydraulic parameters. Thus, it is necessary to improve the hydraulic system simply, such as the main valve spool pressure drop. The main valve spool pressure drop is computed according to collected values of differential pressure sensors or pressure sensors arranged before and behind a valve of a main valve spool. With pressure drop values before and after the main valve spool as an example, it is merely necessary to mount the differential pressure sensors or the pressure sensors before and after the main valve spool, and too much modification of the hydraulic system is not needed. FIG. 7 illustratively shows an improved schematic diagram of implementing closed-loop control in a hydraulic system according to an embodiment of the present disclosure. As shown in FIG. 7, the hydraulic system is mainly composed of a hydraulic pump 1-1, pressure sensors 2-1a to 2-1d, a throttle valve 3-1, an actuator 4-1, a controller 5-1, an oil tank 6-1, and accessories. The throttle valve 3-1 may be a simple damping hole, a directional flow rate control valve, a pre-valve load compensation sensitive valve or a post-valve load compensation sensitive valve, etc. The pressure sensors 2-1a to 2-1d may be replaced by differential pressure sensors, and the hydraulic pump 1-1 is not limited to a variable displacement pump, and may be replaced by a constant displacement pump. By improving the structure and adding the control algorithm of this embodiment to the controller, a corresponding speed control curve can be implemented, and simplicity and convenience are achieved. The hydraulic pressure of this embodiment can be applied to a simple hydraulic resistance control system, a load sensitive control system (including pre-valve compensation and post-valve compensation), a positive flow rate system, a negative flow rate system, a constant power system, etc., and has a wide application range. In some other optional embodiments, the electro-hydraulic proportional directional flow rate control valve 3-1 is replaced by an electric proportional throttle valve 7b, and other circuits remain unchanged. A diagram of a structure of the replaced hydraulic system is shown in FIG. 8. FIG. 8 illustratively shows an improved schematic diagram of implementing closed-loop control in another hydraulic system according to an embodiment of the present disclosure. Based on the same application concept, the present disclosure further provides an apparatus for adaptive control. FIG. 9 illustratively shows a schematic structural diagram of an apparatus for adaptive control according to an embodiment of the present disclosure. As shown in FIG. 9, the apparatus for adaptive control is provided. The apparatus for adaptive control includes: a parameter feedback module configured to acquire a measured value of a hydraulic factor; a signal generation module configured to generate a control signal for a hydraulic control element according to the measured value; and an adjustment performance module configured to control the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element. In some optional embodiments, the hydraulic factor includes at least one of the following: a pressure drop, a flow rate, an oil temperature, a system pressure, and an oil viscosity. In some optional embodiments, the hydraulic control element includes: a multi-way valve, a directional valve, or an engine revolution speed control module. In some optional embodiments, the step that generating a control signal for a hydraulic control element according to the measured value includes: acquiring a change trend of the measured value and a correlation between a trend and control signal, where the correlation between a trend and control signal includes a correspondence relationship between the change trend of the measured value and the control signal; and generating the control signal for controlling an outputted variable of the hydraulic control element according to the change trend of the measured value and the correlation between a trend and control signal. In some optional embodiments, the hydraulic factor is a main valve spool pressure drop, the hydraulic control element is an engine revolution speed control module, and the outputted variable of the hydraulic control element is an engine revolution speed. The step that generating a control signal for a hydraulic control element according to the measured value includes: acquiring a change trend of the main valve spool pressure drop according to the main valve spool pressure drop measured in real time; generating an engine revolution speed increase instruction when the main valve spool pressure drop is detected to decrease, where the engine revolution speed increase instruction is used for increasing the engine revolution speed; and maintaining the engine revolution speed unchanged when the main valve spool pressure drop is detected to increase to an upper limit of an allowable range. In some optional embodiments, the step that controlling the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element includes: inputting a fed-back error signal and the instruction signal into a PID controller; and controlling the hydraulic control element according to an output of the PID controller and the control signal. In some optional embodiments, the method further includes: determining a PID parameter of the PID controller according to the measured value of the hydraulic factor. In some optional embodiments, the step that determining a PID parameter of the PID controller according to the measured value of the hydraulic factor includes: determining the PID parameter corresponding to the measured value through a relationship table or a fitting curve. The relationship table or the fitting curve has at least the PID parameter corresponding to the measured value. Reference can be made to limitation to the method for adaptive control above for specific limitation to functional modules in the apparatus for adaptive control, which will not be repeated herein. The modules in the apparatus may be implemented in whole or in part by software, hardware and their combinations. The modules may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, such that the processor may invoke and perform operations corresponding to the modules described above. In some embodiments of the present disclosure, a device for adaptive control is further provided. The device for adaptive control includes a memory, a processor, and a computer program that is stored in the memory and is runnable on the processor. The processor implements steps of the foregoing method for adaptive control when executing the computer program. The processor herein has functions of numerical computation and logical operation, and has at least a central processing unit (CPU) with a data processing capacity, a random access memory (RAM), a read-only memory (ROM), and various I / O ports and interrupt systems. The processor includes a core, and the core invokes a corresponding program unit from the memory. One or more cores may be arranged, and the foregoing method may be implemented by adjusting parameters of the cores. The memory may include a non-permanent memory, a random access memory (RAM) and / or a nonvolatile internal memory such as a read-only memory (ROM) or a flash RAM in the computer-readable medium, and the memory includes at least one storage chip. In an embodiment of the present disclosure, a computer-readable storage medium is further provided. The storage medium stores instructions. The instructions cause a computer to perform steps of the method for adaptive control described above when run on the computer. In an embodiment of the present disclosure, a computer program product is provided. The computer program product includes a computer program. The computer program implements the method for adaptive control described above when executed by a processor. Those skilled in the art should understand that the examples of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of an entire hardware example, an entire software example, or an example combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk memories, compact disc read-only memories (CD-ROMs), and optical memories) including computer usable program codes. The present disclosure is described with reference to the flowchart and / or the block diagram of the method, the device (system), and the computer program product according to the examples of the present disclosure. It should be understood that computer program instructions may implement each flow and / or each block in the flowcharts and / or the block diagrams and a combination of a flow and / or a block in the flowcharts and / or the block diagrams. These computer program instructions may be provided for a processor of a general-purpose computer, a special-purpose computer, an embedded processing machine, or another programmable data processing device to produce a machine, such that instructions executed by the processor of the computer or another programmable data processing device generate an apparatus configured to implement a function specified in one or more flows of the flowchart and / or one or more blocks of the block diagram. These computer program instructions may also be stored in a computer-readable memory that may guide the computer or another programmable data processing device to operate in a specific mode, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction apparatus, and the instruction apparatus implements the function specified in one or more flows of the flowchart and / or one or more blocks in the block diagram. These computer program instructions may alternatively be loaded onto the computer or another programmable data processing device, such that a series of operation steps are executed on the computer or another programmable device to generate computer-implemented processing, and instructions executed on the computer or another programmable device provide steps for implementing the function specified in the one or more flows of the flowchart and / or one or more blocks in the block diagram. In a typical configuration, a computer device includes one or more central processing units (CPUs), an input / output interface, a network interface, and an internal memory. The memory may include a non-permanent memory, a random access memory (RAM) and / or a nonvolatile internal memory in the computer-readable medium, such as a read-only memory (ROM) or a flash RAM. The memory is an example of the computer-readable medium. The computer-readable medium includes permanent and non-permanent, removable and nonremovable media, and may store information by any method or technology. Information may be a computer-readable instruction, a data structure, a program module, or other data. Examples of a computer storage medium include, but are not limited to, a phase-change random access memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), other types of random access memories (RAMs), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, or other internal memory technologies, a compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), or other optical storages, a cassette tape, tape or disk storage, or other magnetic storage devices, or any other non-transmission media that may be used to store information capable of being accessed by a computing device. According to the definitions herein, the computer-readable medium does not include transitory media, such as modulated data signals and carrier waves. It should also be noted that the terms “comprise” and “include” or their any other variants intend to cover non-exclusive inclusions, such that a process, a method, a product, or a device including a series of elements includes those elements, further includes other elements not listed clearly, or further includes an element inherent to the process, the method, the product, or the device. In a case of no 14 more limitation, an element limited with the phrase “comprise a...”or “include a...” does not exclude another identical element existing in the process, the method, the product, or the device including the element. The examples described above are merely examples of the present disclosure and are not used to 5 limit the present disclosure. It is apparent to a person of ordinary skill in the art that various modifications and changes can be made to the present disclosure. Any modification, equivalent substitution, improvement, etc. made within the spirit and principles of the present disclosure should fall within the scope of the claims of the present disclosure.

Claims

1. A method for adaptive control, comprising:acquiring a measured value of a hydraulic factor;generating a control signal for a hydraulic control element according to the measured value; and controlling the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element.

2. The method according to claim 1, wherein the hydraulic factor comprises at least one of the following: a pressure drop, a flow rate, an oil temperature, a system pressure, and an oil viscosity.

3. The method according to claim 1, wherein the hydraulic control element comprises: a multiway valve, a directional valve, or an engine.

4. The method according to claim 1, wherein the generating a control signal for a hydraulic control element according to the measured value comprises:acquiring a change trend of the measured value and a correlation between a trend and control signal, wherein the correlation comprises a correspondence relationship between the change trend of the measured value and the control signal; andgenerating the control signal for controlling an outputted variable of the hydraulic control element according to the change trend of the measured value and the correlation.

5. The method according to claim 4, wherein the hydraulic factor is a main valve spool pressure drop, the hydraulic control element is an engine, and the outputted variable of the hydraulic control element is an engine revolution speed; andthe generating a control signal for a hydraulic control element according to the measured value comprises:acquiring a change trend of the main valve spool pressure drop according to the main valve spool pressure drop measured in real time;generating an engine revolution speed increase instruction when the main valve spool pressure drop is detected to decrease, wherein the engine revolution speed increase instruction is used for increasing the engine revolution speed; andmaintaining the engine revolution speed unchanged when the main valve spool pressure drop isdetected to increase to an upper limit of an allowable range.

6. The method according to claim 1, wherein the controlling the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element comprises:inputting a fed-back error signal and the instruction signal into a proportional-integral-derivative (PID) controller; andcontrolling the hydraulic control element according to an output of the PID controller and the control signal.

7. The method according to claim 6, further comprising: determining a PID parameter of the PID controller according to the measured value of the hydraulic factor.

8. The method according to claim 7, wherein the determining a PID parameter of the PID controller according to the measured value of the hydraulic factor comprises:determining the PID parameter corresponding to the measured value through a relationship table or a fitting curve, wherein the relationship table or the fitting curve has at least the PID parameter corresponding to the measured value.

9. An apparatus for adaptive control, comprising:a parameter feedback module configured to acquire a measured value of a hydraulic factor;a signal generation module configured to generate a control signal for a hydraulic control element according to the measured value; andan adjustment performance module configured to control the hydraulic control element according to the control signal and an instruction signal for the hydraulic control element.

10. A device for adaptive control, comprising a memory, a processor, and a computer program that is stored in the memory and is runnable on the processor, wherein the processor implements steps of the method for adaptive control according to any one of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, storing instructions, wherein the instructions cause a computer to perform steps of the method for adaptive control according to any one of claims 1 to 8 when run on the computer.

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