Pressure data processing method, device, equipment and storage medium

Abstract

The present invention provides a pressure data processing method, device, equipment and storage medium, including: obtaining real-time pressure data obtained by real-time pressure detection of a variable stiffness load of a motor; comparing the real-time pressure data with preset target pressure data to obtain pressure comparison data, the pressure comparison data including pressure deviation and pressure deviation change rate; performing fuzzy control decision on the pressure comparison data according to preset fuzzy control rules to obtain a fuzzy subset, wherein the fuzzy control rule includes a correspondence between different pressure ranges and different load stiffness ranges; performing defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control quantity, so as to perform closed-loop control of the output pressure of the motor according to the pressure control quantity. The technical solution of the present invention can obtain a better motor control effect under variable stiffness load conditions.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a pressure data processing method, device, electronic device and non-transitory computer-readable storage medium. Background Art

[0002] When compressing and packaging a large space parachute, the deployed parachute needs to be compressed into a very small volume according to prescribed steps to meet the volume occupancy requirements of the spacecraft's internal equipment.

[0003] During the compression process of the parachute, the load stiffness changes continuously and the control system becomes nonlinear. The traditional PID (Proportion Integration Differentiation) control system uses the same PID parameters for control when the load of the press changes, which will lead to problems such as slow response when the stiffness is small, large overshoot when the stiffness is large, and oscillation when the pressure is maintained, resulting in unsatisfactory control effects of the PID control system. Summary of the invention

[0004] The present invention provides a pressure data processing method, device, electronic device and non-transient computer-readable storage medium to solve the problem of unsatisfactory control effect of traditional PID control system and optimize the control effect of PID control system.

[0005] The present invention provides a pressure data processing method, comprising: acquiring real-time pressure data obtained by performing real-time pressure detection on a variable stiffness load of a motor; comparing the real-time pressure data with preset target pressure data to obtain pressure comparison data, wherein the pressure comparison data includes a pressure deviation and a pressure deviation change rate; performing fuzzy control decision on the pressure comparison data according to preset fuzzy control rules to obtain a fuzzy subset, wherein the fuzzy control rule includes a correspondence between different pressure ranges and different load stiffness ranges; performing defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control quantity, so as to perform closed-loop control of the output pressure of the motor according to the pressure control quantity.

[0006] According to a pressure data processing method provided by the present invention, the defuzzification processing of the fuzzy subset using a set defuzzification algorithm includes: using a centroid method to defuzzify the fuzzy subset.

[0007] According to a pressure data processing method provided by the present invention, the generation process of the fuzzy control rules includes: dividing the stiffness change process of the variable stiffness load into different segments according to the load stiffness of the variable stiffness load; obtaining the input and output membership functions of the fuzzy control rules and the input and output variable range of the fuzzy control according to the change data of the load stiffness change of the variable stiffness load in the segments and historical data.

[0008] According to a pressure data processing method provided by the present invention, the fuzzy subset is defuzzified using a set defuzzification algorithm to obtain a pressure control quantity, including: the fuzzy subset is defuzzified using a set defuzzification algorithm to obtain a self-tuning proportional coefficient, integral coefficient and differential coefficient.

[0009] According to a pressure data processing method provided by the present invention, the input-output membership function is any one of the following: a joint Gaussian input-output membership function, a generalized bell-shaped input-output membership function, an S-shaped input-output membership function, a trapezoidal input-output membership function, a triangle input-output membership function and a Z-shaped input-output membership function.

[0010] According to a pressure data processing method provided by the present invention, fuzzy control decision is performed on the pressure comparison data according to preset fuzzy control rules to obtain a fuzzy subset, including: according to the input-output membership function, the input-output values ​​are mapped to obtain corresponding input-output value areas to obtain the fuzzy subset.

[0011] According to a pressure data processing method provided by the present invention, after obtaining the pressure control amount, the method further includes: inputting the pressure control amount to the driver interface of the motor to perform closed-loop control of the output pressure of the motor according to the pressure control amount.

[0012] The present invention provides a pressure data processing device, comprising: an acquisition unit, used to acquire real-time pressure data obtained by performing real-time pressure detection on a variable stiffness load of a motor; a comparison unit, used to compare the real-time pressure data with preset target pressure data to obtain pressure comparison data, wherein the pressure comparison data includes a pressure deviation and a pressure deviation change rate; a fuzzy decision unit, used to perform fuzzy control decision on the pressure comparison data according to preset fuzzy control rules to obtain a fuzzy subset, wherein the fuzzy control rule includes a corresponding relationship between different pressure ranges and different load stiffness ranges; and a defuzzification unit, used to perform defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control quantity, so as to perform closed-loop control of the output pressure of the motor according to the pressure control quantity.

[0013] According to a pressure data processing device provided by the present invention, the defuzzification unit is further used to perform defuzzification processing on the fuzzy subset by adopting a centroid method.

[0014] A pressure data processing device provided according to the present invention also includes a generating unit, which is used to: divide the stiffness change process of the variable stiffness load into different segments according to the load stiffness of the variable stiffness load; and obtain the input-output membership function of the fuzzy control rule and the input-output variable range of the fuzzy control according to the change data of the load stiffness change of the variable stiffness load in the segments and historical data.

[0015] According to a pressure data processing device provided by the present invention, the defuzzification unit is further used to perform defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a self-tuning proportional coefficient, an integral coefficient and a differential coefficient.

[0016] According to a pressure data processing device provided by the present invention, the input-output membership function is any one of the following: a joint Gaussian input-output membership function, a generalized bell-shaped input-output membership function, an S-shaped input-output membership function, a trapezoidal input-output membership function, a triangle input-output membership function and a Z-shaped input-output membership function.

[0017] According to a pressure data processing device provided by the present invention, the fuzzy decision unit is further used to map the input-output values ​​to obtain corresponding input-output value regions according to the input-output membership function, so as to obtain the fuzzy subset.

[0018] According to a pressure data processing device provided by the present invention, the device also includes an input unit for: inputting the pressure control amount to the driver interface of the motor to perform closed-loop control of the output pressure of the motor according to the pressure control amount.

[0019] The present invention also provides 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 program, the steps of any of the pressure data processing methods described above are implemented.

[0020] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the pressure data processing methods described above are implemented.

[0021] The pressure data processing method, device, electronic device and non-transitory computer-readable storage medium provided by the present invention obtain pressure comparison data by detecting pressure in real time and comparing it with target pressure data, and perform fuzzy control decision and defuzzification processing on the pressure comparison data according to preset fuzzy control rules, thereby obtaining a pressure control amount for performing closed-loop control of the motor pressure output. Compared with the prior art, the control effect of the motor pressure output closed-loop control can be optimized.

[0022] Specifically, the fuzzy PID control system of the embodiment of the present invention uses the error Fe and the error change rate Fec as input variables, and three parameters of proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd as output variables, and adopts fuzzy control theory to determine the PID control parameters of the motor output pressure closed-loop control, which can realize high-precision and fast-response force closed-loop control of variable stiffness loads and achieve ideal control effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is one of the flow charts of the pressure data processing method provided by the present invention;

[0025] Figure 2 A schematic diagram of the structure of the fuzzy PID control system provided by the present invention;

[0026] Figure 3 This is the second flow chart of the pressure data processing method provided by the present invention;

[0027] Figure 4 It is a structural schematic diagram of the pressure data processing device provided by the present invention;

[0028] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The terms used in one or more embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present invention. The singular forms of "a", "said" and "the" used in one or more embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present invention refers to and includes any or all possible combinations of one or more associated listed items.

[0031] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present invention, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present invention, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0032] In traditional PID control systems, PID control is composed of proportional, integral and derivative. The proportional unit corresponds to the current error. If the proportional gain is large, the output will be larger under the same error. If the proportional gain is too large, the system will be unstable. If the proportional gain is small, the output will be smaller under the same error, which will make the PID control system less sensitive. If the proportional gain is too small, when interference occurs, the control signal may not be large enough, which will make the PID control system unable to correct the influence of interference. The integral unit corresponds to the accumulated error in the past. The integral control will accelerate the process of the system approaching the set value and eliminate the steady-state error caused by pure proportional control. The larger the integral gain, the faster the speed of approaching the set value. However, because the integral control will accumulate all the errors in the past, overshoot may occur. The derivative unit corresponds to the future error. The derivative control can improve the setting time and system stability. Pure derivative control is not a causal system, so the PID control system generally adds a low-pass filter to the derivative control to limit high-frequency gain and noise. In fact, pure derivative control is rarely used.

[0033] In the related art, during the compression process of the deployed parachute, the load stiffness changes continuously and the PID control system exhibits nonlinearity, making the control effect of the traditional PID control less than ideal.

[0034] In order to solve the above technical problems, an embodiment of the present invention provides a pressure data processing solution.

[0035] Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] like Figure 1 FIG. 1 is a flow chart of a pressure data processing method according to an embodiment of the present invention. The method provided by the embodiment of the present invention can be executed by any electronic device with computer processing capabilities, such as a terminal or a server. Figure 1 As shown, the pressure data processing method includes:

[0037] Step 102 , obtaining real-time pressure data obtained by performing real-time pressure detection on the variable stiffness load of the motor.

[0038] Specifically, the variable stiffness load refers to a load whose stiffness changes during the process of being applied with pressure. Real-time pressure data can be measured by a pressure sensor.

[0039] Step 104 , comparing the real-time pressure data with the preset target pressure data to obtain pressure comparison data, the pressure comparison data including the pressure deviation and the pressure deviation change rate.

[0040] Specifically, the pressure deviation and the pressure deviation change rate are input parameters of the fuzzy PID control system.

[0041] Step 106 , performing fuzzy control decision on the pressure comparison data according to a preset fuzzy control rule to obtain a fuzzy subset, wherein the fuzzy control rule includes a correspondence between different pressure ranges and different load stiffness ranges.

[0042] Specifically, the fuzzy control rules are determined by the inner loop force control according to the historical PID parameter samples of the motor driver.

[0043] Step 108, performing defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control quantity, so as to perform closed-loop control of the output pressure of the motor according to the pressure control quantity.

[0044] Specifically, the pressure control quantity is the output parameter of the fuzzy PID control system and is also the PID control parameter of the motor output pressure closed-loop control.

[0045] In the related technology, the stiffness change of the motor load causes the control system to show overall nonlinearity, so it is necessary to dynamically adjust the PID control parameters. Fuzzy control can realize this dynamic adjustment function.

[0046] The technical solution of the embodiment of the present invention adopts fuzzy control theory to determine the PID control parameters of the motor output pressure closed-loop control, which can realize high-precision and fast-response force closed-loop control of variable stiffness loads and achieve ideal control effects.

[0047] In an embodiment of the present invention, the generation process of fuzzy control rules includes: dividing the stiffness change process of the variable stiffness load into different segments according to the load stiffness of the variable stiffness load; obtaining the input and output membership functions of the fuzzy control rules and the input and output variable range of the fuzzy control according to the change data of the load stiffness change of the variable stiffness load in the segments and historical data.

[0048] Specifically, the input-output membership function can be any one of the following: a joint Gaussian input-output membership function, a generalized bell-shaped input-output membership function, an S-shaped input-output membership function, a trapezoidal input-output membership function, a triangle input-output membership function, and a Z-shaped input-output membership function.

[0049] The technical solution of the embodiment of the present invention divides the state according to the change of load stiffness during the parachute pressing process, and formulates fuzzy control rules based on the segments obtained by the state division. According to the fuzzy control rules and full closed-loop feedback of the force, fuzzy PID control of the nonlinear system can be realized.

[0050] The formulation of fuzzy control rules is the core content of fuzzy control. The quality of control performance is largely determined by the fuzzy control rules. Currently, the corresponding rules are mainly formulated based on experience.

[0051] According to the established fuzzy control rules, through the corresponding fuzzy set operations, the fuzzy relation set, i.e., the fuzzy relation matrix, can be obtained. The pressure control quantity is the output of the fuzzy control, and the pressure control quantity can be synthesized from the deviation matrix and the fuzzy relation matrix.

[0052] The pressure control quantity is also a matrix, which cannot be directly applied in engineering. Therefore, the pressure control quantity needs to be interpreted as a specific behavior in practice, that is, a defuzzification operation.

[0053] In step 106, according to the input-output membership function, the input-output values ​​are mapped to obtain corresponding input-output value regions to obtain fuzzy subsets.

[0054] In step 108, the fuzzy subset may be defuzzified using the centroid method. After the fuzzification process, PID control parameters such as the self-tuning proportional coefficient, integral coefficient, and differential coefficient may be obtained.

[0055] Specifically, the method of performing the defuzzification process is not limited to the centroid method, and the maximum membership method, weighted average method, etc. can also be used. Using the centroid method for defuzzification can make the output smoother.

[0056] After step 108 , the pressure control amount is input to the driver interface of the motor to perform closed-loop control of the output pressure of the motor according to the pressure control amount.

[0057] Specifically, the three constants of the self-tuning proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd are input into the control program of the control system as the PID input parameters of the inner loop force control, so that force closed-loop control can be achieved.

[0058] like Figure 2 As shown, in the embodiment of the present invention, the pressure y(t) applied to the variable stiffness load 244 can be detected in real time by the pressure sensor 245. By comparing the pressure y(t) with the target pressure u(t) value, the deviation e(t) and the deviation change rate can be obtained. After the deviation e(t) and the deviation change rate are input to the fuzzy PID control system, the fuzzy PID control system can make decisions according to the fuzzy control rules, and use the set defuzzification algorithm to achieve defuzzification, and output the PID control parameters, namely the pressure control amount, which includes the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd.

[0059] By using the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd as PID control parameters, a better PID regulation effect can be achieved.

[0060] like Figure 2 As shown, the motor 242 is connected to the actuator screw 241 after deceleration, driving the pressure head 243 to move downward, and when it contacts the variable stiffness load 244, pressure is generated, and the force value is fed back in real time through the pressure sensor 245. The motor can be a three-phase permanent magnet synchronous motor. Figure 2 As shown, the pressure sensor needs to be installed under the variable stiffness load, and the load gravity needs to be cleared before the pressure sensor is used.

[0061] The fuzzy PID control system 210 generates a pressure control quantity and sends the pressure control quantity to the logic controller 220 of the control system. The logic controller 220 of the control system sends the pressure control quantity and the logic control signal, and generates a drive signal together with the feedback signal of the inner loop force control and sends it to the motor driver 230 to drive the motor 242 to work. Among them, the fuzzy PID control system includes an error and an error differential 211, a fuzzy controller 212 and a PID controller 213.

[0062] like Figure 2 As shown, the PID control system of the embodiment of the present invention has two force loop controls, one is the detection of the motor current by the motor driver to realize the semi-closed loop control of the force, that is, the inner loop force control, and the other is the full closed loop feedback control of the terminal force through the pressure sensor, that is, the outer loop force control. Since the inner loop force control is mainly related to the performance of the motor servo drive, it will not be elaborated here. The embodiment of the present invention focuses on the fuzzy control method in the outer loop force control. The fuzzy control method in the outer loop force control can effectively solve the problem of poor system control characteristics caused by variable stiffness loads, such as slow response speed when the stiffness is small, large overshoot when the stiffness is large, oscillation when maintaining pressure, and other problems.

[0063] In the embodiment of the present invention, since the time constant of the mechanical system is relatively large, the control period of the logic controller 220 of the control system may be set to 5 ms, but is not limited thereto.

[0064] like Figure 3 As shown, a pressure data processing process in an embodiment of the present invention includes the following steps:

[0065] Step 301 : According to different load stiffnesses, the parachute pressing process is divided into N states, each state corresponding to a different load stiffness, wherein N is a natural number and is ≥ 2. For example, N may be 6.

[0066] Step 302, according to the actual system dynamic performance analysis, determine the input and output variable membership functions (gaussmf, trimf) and the input and output variable ranges to obtain fuzzy control rules.

[0067] Step 302: The pressure y(t) on the load is detected in real time by the pressure sensor, and compared with the target pressure u(t) value to obtain the deviation e(t) and the deviation change rate.

[0068] Step 304, making a decision according to the fuzzy control rule to obtain the fuzzy subset.

[0069] Step 305, obtain the self-tuning proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd by defuzzifying the fuzzy subset.

[0070] Step 306: input the three self-tuned constants of proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd into the PID controller as external input parameters of the PID controller.

[0071] Specifically, in step 301, in the fuzzy control rule table as shown in Table 1, which can be used as fuzzy control rules, the umbrella pressing process can be divided into the following six states.

[0072] Table 1 Fuzzy control rules table

[0073] Control segment Stiffness <![CDATA[F e Changes]]> <![CDATA[F ec Changes]]> Kp adjustment Ki Adjustment Kd adjustment Idle travel - press up (0-0.5T) Small Big (b) Big (b) Big (b) Big (b) None Press on (0.5-5T) Small and medium Big (b) Medium(m) Big (b) Medium(m) None Press on (5-10T) middle Medium(m) Medium(m) Medium(m) Medium(m) None Press on (10-17T) CUHK Medium(m) Small(s) Medium(m) Small(s) None Compacting (17-19T) big Small(s) Small(s) Small(s) Small(s) None Holding pressure Medium-Large Small(s) Medium(m) Small(s) Small(s) Small(s)

[0074] Specifically, the six states of the parachute pressing process include:

[0075] 1) Control section 1, idle travel-pressing (0-0.5T), small load stiffness, large change of Fe, large change of Fe, large adjustment of Kp, and large adjustment of Ki.

[0076] 2) Control section 2, idle stroke-pressing (0.5-5T), load stiffness is small to medium, Fe changes greatly, Fe changes in the middle, Kp adjusts greatly, and Ki adjusts in the middle.

[0077] 3) Control section 3, idle stroke - pressure up (5-10T), load stiffness medium, Fe changing, Fec changing, Kp adjusting, Ki adjusting.

[0078] 4) Control section 4, idle stroke - pressure up (10-17T), load stiffness medium to large, Fe changing medium, Fe changing small, Kp adjusting medium, Ki adjusting small.

[0079] 5) Control section 5, idle stroke - pressure up (17-19T), large load stiffness, small change of Fe, small change of Fe, small adjustment of Kp, and small adjustment of Ki.

[0080] 6) Control section 6, idle stroke-pressing up (17-19T), i.e., pressure-maintaining control section, load stiffness changes from medium to large, Fe changes slightly, Fe changes in the middle, Kp is adjusted to be small, Ki is adjusted to be small, and Kd is adjusted to be small.

[0081] In step 302, the PID parameter samples that make the system performance better in each state can be determined through the inner loop force control. The input and output variable membership functions and input and output variable ranges can be determined through these PID parameter samples, so as to formulate fuzzy control rules.

[0082] In the technical solution of the embodiment of the present invention, the fuzzy PID control system uses the error Fe and the error change rate Fec as input variables, and uses three parameters of the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd as output variables.

[0083] In step 304, a triangular input-output membership function may be selected to map the input-output values ​​into a suitable region.

[0084] In the technical solution of the embodiment of the present invention, the fuzzy PID control system receives the incoming error and error change rate, and through fuzzification, fuzzy reasoning and defuzzification, outputs the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd to the logic controller of the control system to adjust the coefficients of the logic controller.

[0085] The pressure data processing method provided by the present invention obtains pressure comparison data by detecting the pressure in real time and comparing it with the target pressure data, and performs fuzzy control decision and defuzzification processing on the pressure comparison data according to preset fuzzy control rules, thereby obtaining the pressure control amount for performing motor pressure output closed-loop control. Compared with the prior art, the control effect of the motor pressure output closed-loop control can be optimized.

[0086] The pressure data processing device provided by the present invention is described below. The pressure data processing device described below and the pressure data processing method described above can be referenced to each other.

[0087] like Figure 4As shown, a pressure data processing device according to an embodiment of the present invention includes:

[0088] The acquisition unit 402 may be used to acquire real-time pressure data obtained by performing real-time pressure detection on the variable stiffness load of the motor.

[0089] Specifically, the variable stiffness load refers to a load whose stiffness changes during the process of being applied with pressure. Real-time pressure data can be measured by a pressure sensor.

[0090] The comparison unit 404 may be used to compare the real-time pressure data with the preset target pressure data to obtain pressure comparison data, where the pressure comparison data includes a pressure deviation and a pressure deviation change rate.

[0091] Specifically, the pressure deviation and the pressure deviation change rate are input parameters of the fuzzy PID control system.

[0092] The fuzzy decision unit 406 can be used to perform fuzzy control decision on the pressure comparison data according to a preset fuzzy control rule to obtain a fuzzy subset, wherein the fuzzy control rule includes a correspondence between different pressure ranges and different load stiffness ranges.

[0093] Specifically, the fuzzy control rules are determined by inner loop force control according to historical PID parameter samples of the controller of the PID control system.

[0094] The defuzzification unit 408 may be used to perform defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control amount, so as to perform closed-loop control of the output pressure of the motor according to the pressure control amount.

[0095] Specifically, the pressure control quantity is the output parameter of the fuzzy PID control system and is also the PID control parameter of the motor output pressure closed-loop control.

[0096] The technical solution of the embodiment of the present invention adopts fuzzy control theory to determine the PID control parameters of the motor output pressure closed-loop control, which can realize high-precision and fast-response force closed-loop control of variable stiffness loads and achieve ideal control effects.

[0097] In an embodiment of the present invention, a generating unit may also be included, which is used to: divide the stiffness change process of the variable stiffness load into different segments according to the load stiffness of the variable stiffness load; and obtain the input-output membership function of the fuzzy control rule and the input-output variable range of the fuzzy control according to the change data of the load stiffness change of the variable stiffness load in the segments and historical data.

[0098] In an embodiment of the present invention, the input-output membership function may be any one of the following: a joint Gaussian input-output membership function, a generalized bell-shaped input-output membership function, an S-shaped input-output membership function, a trapezoidal input-output membership function, a triangle input-output membership function, and a Z-shaped input-output membership function.

[0099] The technical solution of the embodiment of the present invention divides the state according to the change of load stiffness during the parachute pressing process, and formulates fuzzy control rules based on the segments obtained by the state division. According to the fuzzy control rules and full closed-loop feedback of the force, fuzzy PID control of the nonlinear system can be realized.

[0100] The formulation of fuzzy control rules is the core content of fuzzy control. The quality of control performance is largely determined by the fuzzy control rules. Currently, the corresponding rules are mainly formulated based on experience.

[0101] According to the established fuzzy control rules, through the corresponding fuzzy set operations, the fuzzy relation set, i.e., the fuzzy relation matrix, can be obtained. The pressure control quantity is the output of the fuzzy control, and the pressure control quantity can be synthesized from the deviation matrix and the fuzzy relation matrix.

[0102] The pressure control quantity is also a matrix, which cannot be directly applied in engineering. Therefore, the pressure control quantity needs to be interpreted as a specific behavior in practice, that is, a defuzzification operation.

[0103] In the embodiment of the present invention, the fuzzy decision unit can also be used to map the input and output values ​​to obtain corresponding input and output value regions according to the input and output membership functions, thereby obtaining fuzzy subsets.

[0104] In the embodiment of the present invention, the defuzzification unit can also be used to perform defuzzification processing on the fuzzy subset using the centroid method. Specifically, the defuzzification unit is not limited to the centroid method, and can also use the maximum membership method, weighted average method and other defuzzification processing methods. Using the centroid method for defuzzification processing can make the output smoother.

[0105] In the embodiment of the present invention, the defuzzification unit can also be used to perform defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a self-tuning proportional coefficient, an integral coefficient and a differential coefficient.

[0106] In an embodiment of the present invention, the device may further include an input unit for inputting the pressure control amount to a driver interface of the motor to perform closed-loop control of the output pressure of the motor according to the pressure control amount.

[0107] In the technical solution of the embodiment of the present invention, the fuzzy PID control system uses the error Fe and the error change rate Fec as input variables, and uses the three parameters of the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd as output variables. The fuzzy PID control system receives the input error and error change rate, and outputs the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd to the logic controller of the control system through fuzzification, fuzzy reasoning and anti-fuzzification to adjust the coefficients of the logic controller.

[0108] Since the various functional modules of the pressure data processing device of the exemplary embodiment of the present invention correspond to the steps of the exemplary embodiment of the pressure data processing method described above, for details not disclosed in the embodiment of the device of the present invention, please refer to the embodiment of the pressure data processing method of the present invention described above.

[0109] The pressure data processing device provided by the present invention obtains pressure comparison data by detecting pressure in real time and comparing it with target pressure data, and performs fuzzy control decision and defuzzification processing on the pressure comparison data according to preset fuzzy control rules, thereby obtaining a pressure control amount for performing closed-loop control of the motor pressure output. Compared with the prior art, the control effect of the motor pressure output closed-loop control can be optimized.

[0110] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the pressure data processing method, which includes: obtaining real-time pressure data obtained by real-time pressure detection of the variable stiffness load of the motor; comparing the real-time pressure data with the preset target pressure data to obtain pressure comparison data, wherein the pressure comparison data includes a pressure deviation and a pressure deviation change rate; performing fuzzy control decision on the pressure comparison data according to a preset fuzzy control rule to obtain a fuzzy subset, wherein the fuzzy control rule includes a corresponding relationship between different pressure ranges and different load stiffness ranges; performing defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control amount, so as to perform closed-loop control of the output pressure of the motor according to the pressure control amount.

[0111] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0112] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the pressure data processing method provided by the above-mentioned methods, and the method includes: obtaining real-time pressure data obtained by real-time pressure detection of a variable stiffness load of a motor; comparing the real-time pressure data with preset target pressure data to obtain pressure comparison data, and the pressure comparison data includes a pressure deviation and a pressure deviation change rate; performing fuzzy control decision on the pressure comparison data according to preset fuzzy control rules to obtain a fuzzy subset, wherein the fuzzy control rule includes a correspondence between different pressure ranges and different load stiffness ranges; performing defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control quantity, so as to perform closed-loop control of the output pressure of the motor according to the pressure control quantity.

[0113] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned pressure data processing methods, the methods comprising: acquiring real-time pressure data obtained by real-time pressure detection of a variable stiffness load of a motor; comparing the real-time pressure data with preset target pressure data to obtain pressure comparison data, the pressure comparison data including a pressure deviation and a pressure deviation change rate; performing fuzzy control decision on the pressure comparison data according to preset fuzzy control rules to obtain a fuzzy subset, wherein the fuzzy control rule includes a correspondence between different pressure ranges and different load stiffness ranges; performing defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control quantity, so as to perform closed-loop control of the output pressure of the motor according to the pressure control quantity.

[0114] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0115] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pressure data processing method, characterized in that: include: Acquire real-time pressure data obtained by performing real-time pressure detection on the variable stiffness load of the motor; Comparing the real-time pressure data with preset target pressure data to obtain pressure comparison data, wherein the pressure comparison data includes a pressure deviation and a pressure deviation change rate; Performing fuzzy control decision on the pressure comparison data according to a preset fuzzy control rule to obtain a fuzzy subset, wherein the fuzzy control rule includes a correspondence between different pressure ranges and different load stiffness ranges; The fuzzy subset is subjected to defuzzification processing by using a set defuzzification algorithm to obtain a pressure control quantity, so as to perform closed-loop control of the output pressure of the motor according to the pressure control quantity.

2. The method according to claim 1, characterized in that The defuzzification process is performed on the fuzzy subset using a set defuzzification algorithm, including: The fuzzy subset is defuzzified by using the centroid method.

3. The method according to claim 1, characterized in that The generation process of the fuzzy control rules includes: Dividing the stiffness change process of the variable stiffness load into different sections according to the load stiffness of the variable stiffness load; According to the change data of the load stiffness change of the variable stiffness load in the segmented and historical data, the input-output membership function of the fuzzy control rule and the input-output variable range of the fuzzy control are obtained.

4. The method according to claim 1, characterized in that: The fuzzy subset is subjected to defuzzification processing by using a set defuzzification algorithm to obtain a pressure control amount, including: The fuzzy subset is subjected to defuzzification processing by using a set defuzzification algorithm to obtain a self-tuning proportional coefficient, an integral coefficient and a differential coefficient.

5. The method according to claim 3, characterized in that: The input-output membership function is any of the following: Joint Gaussian input-output membership function, generalized bell-shaped input-output membership function, S-shaped input-output membership function, trapezoidal input-output membership function, triangle input-output membership function and Z-shaped input-output membership function.

6. The method according to claim 3, characterized in that The fuzzy control decision is performed on the pressure comparison data according to the preset fuzzy control rule to obtain the fuzzy subset, including: according to the input-output membership function, the input-output value is mapped to obtain the corresponding input-output value area to obtain the fuzzy subset.

7. The method according to claim 1, characterized in that After obtaining the pressure control amount, the method further includes: The pressure control amount is input to a driver interface of the motor to perform closed-loop control of the output pressure of the motor according to the pressure control amount.

8. A pressure data processing device, characterized in that: include: An acquisition unit, used for acquiring real-time pressure data obtained by performing real-time pressure detection on a variable stiffness load of the motor; A comparison unit, configured to compare the real-time pressure data with preset target pressure data to obtain pressure comparison data, wherein the pressure comparison data includes a pressure deviation and a pressure deviation change rate; A fuzzy decision unit, used for performing fuzzy control decision on the pressure comparison data according to a preset fuzzy control rule to obtain a fuzzy subset, wherein the fuzzy control rule includes a correspondence between different pressure ranges and different load stiffness ranges; The defuzzification unit is used to perform defuzzification processing on the fuzzy subset using a set defuzzification algorithm to obtain a pressure control quantity, so as to perform closed-loop control of the output pressure of the motor according to the pressure control quantity.

9. 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 program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A non-transitory 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 7 are implemented.

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