A controller parameter adjustment method and device

Abstract

The present invention provides a controller parameter adjustment method and device, which relate to the field of automatic control technology. The method comprises: if it is determined that the control loop of the control system is in a steady-state condition, obtaining the overshoot time series of the control system; calculating the relative damping index according to the overshoot time series, determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship; adjusting the controller parameters according to the controller parameter adjustment strategy. The device executes the above method. The controller parameter adjustment method and device provided by the embodiment of the present invention do not require precise modeling of the control system, but only need to collect the control system operation data without affecting the normal operation of the system to achieve online index evaluation, and are suitable for online performance evaluation of control systems in industrial sites.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a controller parameter adjustment method and device. Background Art

[0002] For automated control systems involved in industrial production to achieve their desired control objectives, the precise setting of controller control parameters plays a crucial role. Furthermore, the safety, quality, and efficiency of industrial production all depend on the excellent control quality of the control system. However, due to the long-term operation of control systems, certain parameters of the controlled object will slowly change over time, causing the dynamic and static characteristics of the controlled object to gradually change. If the original control parameters are still used, not only will the control quality of the control system decline, failing to achieve the desired objectives, but it may also pose hidden production safety risks and threaten the safety of life and property. Therefore, it is crucial to analyze the actual input and output data of the control system based on its actual operating status, evaluate the control quality of control systems in industrial production, promptly identify problems, and optimize controller performance.

[0003] Currently, various industrial control systems are equipped with data acquisition and storage systems. These systems monitor various variables within the control system and store them in a database. This greatly facilitates the evaluation of system control performance by analyzing the control system's actual operating data. Therefore, the performance evaluation of controllers in industrial production control systems and the optimization of their control parameters have become a current research hotspot. Traditional indicators for evaluating the control quality of industrial control systems include overshoot, decay rate, settling time, and rise time. Using these indicators to evaluate control system performance and guide parameter optimization requires perturbation testing of the control system. For example, during the operation of a thermal power unit, perturbation testing of a specific control system is time-consuming, delaying normal operation, and resulting in low parameter optimization accuracy. Furthermore, many operating conditions of a thermal power unit cannot be individually tested for perturbation testing, resulting in poor universality. During the operation of industrial production control systems, system operating data collected by sensors can provide a wealth of information about the system's operating status. Therefore, developing a performance evaluation method that relies on actual industrial control system operating data for control system performance evaluation and controller parameter optimization has important theoretical significance and broad engineering application value.

[0004] Currently, the performance of controllers in industrial production control systems can be quantitatively described, but this is typically only applicable when the control system experiences large setpoint steps or load disturbances. These situations rarely occur during actual operation of thermal power plants. Therefore, this approach is not suitable for long-term online evaluation of controller performance. Furthermore, current methods for optimizing control system controller parameters are applicable only under specific conditions. There is a lack of a method for real-time, online evaluation of current controller parameter performance based on actual control system operating data, determining the current control system operating status, and optimizing controller parameters based on the results of this real-time evaluation. Summary of the Invention

[0005] In response to the problems in the prior art, embodiments of the present invention provide a controller parameter adjustment method and device, which can at least partially solve the problems in the prior art.

[0006] In one aspect, the present invention provides a controller parameter adjustment method, comprising:

[0007] If it is determined that the control loop of the control system is in a steady-state condition, obtaining a time series of an overshoot of the control system;

[0008] Calculating a relative damping index based on the overshoot time series, and determining a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy;

[0009] The controller parameters are adjusted according to the controller parameter adjustment strategy.

[0010] Wherein, after the step of adjusting the controller parameters according to the controller parameter adjustment strategy, the controller parameter adjustment method further includes:

[0011] The adjusted controller parameters are used as parameter optimization results of the control system.

[0012] Wherein, the control system is a thermal power unit control system; accordingly, the controller parameter adjustment method further includes:

[0013] The thermal power unit control system with optimized parameters is used to control the controlled variables of the thermal power unit.

[0014] The step of determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes:

[0015] If it is determined that the numerical range is greater than 0, it is determined that the controller parameter adjustment strategy does not require adjustment.

[0016] The step of determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes:

[0017] If it is determined that the numerical interval is greater than the first preset threshold and less than 0, the controller parameter adjustment strategy is determined to reduce the proportional gain to a first preset percentage of the original value and reduce the integral time to a first preset percentage of the original value.

[0018] The step of determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes:

[0019] If it is determined that the numerical range is greater than the second preset threshold and less than the first preset threshold, the controller parameter adjustment strategy is determined to reduce the proportional gain to a first preset percentage of the original value.

[0020] The step of determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes:

[0021] If it is determined that the numerical interval is greater than the third preset threshold and less than the second preset threshold, the controller parameter adjustment strategy is determined to reduce the proportional gain to a second preset percentage of the original value and increase the integral time to a first preset percentage of the original value; the second preset percentage is less than the first preset percentage.

[0022] The step of determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes:

[0023] If it is determined that the numerical interval is greater than the fourth preset threshold and less than the third preset threshold, the controller parameter adjustment strategy is determined to reduce the proportional gain to a second preset percentage of the original value and increase the integral time to a second preset percentage of the original value; the second preset percentage of increase is greater than the first preset percentage of increase.

[0024] The step of determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes:

[0025] If it is determined that the numerical interval is greater than the fifth preset threshold and less than the fourth preset threshold, the controller parameter adjustment strategy is determined to increase the proportional gain to a second increase preset percentage of the original value and reduce the integral time to a first decrease preset percentage of the original value.

[0026] The step of determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes:

[0027] If it is determined that the numerical range is greater than the sixth preset threshold and less than the fifth preset threshold, the controller parameter adjustment strategy is determined to increase the proportional gain to a first increase preset percentage of the original value.

[0028] The step of determining the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes:

[0029] If it is determined that the numerical interval is less than the sixth preset threshold, the controller parameter adjustment strategy is determined to increase the proportional gain to the first increased preset percentage of the original value and increase the integral time to the first increased preset percentage of the original value.

[0030] In one aspect, the present invention provides a controller parameter adjustment device, comprising:

[0031] an acquiring unit, configured to acquire a time series of an overshoot of the control system if it is determined that the control loop of the control system is in a steady-state operating condition;

[0032] a determination unit, configured to calculate a relative damping index based on the overshoot time series, and determine a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy;

[0033] An adjusting unit is used to adjust the controller parameters according to the controller parameter adjustment strategy.

[0034] On the other hand, an embodiment of the present invention provides an electronic device, comprising: a processor, a memory, and a bus, wherein:

[0035] The processor and the memory communicate with each other via the bus;

[0036] The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the following method:

[0037] If it is determined that the control loop of the control system is in a steady-state condition, obtaining a time series of an overshoot of the control system;

[0038] Calculating a relative damping index based on the overshoot time series, and determining a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy;

[0039] The controller parameters are adjusted according to the controller parameter adjustment strategy.

[0040] An embodiment of the present invention provides a non-transitory computer-readable storage medium, including:

[0041] The non-transitory computer-readable storage medium stores computer instructions, which cause the computer to execute the following method:

[0042] If it is determined that the control loop of the control system is in a steady-state condition, obtaining a time series of an overshoot of the control system;

[0043] Calculating a relative damping index based on the overshoot time series, and determining a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy;

[0044] The controller parameters are adjusted according to the controller parameter adjustment strategy.

[0045] The controller parameter adjustment method and device provided by the embodiment of the present invention obtain the overshoot time series of the control system if it is determined that the control loop of the control system is in a steady-state operating condition; calculate the relative damping index based on the overshoot time series, and determine the controller parameter adjustment strategy based on the numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes the correspondence between the preset numerical range and the preset controller parameter adjustment strategy; the controller parameters are adjusted according to the controller parameter adjustment strategy, without the need for precise modeling of the control system, and only the control system operation data needs to be collected without affecting the normal operation of the system to achieve online indicator evaluation, which is suitable for online performance evaluation of control systems in industrial sites. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0047] Figure 1 It is a flowchart of a controller parameter adjustment method provided by an embodiment of the present invention.

[0048] Figure 2 It is a flow chart of a controller parameter adjustment method provided by another embodiment of the present invention.

[0049] Figure 3 It is a structural diagram of a single-input single-output control system according to an embodiment of the present invention.

[0050] Figure 4 It is a structural diagram of a controller parameter adjustment device provided by an embodiment of the present invention.

[0051] Figure 5 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of this application can be combined with each other in any manner.

[0053] Figure 1 FIG. 1 is a flow chart of a controller parameter adjustment method according to an embodiment of the present invention. Figure 1 As shown, the controller parameter adjustment method provided by the embodiment of the present invention includes:

[0054] Step S1: If it is determined that the control loop of the control system is in a steady-state condition, then the overshoot time series of the control system is obtained.

[0055] Step S2: Calculate the relative damping index based on the overshoot time series, and determine the controller parameter adjustment strategy based on the numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes the corresponding relationship between the preset numerical range and the preset controller parameter adjustment strategy.

[0056] Step S3: adjusting the controller parameters according to the controller parameter adjustment strategy.

[0057] In step S1 above, if the device determines that the control loop of the control system is in a steady-state operating condition, it obtains a time series of the overshoot of the control system. The device can be a computer device that executes the method, for example, a control device, etc., without specific limitation. Methods for determining whether the control loop of a control system is in a steady-state operating condition are conventional methods in the art and are not limited in this embodiment of the present invention.

[0058] The overshoot time series is recorded as the overshoot PV time series, where PV refers to the process value. The length of the overshoot time series can be set based on actual conditions.

[0059] In step S2, the device calculates a relative damping index (RDI) based on the overshoot time series and determines a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset correspondence between the numerical range and the controller parameter adjustment strategy. The preset correspondence includes a correspondence between a preset numerical range and a preset controller parameter adjustment strategy.

[0060] like Figure 2 As shown, the main steps of the embodiment of the present invention include:

[0061] A. First, determine whether the control loop is in a steady-state condition. If so, collect and store a certain length of time series of the PV of the controlled variable of the control system;

[0062] B. Calculate the relative damping index based on the time series of the regulated variable PV;

[0063] C. Give the control quality of the control system based on the results of the relative damping index;

[0064] D. Give the optimization direction of control parameters based on the evaluation results of the control system.

[0065] Calculating the relative damping index according to the overshoot time series specifically includes the following steps:

[0066] B1. Calculate the autocorrelation sequence R(k) of the PV time series of the controlled variable:

[0067]

[0068] Where y(i) is the i-th value of the PV time series; y(i+k) is the i+k-th value of the PV time series; N is the number of samples in the PV time series; is the mean of the time series of the controlled variable, σ 2 is the variance of the PV time series of the controlled variable, and the calculation formula is as follows:

[0069]

[0070] B2. Use the autoregressive (AR) model to analyze the time series of the controlled variable PV and use the Akaike information criterion (AIC), which measures the statistical model fitting performance, to determine the order of the AR model:

[0071] Assume that the delay time of the thermal power unit control system is t d , the sampling time of data acquisition is DT, and K = t d / DT is the delay number of the control system; when n is an integer between 1 and 40, the residual sequence a1 of the AR model and the corresponding AIC criterion value are calculated according to the following formula:

[0072] a1(i)=0,i=1,2,…,K+n

[0073]

[0074] Find the corresponding AIC criterion value at this time:

[0075]

[0076]

[0077] Take n corresponding to the minimum value of the AIC criterion as the order of the AR model, and record the residual sequence a1 at this time.

[0078] B3. The definition of the n-th order centralized AR model is: where a t is a white noise sequence with zero mean, and the autocorrelation coefficient is calculated using the least squares method.

[0079] First, the autocorrelation sequence R is used to construct matrices X and Y:

[0080]

[0081] Y=[R(n+1) R(n+2)…R(N)] T

[0082] The autocorrelation coefficient is calculated according to the following formula

[0083] Φ(X T ·X) -1 ·X T ·Y

[0084] B4. Find the parameters of the Auto-Rgressive and Moving Average (ARMA) model

[0085] The definition of the ARMA(p,q) model is:

[0086] Where p and q are the orders of the ARMA model. When m = 1, the least squares method is used to find the parameters of the ARMA (p, q) model, and m represents the iteration count value:

[0087] First, the autocorrelation matrix R and the residual sequence a1 are used to construct matrices X1 and Y1.

[0088]

[0089] Y1=[R(n+K+1) R(n+K+2)…R(N-1) R(N)]

[0090] Where n is the order of the AR model, p = 2m, q = 2m-1

[0091] The parameter β is calculated using the following formula:

[0092] β=(X1 T ×X1) -1 ×X1 T ×Y1

[0093] Find the residual sequence e of the ARMA(p,q) model:

[0094]

[0095] Check the model suitability:

[0096]

[0097] Find the autocorrelation coefficient sequence of the residual sequence e:

[0098] Find the mutual correlation coefficient sequence between the residual sequence e and the controlled variable y:

[0099] When the autocorrelation coefficient sequence r and the cross-correlation coefficient sequence v both tend to 0, it indicates that the applicability of ARMA(p,q) is strong. Save the order p, q and parameter β of the ARMA(p,q) model at this time. Otherwise, set m=m+1 and repeat step B4 until the requirements are met.

[0100] After determining the order of the ARMA(p,q) model, calculate the Green's function of the ARMA(p,q) model according to the following formula:

[0101]

[0102] B5. Calculate the actual damping coefficient ξ of the control system act

[0103] Convert the autocorrelation sequence R into a step response form and calculate the damping coefficient ξ of the control system act :

[0104] R1(i)=abs(G(i)-G(1)),i=1,2,…,N

[0105]

[0106]

[0107] B6. Calculate the relative damping index RDI of the control system:

[0108]

[0109] where ξ agg is the damping coefficient corresponding to the fastest acceptable control of the control system. Generally, ξ agg = 0.6; ξ slug is the damping coefficient corresponding to the slowest acceptable control of the control system. Generally, ξ slug = 0.8. In particular, when ξ act = ξ slug , RDI = 0.

[0110] The determining of the controller parameter adjustment strategy according to the numerical interval where the relative damping index is located and the preset corresponding relationship includes:

[0111] If it is determined that the numerical interval is greater than 0, then determine that the controller parameter adjustment strategy is no adjustment. <�

[0112] That is, ① when RDI > 0, it indicates that the controller adjustment performance is good and there is no need to adjust the parameters.

[0113] If it is determined that the numerical interval is greater than the first preset threshold and less than 0, then determine that the controller parameter adjustment strategy is to reduce the proportional gain to the first reduced preset percentage of the original value, and reduce the integral time to the first reduced preset percentage of the original value. The specific values of the first preset threshold and the first reduced preset percentage can be set independently according to the actual situation.

[0114] That is, ② when -0.4 < RDI < 0, it indicates that the controller adjustment is slightly fast, and the proportional gain should be reduced to 97% of the original value, and the integral time should be reduced to 97% of the original value.

[0115] It should be noted that for the case of equal to 0, it can be classified into the case of greater than 0, that is, determine that the controller parameter adjustment strategy is no adjustment; it can also be classified into the case of less than 0, that is, determine that the controller parameter adjustment strategy is to reduce the proportional gain to the first reduced preset percentage of the original value, and reduce the integral time to the first reduced preset percentage of the original value. Similar subsequent situations will not be elaborated.

[0116] If it is determined that the numerical interval is greater than the second preset threshold and less than the first preset threshold, then determine that the controller parameter adjustment strategy is to reduce the proportional gain to the first reduced preset percentage of the original value. The specific value of the second preset threshold can be set independently according to the actual situation. Subsequent relevant preset thresholds, reduced preset percentages, and increased preset percentages can all be set independently according to the actual situation and will not be elaborated.

[0117] That is, ③ when -0.6 < RDI < -0.4, it indicates that the controller adjusts moderately fast, and the proportional gain should be reduced to 97% of the original value.

[0118] If it is determined that the numerical interval is greater than the third preset threshold and less than the second preset threshold, then determine that the controller parameter adjustment strategy is to reduce the proportional gain to the second reduced preset percentage of the original value and increase the integral time to the first increased preset percentage of the original value; the second reduced preset percentage is less than the first reduced preset percentage.

[0119] That is, ④ when -0.8 < RDI < -0.6, it indicates that the controller adjusts fast, and the proportional gain should be reduced to 95% of the original value, and the integral time should be increased to 103% of the original value.

[0120] If it is determined that the numerical interval is greater than the fourth preset threshold and less than the third preset threshold, then determine that the controller parameter adjustment strategy is to reduce the proportional gain to the second reduced preset percentage of the original value and increase the integral time to the second increased preset percentage of the original value; the second increased preset percentage is greater than the first increased preset percentage.

[0121] That is, ⑤ when -1 < RDI < -0.8, it indicates that the controller adjusts too fast, and the proportional gain should be reduced to 95% of the original value, and the integral time should be increased to 105% of the original value.

[0122] If it is determined that the numerical interval is greater than the fifth preset threshold and less than the fourth preset threshold, then determine that the controller parameter adjustment strategy is to increase the proportional gain to the second increased preset percentage of the original value and reduce the integral time to the first reduced preset percentage of the original value.

[0123] That is, ⑥ when -1.2 < RDI < -1, it indicates that the controller adjusts slowly, and the proportional gain should be increased to 105% of the original value, and the integral time should be reduced to 97% of the original value.

[0124] If it is determined that the numerical interval is greater than the sixth preset threshold and less than the fifth preset threshold, then determine that the controller parameter adjustment strategy is to increase the proportional gain to the first increased preset percentage of the original value.

[0125] That is, ⑦ when -1.5 < RDI < -1.2, it indicates that the controller adjusts moderately slowly, and the proportional gain should be increased to 103% of the original value.

[0126] If it is determined that the numerical interval is less than the sixth preset threshold, then determine that the controller parameter adjustment strategy is to increase the proportional gain to the first increased preset percentage of the original value and increase the integral time to the first increased preset percentage of the original value.

[0127] That is, when RDI < -1.5, it indicates that the controller adjustment is slightly slow, and the proportional gain should be increased to 103% of the original value, and the integral time should be increased to 103% of the original value.

[0128] In the above step S3, the device adjusts the controller parameters according to the controller parameter adjustment strategy. After the step of adjusting the controller parameters according to the controller parameter adjustment strategy, the controller parameter adjustment method further includes:

[0129] The adjusted controller parameters are used as parameter optimization results of the control system.

[0130] The control system is a thermal power unit control system; accordingly, the controller parameter adjustment method further includes:

[0131] The thermal power plant control system after parameter optimization is used to control the controlled variables of the thermal power plant. The controlled variables may include air supply volume, fuel set amount, etc., without specific limitation.

[0132] Optimizing the controller parameters of a control system usually requires an indicator as a benchmark for optimization. In general, the integral of absolute error (IAE) can be used as a performance metric for the controller, namely:

[0133]

[0134] Among them, y sp is the set value of the controlled variable.

[0135] like Figure 3 As shown in the figure, the rationality and effectiveness of the above performance evaluation indicators are verified through a single-loop control system simulation model.

[0136] The control loop is regulated by a PI controller with a set point (SP) of 2. The process model G(s) is a first-order inertia plus pure delay model: The performance evaluation steps of the control system are as follows:

[0137] In the MATLAB environment, a control system simulation model was built, and different PI controller parameters were set: proportional gain Kp and integral time Ti. The control system was simulated, and the final results are shown in Table 1.

[0138] Table 1

[0139]

[0140]

[0141] The controller parameter adjustment method provided by an embodiment of the present invention obtains the overshoot time series of the control system if it is determined that the control loop of the control system is in a steady-state condition; calculates the relative damping index based on the overshoot time series, and determines the controller parameter adjustment strategy based on the numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes the correspondence between the preset numerical range and the preset controller parameter adjustment strategy; the controller parameters are adjusted according to the controller parameter adjustment strategy, without the need for precise modeling of the control system, and only needs to collect the control system operation data without affecting the normal operation of the system to achieve online indicator evaluation, which is suitable for online performance evaluation of control systems in industrial sites.

[0142] Furthermore, after the step of adjusting the controller parameters according to the controller parameter adjustment strategy, the controller parameter adjustment method further includes:

[0143] The adjusted controller parameters are used as the parameter optimization results of the control system. Please refer to the above description and do not elaborate on it again.

[0144] Furthermore, the control system is a thermal power unit control system; accordingly, the controller parameter adjustment method further includes:

[0145] The thermal power plant control system after parameter optimization is used to control the controlled variables of the thermal power plant. Please refer to the above description and do not elaborate on it again.

[0146] Furthermore, the controller parameter adjustment strategy is determined according to the numerical range of the relative damping index and the preset corresponding relationship, including:

[0147] If it is determined that the numerical range is greater than 0, it is determined that the controller parameter adjustment strategy does not require adjustment. Please refer to the above description and do not elaborate on it.

[0148] Furthermore, the controller parameter adjustment strategy is determined according to the numerical range of the relative damping index and the preset corresponding relationship, including:

[0149] If it is determined that the numerical range is greater than the first preset threshold and less than 0, then the controller parameter adjustment strategy is determined to be to reduce the proportional gain to a first preset percentage of the original value and to reduce the integral time to a first preset percentage of the original value. For details, please refer to the above description and will not be repeated here.

[0150] Furthermore, the controller parameter adjustment strategy is determined according to the numerical range of the relative damping index and the preset corresponding relationship, including:

[0151] If it is determined that the numerical range is greater than the second preset threshold and less than the first preset threshold, the controller parameter adjustment strategy is determined to reduce the proportional gain to a first preset percentage of the original value.

[0152] Furthermore, the controller parameter adjustment strategy is determined according to the numerical range of the relative damping index and the preset corresponding relationship, including:

[0153] If it is determined that the numerical range is greater than the third preset threshold and less than the second preset threshold, then the controller parameter adjustment strategy is determined to be to reduce the proportional gain to a second preset percentage of the original value and to increase the integral time to a first preset percentage of the original value; the second preset percentage is less than the first preset percentage. The above description can be referred to and will not be repeated here.

[0154] Furthermore, the controller parameter adjustment strategy is determined according to the numerical range of the relative damping index and the preset corresponding relationship, including:

[0155] If it is determined that the numerical range is greater than the fourth preset threshold and less than the third preset threshold, then the controller parameter adjustment strategy is determined to be to reduce the proportional gain to a second preset percentage of the original value and to increase the integral time to a second preset percentage of the original value; the second preset percentage is greater than the first preset percentage. The above description is referred to and will not be repeated here.

[0156] Furthermore, the controller parameter adjustment strategy is determined according to the numerical range of the relative damping index and the preset corresponding relationship, including:

[0157] If it is determined that the numerical range is greater than the fifth preset threshold and less than the fourth preset threshold, then the controller parameter adjustment strategy is determined to be to increase the proportional gain to a second preset percentage increase of the original value and to decrease the integral time to a first preset percentage decrease of the original value. Please refer to the above description and will not be repeated here.

[0158] Furthermore, the controller parameter adjustment strategy is determined according to the numerical range of the relative damping index and the preset corresponding relationship, including:

[0159] If it is determined that the numerical range is greater than the sixth preset threshold and less than the fifth preset threshold, the controller parameter adjustment strategy is determined to increase the proportional gain to the first preset percentage of the original value.

[0160] Furthermore, the controller parameter adjustment strategy is determined according to the numerical range of the relative damping index and the preset corresponding relationship, including:

[0161] If it is determined that the numerical range is less than the sixth preset threshold, the controller parameter adjustment strategy is determined to increase the proportional gain to a first preset percentage of the original value and increase the integral time to a first preset percentage of the original value.

[0162] Figure 4 FIG. 1 is a schematic diagram of the structure of a controller parameter adjustment device provided by an embodiment of the present invention. Figure 4 As shown, the controller parameter adjustment device provided by the embodiment of the present invention includes an acquisition unit 401, a determination unit 402 and an adjustment unit 403, wherein:

[0163] The acquisition unit 401 is used to obtain the overshoot time series of the control system if it is determined that the control loop of the control system is in a steady-state operating condition; the determination unit 402 is used to calculate the relative damping index based on the overshoot time series, and determine the controller parameter adjustment strategy based on the numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes the corresponding relationship between the preset numerical range and the preset controller parameter adjustment strategy; the adjustment unit 403 is used to adjust the controller parameters according to the controller parameter adjustment strategy.

[0164] Specifically, the acquisition unit 401 in the device is used to obtain the overshoot time series of the control system if it is determined that the control loop of the control system is in a steady-state operating condition; the determination unit 402 is used to calculate the relative damping index based on the overshoot time series, and determine the controller parameter adjustment strategy based on the numerical range of the relative damping index and the preset corresponding relationship; the preset corresponding relationship includes the corresponding relationship between the preset numerical range and the preset controller parameter adjustment strategy; the adjustment unit 403 is used to adjust the controller parameters according to the controller parameter adjustment strategy.

[0165] The controller parameter adjustment device provided by an embodiment of the present invention obtains the overshoot time series of the control system if it is determined that the control loop of the control system is in a steady-state operating condition; calculates the relative damping index based on the overshoot time series, and determines the controller parameter adjustment strategy based on the numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes the correspondence between the preset numerical range and the preset controller parameter adjustment strategy; the controller parameters are adjusted according to the controller parameter adjustment strategy, without the need for precise modeling of the control system, and only needs to collect the control system operation data without affecting the normal operation of the system to achieve online indicator evaluation, which is suitable for online performance evaluation of control systems in industrial sites.

[0166] The controller parameter adjustment device provided in the embodiment of the present invention can be used to execute the processing flow of the above-mentioned method embodiments. Its functions are not described in detail here, and reference can be made to the detailed description of the above-mentioned method embodiments.

[0167] Figure 5 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, such as Figure 5 As shown, the electronic device includes: a processor 501, a memory 502 and a bus 503;

[0168] The processor 501 and the memory 502 communicate with each other via a bus 503.

[0169] The processor 501 is configured to call the program instructions in the memory 502 to execute the methods provided by the above method embodiments, for example, including:

[0170] If it is determined that the control loop of the control system is in a steady-state condition, obtaining a time series of an overshoot of the control system;

[0171] Calculating a relative damping index based on the overshoot time series, and determining a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy;

[0172] The controller parameters are adjusted according to the controller parameter adjustment strategy.

[0173] This embodiment discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the methods provided in the above-mentioned method embodiments, for example, including:

[0174] If it is determined that the control loop of the control system is in a steady-state condition, obtaining a time series of an overshoot of the control system;

[0175] Calculating a relative damping index based on the overshoot time series, and determining a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy;

[0176] The controller parameters are adjusted according to the controller parameter adjustment strategy.

[0177] This embodiment provides a computer-readable storage medium storing a computer program. The computer program enables the computer to execute the methods provided in the above method embodiments, for example, including:

[0178] If it is determined that the control loop of the control system is in a steady-state condition, obtaining a time series of an overshoot of the control system;

[0179] Calculating a relative damping index based on the overshoot time series, and determining a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy;

[0180] The controller parameters are adjusted according to the controller parameter adjustment strategy.

[0181] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0182] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0183] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0184] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0185] Throughout this specification, reference to terms such as "one embodiment," "a specific embodiment," "some embodiments," "for example," "example," "specific example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0186] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A controller parameter adjustment method, characterized in that: include: If it is determined that the control loop of the control system is in a steady-state condition, obtaining a time series of an overshoot of the control system; Calculating a relative damping index based on the overshoot time series, and determining a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy; adjusting the controller parameters according to the controller parameter adjustment strategy; The determining of the controller parameter adjustment strategy according to the numerical range of the relative damping index and the preset corresponding relationship includes: If it is determined that the numerical range is greater than 0, then the controller parameter adjustment strategy is determined to be no need for adjustment; If it is determined that the numerical interval is greater than the first preset threshold value and less than 0, determining that the controller parameter adjustment strategy is to reduce the proportional gain to a first preset percentage of the original value and reduce the integral time to a first preset percentage of the original value; If it is determined that the numerical interval is greater than the second preset threshold and less than the first preset threshold, determining that the controller parameter adjustment strategy is to reduce the proportional gain to a first preset percentage of the original value; If it is determined that the numerical interval is greater than the third preset threshold and less than the second preset threshold, determining that the controller parameter adjustment strategy is to reduce the proportional gain to a second preset percentage of the original value and increase the integral time to a first preset percentage of the original value; the second preset percentage is less than the first preset percentage; If it is determined that the numerical interval is greater than the fourth preset threshold and less than the third preset threshold, determining that the controller parameter adjustment strategy is to reduce the proportional gain to a second preset percentage of the original value and increase the integral time to a second preset percentage of the original value; the second preset percentage is greater than the first preset percentage; If it is determined that the numerical interval is greater than the fifth preset threshold and less than the fourth preset threshold, determining that the controller parameter adjustment strategy is to increase the proportional gain to a second increased preset percentage of the original value and to decrease the integral time to a first decreased preset percentage of the original value; If it is determined that the numerical interval is greater than the sixth preset threshold and less than the fifth preset threshold, determining that the controller parameter adjustment strategy is to increase the proportional gain to a first increase preset percentage of the original value; If it is determined that the numerical interval is less than the sixth preset threshold, the controller parameter adjustment strategy is determined to increase the proportional gain to the first increased preset percentage of the original value and increase the integral time to the first increased preset percentage of the original value.

2. The controller parameter adjustment method according to claim 1, characterized in that: After the step of adjusting the controller parameters according to the controller parameter adjustment strategy, the controller parameter adjustment method further includes: The adjusted controller parameters are used as parameter optimization results of the control system.

3. The controller parameter adjustment method according to claim 2, characterized in that: The control system is a thermal power unit control system; accordingly, the controller parameter adjustment method further includes: The thermal power unit control system with optimized parameters is used to control the controlled variables of the thermal power unit.

4. A controller parameter adjustment device, characterized in that: include: an acquiring unit, configured to acquire a time series of an overshoot of the control system if it is determined that the control loop of the control system is in a steady-state operating condition; a determination unit, configured to calculate a relative damping index based on the overshoot time series, and determine a controller parameter adjustment strategy based on a numerical range of the relative damping index and a preset corresponding relationship; the preset corresponding relationship includes a corresponding relationship between a preset numerical range and a preset controller parameter adjustment strategy; an adjusting unit, configured to adjust the controller parameters according to the controller parameter adjustment strategy; The determining unit is specifically configured to: If it is determined that the numerical range is greater than 0, then the controller parameter adjustment strategy is determined to be no need for adjustment; If it is determined that the numerical interval is greater than the first preset threshold value and less than 0, determining that the controller parameter adjustment strategy is to reduce the proportional gain to a first preset percentage of the original value and reduce the integral time to a first preset percentage of the original value; If it is determined that the numerical interval is greater than the second preset threshold and less than the first preset threshold, determining that the controller parameter adjustment strategy is to reduce the proportional gain to a first preset percentage of the original value; If it is determined that the numerical interval is greater than the third preset threshold and less than the second preset threshold, determining that the controller parameter adjustment strategy is to reduce the proportional gain to a second preset percentage of the original value and increase the integral time to a first preset percentage of the original value; the second preset percentage is less than the first preset percentage; If it is determined that the numerical interval is greater than the fourth preset threshold and less than the third preset threshold, determining that the controller parameter adjustment strategy is to reduce the proportional gain to a second preset percentage of the original value and increase the integral time to a second preset percentage of the original value; the second preset percentage is greater than the first preset percentage; If it is determined that the numerical interval is greater than the fifth preset threshold and less than the fourth preset threshold, determining that the controller parameter adjustment strategy is to increase the proportional gain to a second increased preset percentage of the original value and to decrease the integral time to a first decreased preset percentage of the original value; If it is determined that the numerical interval is greater than the sixth preset threshold and less than the fifth preset threshold, determining that the controller parameter adjustment strategy is to increase the proportional gain to a first increase preset percentage of the original value; If it is determined that the numerical interval is less than the sixth preset threshold, the controller parameter adjustment strategy is determined to increase the proportional gain to the first increased preset percentage of the original value and increase the integral time to the first increased preset percentage of the original value.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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