A PID control system and a control method

Abstract

An embodiment of the present application provides a PID control system and a control method, which relate to the field of automatic control, and solve the problems in the related art that due to the slow change of the controlled parameter, a large external interference needs to be introduced to make each adjustment item play an adjustment role, resulting in poor stability and dynamic response of the control system. The control system includes: a collection device; a PID adjustment device; a controller; the controller is configured to execute: when the absolute value of the control deviation increment of the current sampling period included in the input quantity to be input to the PID adjustment device is less than or equal to a preset deviation threshold, obtain the control deviation quantities of each sampling period before the current sampling period; determine the first target deviation increment of the current sampling period according to each control deviation quantity, and the absolute value of the first target deviation increment is greater than the preset deviation threshold; determine the target input quantity input to the PID adjustment device according to the first target deviation increment, so that the PID adjustment device adjusts the corresponding target adjustment item.

Description

Technical Field

[0001] The present application relates to the field of automatic control, and in particular, to a PID control system and a control method. Background Art

[0002] PID (proportional integral derivative) control devices are widely used in various occasions of automatic control systems. The PID adjustment device involves three adjustment items: proportional adjustment, integral adjustment, and derivative adjustment, and the three adjustment items correspond to three adjustment coefficients. In practical applications, the control deviation amount and the control deviation increment of the controlled parameter according to a certain fixed sampling period are input into the PID adjustment device, and according to the control deviation amount of each sampling period and the adjustment coefficient corresponding to each sampling period, the output feedback amount of each sampling period is obtained. The control deviation amount corresponding to each sampling period above is the difference between the output feedback amount of one sampling period and the output feedback amount of its previous sampling period.

[0003] During the control process of the above control method, when the change of the controlled parameter is very slow, the above control deviation amount will be very small or even close to zero. In this case, usually, the adjustment method of increasing the three adjustment coefficients is adopted to ensure that the control system can respond normally. However, this adjustment method needs to introduce a large external interference, resulting in poor stability of the entire control process, and thus the automatic control system fails to control. Summary of the Invention

[0004] The present application provides a PID control system and a control method, which are used to solve the problems of poor stability and poor dynamic response of the control system caused by the need to introduce a large external interference to make each adjustment item play an adjustment role due to the slow change of the controlled parameter.

[0005] In a first aspect, a PID control system is provided. The control system includes: a collection device, configured to sequentially collect the control deviation amount and the control deviation increment of the controlled parameter according to a sampling period; a PID adjustment device, configured to output a corresponding output feedback amount according to the input amount input in each sampling period; the control deviation amount represents the difference between the output feedback amounts of two adjacent sampling periods before and after; a controller, the controller is respectively connected to the collection device and the PID adjustment device; the controller is configured to execute: when the absolute value of the control deviation increment of the current sampling period included in the input amount to be input into the PID adjustment device is less than or equal to a preset deviation threshold, obtain the control deviation amounts of each sampling period before the current sampling period; according to each control deviation amount, determine the first target deviation increment of the current sampling period, and the absolute value of the first target deviation increment is greater than the preset deviation threshold; according to the first target deviation increment, determine the target input amount input into the PID adjustment device, so that the PID adjustment device adjusts the corresponding target adjustment item.

[0006] It should be noted that the target adjustment item includes at least one or both of the proportional adjustment item and the differential adjustment item. Generally, the differential adjustment item does not exist alone. When the target adjustment item includes the differential adjustment item, the target adjustment item can be the target adjustment item combined by the proportional adjustment item and the differential adjustment item; it can also be the target adjustment item combined by the integral adjustment item and the differential adjustment item; it can be the target adjustment item combined by the proportional adjustment item, the integral adjustment item and the differential adjustment item. And the input corresponding to the proportional adjustment item is determined based on the control deviation increment of each sampling period, and the input corresponding to the differential adjustment item is determined based on the difference between the control deviation increments of two adjacent sampling periods. Therefore, the implementation mode of this application is implemented based on the scenario where the target adjustment item includes at least the proportional adjustment item and the differential adjustment item.

[0007] The above preset deviation threshold can be determined according to the acquisition accuracy of the acquisition device to ensure that the acquisition device can acquire the first target deviation amount, thereby reducing the accuracy requirement for the acquisition device. The above preset deviation threshold can also be set according to the experience of those skilled in the art, and can also be determined according to the change characteristics of the controlled parameter (such as the function characteristics of the input quantity function corresponding to the controlled parameter: monotonicity or smoothness, etc.). Therefore, this application does not make specific limitations on the specific implementation mode of the preset deviation threshold.

[0008] The technical solution provided by the embodiments of this application has at least the following beneficial effects: After collecting the control deviation amount and control deviation increment of each sampling period according to the sampling period, instead of directly inputting the control deviation increment of the current sampling period collected into the PID adjustment device; but using the collected control deviation amounts to adjust the target deviation increment (i.e., the first target deviation increment) input to the PID adjustment device, so that the absolute value of the target control deviation increment input to the PID adjustment device is greater than or equal to the preset deviation threshold, so that the target input amount determined based on the target control deviation increment is within a reasonable and controllable range, so that the target adjustment item corresponding to the PID adjustment device can play a reasonable adjustment role. Based on this, in the case where the controlled parameter changes slowly, it is not necessary to introduce external interference or a large amount of external interference, and the target adjustment item corresponding to the PID adjustment device can play an adjustment role through the re-determined target input amount, improving the stability and dynamic response ability of the control system.

[0009] In some embodiments, the controller is configured to specifically determine a first target deviation increment in the current sampling period according to each control deviation amount, including: determining at least one control deviation amount whose absolute value of the difference from the control deviation amount in the current sampling period is greater than a preset deviation threshold from each control deviation amount; determining the at least one control deviation amount as candidate control deviation amounts; determining the candidate control deviation amount with the smallest time interval between the corresponding sampling period and the current sampling period among the candidate control deviation amounts as the control deviation amount corresponding to the first target sampling period, where the first target sampling period is the sampling period corresponding to the candidate control deviation amount with the smallest time interval from the current sampling period; and determining the difference between the control deviation amount corresponding to the current sampling period and the control deviation amount of the first target sampling period as the first target deviation increment.

[0010] In this embodiment, the controller uses the control deviation amounts that meet the preset conditions among the control deviation amounts corresponding to each sampling period as candidate control deviation amounts. Then, from the sampling periods corresponding to the at least one candidate control deviation amount, it determines the sampling period with the smallest time interval from the current sampling period as the first target sampling period, and thus determines the difference between the control deviation difference in the current sampling period and the control deviation amount of the first target sampling period as the first target deviation increment. Here, the preset condition is that the absolute value of the difference from the control deviation amount in the current sampling period is greater than the preset deviation threshold.

[0011] Based on this, the determined first target deviation increment satisfies both the preset condition and the condition of the smallest time interval of the period difference, so that when the control system adjusts the target adjustment item according to the target input amount, the fluctuation range of the control system is small and the response speed is fast; it avoids the problem that the target input amount is too small and a large external interference needs to be introduced, and at the same time, it also avoids the problem that the original parameter adjustment amount of the target adjustment item changes too much due to the large interval between the introduced first target sampling period and the current sampling period, resulting in a slow response speed and poor stability of the control system.

[0012] In some embodiments, the target adjustment item includes a proportional adjustment item; the target input amount includes a proportional adjustment item input amount; the controller is configured to specifically determine the target input amount input to the PID adjustment device according to the first target deviation increment, including: determining that the positive and negative of the first target deviation increment are the same as those of the first deviation amount; the same positive and negative indicates that the two compared quantities are both positive or both negative; the first deviation amount is the difference between the control deviation amount in the current sampling period and the control deviation amount in the previous sampling period of the current sampling period; and determining the first target deviation increment as the proportional adjustment item input amount.

[0013] It should be noted that the above output feedback amount does not have a single change characteristic based on time variation, that is, the change characteristics of the control deviation amounts in each sampling period are very complex.

[0014] In this embodiment, the target adjustment term includes a differential adjustment term. Then, it is necessary to configure a corresponding differential adjustment term input quantity for the proportional adjustment term to adjust the proportional adjustment term. After the controller determines the first target deviation increment, it judges the positivity and negativity of the first target deviation increment. When ensuring that the positivity and negativity of the positive increment of the first target deviation are consistent with the positivity and negativity of the difference between the control deviation quantity in the current sampling period and the control deviation quantity in the previous sampling period of the current sampling period, the first target deviation increment is used as the proportional adjustment term input quantity to control and adjust the proportional adjustment term of the control system. Based on this, when the target adjustment term includes a proportional adjustment term, the determined proportional adjustment term input quantity can conform to the variation characteristics of the output feedback quantity output by the PID adjustment device over time, thereby ensuring the precise control of the PID adjustment device over the control system and avoiding the problem of incorrect adjustment and control of the control system due to the proportional adjustment term input quantity not conforming to the variation characteristics of the output feedback quantity, resulting in inaccurate control results. In some embodiments, the controller is further configured to specifically execute: determining that the positivity and negativity of the first target deviation increment and the first deviation quantity are inconsistent; the inconsistency in positivity and negativity indicates that among the two comparison quantities, one comparison quantity is positive and the other is negative; respectively determining the absolute value of each deviation difference; each deviation difference is the difference between the control deviation quantity in the current sampling period and the control deviation quantity in the sampling period that is the period difference before the current sampling period, and the period difference is the number of sampling periods between the current sampling period and the first target sampling period; determining the deviation difference with the largest absolute value among each deviation difference as the proportional adjustment term input quantity.

[0015] In the above embodiment, for the case where the positivity and negativity of the positive increment of the first target deviation are inconsistent with the positivity and negativity of the difference between the control deviation quantity in the current sampling period and the control deviation quantity in the previous sampling period of the current sampling period, the proportional adjustment term input quantity is re-determined according to the difference between the control deviation quantity in the current sampling period and the control deviation quantity in the sampling period that is the period difference, so that the determined proportional adjustment term input quantity conforms to the variation characteristics of the output feedback quantity output by the PID adjustment device over time.

[0016] In some embodiments, the target adjustment term includes a differential adjustment term; the target input deviation amount includes a differential adjustment term input amount, and the controller is configured to specifically execute determining the target input amount input to the PID adjustment device according to the first target deviation increment, further including: determining the second target deviation increment of the previous sampling period according to the first target deviation increment; determining the difference between the first target deviation increment and the second target deviation increment as the target deviation change value; determining that the positive or negative nature of the target deviation change value is consistent with the positive or negative nature of the current deviation change value of the current sampling period; wherein, the deviation change value of the current sampling period is the difference between the first deviation amount and the second deviation amount; the second deviation amount is the difference between the control deviation amount of the previous sampling period of the current sampling period and the control deviation amount of the sampling period before the previous sampling period of the current sampling period; determining the target deviation change value as the differential adjustment term input amount.

[0017] In this embodiment, the target adjustment term includes a differential adjustment term, and it is necessary to configure a corresponding differential adjustment term input amount for this differential adjustment term to adjust the differential adjustment term. The controller first determines the first target deviation increment and then determines the second target deviation increment. Then, it judges based on the positive or negative nature of the difference between the first target deviation increment and the second target deviation increment. When ensuring that the positive or negative nature of the difference between the first target deviation increment and the second target deviation increment is consistent with the positive or negative nature of the difference between the first deviation amount and the second deviation amount, the first target deviation increment is used as the proportional adjustment term input amount to control and adjust the proportional adjustment term of the control system. Based on this, the determined differential adjustment term input amount can conform to the change characteristics of the control deviation increment over time for each sampling period, thereby ensuring the precise control of the PID adjustment device over the control system and avoiding the problem of incorrect adjustment and control of the control system due to the differential adjustment term input amount not conforming to the change characteristics of the control deviation increment, resulting in inaccurate control results.

[0018] In some embodiments, each sampling period is sorted in chronological order, and the controller is configured to specifically execute: determining the second target deviation increment of the previous sampling period according to the first target deviation increment; including: according to the period difference corresponding to the first target deviation increment, determining the sampling period corresponding to the position order separated by the period difference number of sampling periods from the previous sampling period of the current sampling period among each sampling period as the second target sampling period; determining the difference between the control deviation amount of the previous sampling period of the current sampling period and the control deviation amount of the second target sampling period as the second target deviation amount.

[0019] This embodiment is based on the premise that the period difference of the sampling periods spanned by the first target deviation increment and the second target deviation increment is the same. According to the number of sampling periods spanned by the first target deviation increment and taking the previous sampling period of the current sampling period as the starting point of a sampling period span, the second target sampling period is obtained.

[0020] In some embodiments, the controller is further configured to specifically perform: determining that the positive and negative of the target deviation change value is inconsistent with the current deviation change value of the current sampling period; determining the difference between the third target deviation increment and the fourth target deviation increment as the input quantity of the differential regulation term; the third target deviation increment is the difference between the control deviation quantity of the current sampling period and the control deviation quantity of the third target sampling period, the fourth target deviation increment is the difference between the control deviation quantity of the third sampling period and the control deviation quantity of the fourth target sampling period, the period interval difference between the current sampling period and the third target sampling period, and the period interval difference between the third target sampling period and the fourth target sampling period are the same; the value of the period interval difference is the integer value obtained by rounding up half of the period difference.

[0021] In the above embodiment, for the case where the positive and negative of the difference between the first target deviation increment and the second target deviation increment is consistent with the positive and negative of the difference between the first deviation quantity and the second deviation quantity, the input quantity of the differential regulation term is re-determined according to the difference between the third target deviation increment and the fourth target deviation increment, so that the determined input quantity of the differential regulation term conforms to the change characteristics of the control deviation increment with time for each sampling period.

[0022] In some embodiments, the controller is further configured to perform: inputting the target input quantity to the target regulation term corresponding to the PID regulation device, so that the PID regulation device outputs the output feedback quantity of the current sampling period by adjusting the target regulation term; obtaining the output feedback quantity of the current sampling period.

[0023] It should be noted that the target input quantity can be one or both of the proportional regulation term input quantity and the differential regulation term input quantity. Usually, the differential regulation term input quantity does not exist alone. When the target input quantity includes the differential regulation term input quantity, the target input quantity can be the target input quantity combined with the proportional regulation term input quantity and the differential regulation term input quantity; it can also be the target input quantity combined with the integral regulation term input quantity and the differential regulation term input quantity; it can also be the target input quantity combined with the proportional regulation term input quantity, the integral regulation term input quantity and the differential regulation term input quantity.

[0024] Based on this embodiment, the acquisition of the output feedback quantity of the current sampling period is realized.

[0025] In some embodiments, the controller is further configured to perform: when the absolute value of the control deviation increment of the current sampling period included in the quantity to be input is greater than the preset deviation threshold, determining the input target quantity according to the control deviation increment of the current sampling period.

[0026] In this embodiment, for the scenario where the absolute value of the control deviation increment of the current sampling period is greater than the preset deviation threshold, the input target quantity is determined based on the control deviation increment of the current sampling period.

[0027] Second aspect, an embodiment of the present application provides a PID control method, which includes: when the absolute value of the control deviation increment of the current sampling period included in the quantity to be input to the PID adjustment device is less than or equal to a preset deviation threshold, obtaining the control deviation quantities of each sampling period before the current sampling period; the control deviation quantity represents the difference between the output feedback quantities of two adjacent sampling periods; according to each control deviation quantity, determining a first target deviation increment of the current sampling period, the absolute value of the first target deviation increment being greater than the preset deviation threshold; according to the first target deviation increment, determining the target input quantity input to the PID adjustment device, so that the PID adjustment device adjusts the corresponding target adjustment item.

[0028] Third aspect, an embodiment of the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions run on any of the above devices, the device is caused to execute the control method of any of the above PID control systems.

[0029] Fourth aspect, an embodiment of the present application provides a chip, including: a processor and a memory; the memory is used to store computer execution instructions, the processor is connected to the memory, and when the chip runs, the processor executes the computer execution instructions stored in the memory, so that the chip executes the control method of any of the above PID control systems.

[0030] Fifth aspect, an embodiment of the present application provides a computer program product containing instructions. When it runs on any of the above devices, the device is caused to execute the control method of any of the above PID control systems.

[0031] In the embodiments of the present application, the names of the various components of the above device do not constitute a limitation on the device itself. In actual implementation, these components may appear under other names. As long as the functions of the various components are similar to those of the embodiments of the present application, they fall within the scope of the present application and its equivalent technologies.

[0032] In addition, for the technical effects brought by any of the design methods in the second aspect to the fifth aspect, reference may be made to the technical effects brought by the different design methods in the first aspect above, which will not be elaborated here. Description of the Drawings

[0033] The drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0034] Figure 1 It is a circuit system architecture diagram of a PID control system provided by the present application;

[0035] Figure 2Schematic diagram of the control process of a PID control system provided by an embodiment of the present application;

[0036] Figure 3 Schematic diagram of the structure of a PID adjustment device provided by an embodiment of the present application;

[0037] Figure 4 Flowchart of a control method of a PID control system provided by an embodiment of the present application;

[0038] Figure 5 Flowchart of another control method of a PID control system provided by an embodiment of the present application;

[0039] Figure 6 Flowchart of another control method of a PID control system provided by an embodiment of the present application;

[0040] Figure 7 Flowchart of another control method of a PID control system provided by an embodiment of the present application;

[0041] Figure 8 Schematic diagram of a curve showing the change of the control deviation with time provided by an embodiment of the present application;

[0042] Figure 9 Flowchart of another control method of a PID control system provided by an embodiment of the present application;

[0043] Figure 10 Flowchart of another control method of a PID control system provided by an embodiment of the present application;

[0044] Figure 11 Schematic diagram of another curve showing the change of the control deviation with time provided by an embodiment of the present application;

[0045] Figure 12 Schematic diagram of the hardware structure of a controller provided by an embodiment of the present application. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0047] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0048] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0049] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations. In addition, when describing pipelines, the terms "connected" and "coupled" used in the present application have the meaning of conducting. The specific meaning needs to be understood in combination with the context.

[0050] In the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific manner.

[0051] The PID control device is widely used in various occasions of automatic control systems. The PID regulating device involves three regulating terms: proportional regulation, integral regulation, and derivative regulation, and its three regulating terms correspond to three regulating coefficients. In actual applications, the control deviation and control deviation increment of the controlled parameter according to a certain fixed sampling period are input into the PID regulating device, and according to the control deviation of each sampling period and the regulating coefficient corresponding to each sampling period, the output feedback quantity of each sampling period is obtained. The control deviation corresponding to each sampling period above is the difference between the output feedback quantity of one sampling period and the output feedback quantity of its previous sampling period.

[0052] In the control process of the above control method, when the change of the controlled parameter is very slow, the above control deviation will be very small or even close to zero. In this case, usually, the control system can be ensured to respond normally by increasing the three regulating coefficients. However, this regulating method needs to introduce a large external interference, resulting in poor stability of the entire control process, thereby causing the automatic control system to malfunction.

[0053] In view of this, the embodiments of the present application provide a PID control system. After collecting the control deviation amount and the control deviation increment of each sampling period according to the sampling period, instead of directly inputting the collected control deviation increment of the current sampling period into the PID adjustment device, the collected control deviation amounts are used to adjust the target deviation increment (i.e., the first target deviation increment) input to the PID adjustment device, so that the absolute value of the target control deviation increment input to the PID adjustment device is greater than or equal to a preset deviation threshold, so that the target input amounts determined based on the target control deviation increment are all within a reasonable and controllable range, so that the corresponding target adjustment item of the PID adjustment device can play a reasonable adjustment role. Based on this, in the case where the controlled parameter changes slowly, it is not necessary to introduce external interference or large external interference, and the corresponding target adjustment item of the PID adjustment device can play an adjustment role through the re-determined target input amount, improving the stability and dynamic response ability of the control system.

[0054] To further describe the solution of the present application, refer to Figure 1 the exemplary control system architecture diagram shown, and the following description is made of an air-conditioning system provided by the embodiments of the present application.

[0055] As Figure 1 shown, the PID control system includes: a collection device 101, a PID adjustment device 102, and a controller 103.

[0056] Among them, the collection device 101 is used to sequentially collect the control deviation amount and the control deviation increment of the controlled parameter according to the sampling period; the PID adjustment device 102 is used to output a corresponding output feedback amount according to the input amount input in each sampling period; the control deviation amount represents the difference between the output feedback amounts of two adjacent sampling periods; the controller 103 is connected to the collection device 101 and the PID adjustment device 102 respectively.

[0057] Referring to Figure 2 the schematic diagram of the control process of the PID control system shown, the collection device 101 includes a detection sensor and a collector. The detection sensor detects the output feedback amount according to the sampling period. In the current sampling period, the collector collects the output feedback amount of the current sampling period, and then uses the difference between the output feedback amount of the current sampling period and the output feedback amount of the previous sampling period of the current sampling period as the control deviation amount, and the control deviation amount can be detected by the detection sensor and transmitted to the collector. The controller 103 controls and adjusts the target input amount input to the PID adjustment device 102 based on the control deviation amount. The PID adjustment device 102 outputs the output feedback amount of each sampling period based on the target input amount.

[0058] In some embodiments, such asFigure 3 As shown in Figure 3 , the PID adjustment device 102 includes a proportional regulator 31, an integral regulator 32, and a derivative regulator 33. The proportional adjustment term corresponding to the proportional regulator 31 of the PID adjustment device 102 is used to exert a proportional effect; the integral adjustment term corresponding to the integral regulator 32 is used to exert an integral effect, and the derivative adjustment term corresponding to the derivative regulator 33 is used to exert a derivative effect. The above-mentioned proportional adjustment term corresponds to the proportional adjustment coefficient, the integral adjustment term corresponds to the integral adjustment coefficient, and the derivative adjustment term corresponds to the derivative adjustment coefficient.

[0059] The parameters affecting the function of the above PID adjustment device 102 are: the coefficients corresponding to each adjustment term, the sampling period, the input control deviation amount, the control deviation increment, and the change value of the control deviation increment, etc. Therefore, when it is necessary to adjust the adjustment terms of the three parts, the parameters corresponding to each adjustment term can be adjusted. For example, when it is necessary to increase the proportional effect, the proportional adjustment coefficient or the control deviation increment can be increased; when it is necessary to increase the integral effect, the integral adjustment coefficient can be increased; when it is necessary to increase the derivative effect, the derivative adjustment coefficient or the change value of the control deviation increment can be increased.

[0060] In some embodiments, the PID adjustment device 102 adjusts the target control term through the following algorithm formula.

[0061]

[0062] Among them, ek represents the deviation amount at the k-th sampling; ei represents the control deviation amount at the i-th sampling; ek-1 represents the deviation amount at the (k - 1)-th sampling period; Δe k =e k -e k-1 represents the control deviation increment at the k-th sampling; Δe k-1 =e k-1 -e k-2 represents the control deviation increment at the (k - 1)-th sampling period; Δδe k =Δe k -Δe k-1 represents the change value of the control deviation increment at the k-th sampling period; uk represents the output of the regulator at the k-th sampling; Δuk represents the output increment of the regulator at the k-th sampling; KP represents the proportional coefficient; KI represents the integral coefficient; KD represents the derivative coefficient; T represents the sampling period.

[0063] Based on the above PID incremental formula (1), when the controlled parameter changes relatively slowly and the sampling period is small, that is, the sampling time interval is relatively small, such as in some temperature control scenarios, since the change amount of the controlled parameter is less than the sampling accuracy of the sensor, it will cause the control deviation increment Δe k =e k -ek-1 and the change Δδe of the control deviation increment k = Δe k - Δe k-1 equals zero or is very small, resulting in only the integral term taking effect while the proportional and derivative terms cannot play a regulating role, making the PID control system unstable and the dynamic response very poor. In severe cases, oscillations occur and it cannot work properly.

[0064] If the method of increasing the K P , K D coefficient is used for regulation, the coefficient needs to be magnified by many times, which will introduce relatively large external interference and cause the output of the control system to deviate from the true value.

[0065] In some other embodiments, by increasing the values of Δe k and Δδe k , appropriately increasing the sampling period of Δe k to make Δe k include the deviation change over a longer time, the goal of increasing Δe k and Δδe k is achieved. Specifically, the above control deviation increment Δe k = e k - e k-1 is corrected to the following formula (2) and the change Δδe of the control deviation increment k = Δe k - Δe k-1 is corrected to the following formula (3).

[0066] Δe k = e k - e k-n Formula (2)

[0067] Δδe k = Δe k - Δe k-n

[0068] = e k - 2·e k-n + e k-2n Formula (3)

[0069] In some embodiments, the controller 103 refers to a device that can generate operation control signals according to instruction operation codes and timing signals to instruct the control system to execute control instructions. Exemplarily, the controller 103 can be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a programmable logic device (PLD), a microprocessor, a microcontroller 103, or any combination thereof. The controller 103 can also be other devices with processing functions, such as circuits, devices, or software modules, and the embodiments of the present application do not impose any restrictions thereon.

[0070] In some embodiments, the control system further includes: a display 104. The display 104 can be used to display the control panel of the control system or other image information. Exemplarily, the control system can display the processing process of the currently controlled parameters of the control system or the waveform of the output feedback quantity through the display 104.

[0071] In addition, the display 104 can be a liquid crystal display 104, an organic light-emitting diode (OLED) display 104. The specific type, size, and resolution of the display 104 are not limited. Those skilled in the art can understand that the display 104 can be changed in terms of performance and configuration as needed.

[0072] In some embodiments, the control system further includes a communication device 105, which is a component used to communicate with external devices or external servers according to various communication protocol types. For example: the communication device 105 can include at least one of a Wi-Fi chip, a Bluetooth communication protocol chip, a wired Ethernet communication protocol chip, and other network communication protocol chips or a near-field communication protocol chip, as well as an infrared receiver.

[0073] In some embodiments, the control system can transmit control signals and data signals between the communication device 105 and the terminal devices (such as: mobile phones, tablet computers, wearable mobile devices, etc.) used by users and servers.

[0074] In some embodiments, the control system further includes a human-machine interaction device 106 for realizing the interaction between the user and the control system. The human-machine interaction device 106 may include one or more of physical buttons, a touch display panel, or a voice recognition device. In some embodiments, the control system further includes a power supply 107 for providing power supply support to the control system for the power input from an external power supply under the control of the controller 103.

[0075] Based on the above PID control system, as Figure 4 shown, an embodiment of the present application provides a PID control method, which is executed by the above controller. The method includes the following steps:

[0076] Step S401, when the absolute value of the control deviation increment of the current sampling period included in the input quantity to be input to the PID adjustment device is less than or equal to a preset deviation threshold, obtain the control deviation quantities of each sampling period before the current sampling period.

[0077] It should be understood that the above control deviation quantity represents the difference between the output feedback quantities of two adjacent sampling periods before and after. The output feedback quantity is the output quantity output according to the input quantity input in each sampling period. The above control deviation quantities of each sampling period correspond one-to-one to the controlled parameters. The control deviation increment is the difference between the control deviation quantities of two different adjacent sampling periods.

[0078] Step S402, determine the first target deviation increment of the current sampling period according to each control deviation quantity.

[0079] Among them, the absolute value of the first target deviation increment is greater than the preset deviation threshold.

[0080] The above preset deviation threshold can be determined according to the acquisition accuracy of the acquisition device to ensure that the acquisition device can acquire the first target deviation quantity, thereby reducing the accuracy requirements for the acquisition device. The above preset deviation threshold can also be set according to the experience of those skilled in the art, or can be determined according to the change characteristics of the controlled parameter (such as the function characteristics of the input quantity function corresponding to the controlled parameter: monotonicity or smoothness, etc.). Therefore, the present application does not specifically limit the specific implementation manner of the preset deviation threshold.

[0081] Corresponding to this step scenario, in some embodiments, the controller is further configured to execute: when the absolute value of the control deviation increment of the current sampling period included in the input quantity to be input is greater than the preset deviation threshold, determine the input target quantity according to the control deviation increment of the current sampling period.

[0082] In this embodiment, for the scenario where the absolute value of the control deviation increment of the current sampling period is greater than the preset deviation threshold, the input target quantity is determined based on the control deviation increment of the current sampling period.

[0083] Step S403: Determine the target input quantity input to the PID adjustment device according to the first target deviation increment, so that the PID adjustment device adjusts the corresponding target adjustment item.

[0084] The above target adjustment item includes at least one or both of the proportional adjustment item and the derivative adjustment item. Usually, the derivative adjustment item does not exist alone. When the target adjustment item includes the derivative adjustment item, the target adjustment item can be a target adjustment item combined with the proportional adjustment item and the derivative adjustment item; it can also be a target adjustment item combined with the integral adjustment item and the derivative adjustment item; it can be a target adjustment item combined with the proportional adjustment item, the integral adjustment item and the derivative adjustment item. And the input corresponding to the proportional adjustment item is determined based on the control deviation increment of each sampling period, and the input corresponding to the derivative adjustment item is determined based on the difference between the control deviation increments of two adjacent sampling periods. Therefore, the implementation mode of this application is implemented based on the scenario where the target adjustment item includes at least the proportional adjustment item and the derivative adjustment item.

[0085] Figure 4 The technical solution shown at least brings the following beneficial effects: After collecting the control deviation quantity and control deviation increment of each sampling period according to the sampling period, instead of directly inputting the control deviation increment of the current sampling period collected into the PID adjustment device; instead, use the collected control deviation quantities to adjust the target deviation increment (i.e., the first target deviation increment) input to the PID adjustment device, so that the absolute value of the target control deviation increment input to the PID adjustment device is greater than or equal to the preset deviation threshold, so that the target input quantity determined based on the target control deviation increment is within a reasonable and controllable range, so that the corresponding target adjustment item of the PID adjustment device can play a reasonable adjustment role. Based on this, in the case where the controlled parameter changes slowly, it is not necessary to introduce external interference or large external interference, and the corresponding target adjustment item of the PID adjustment device can play an adjustment role through the re-determined target input quantity, improving the stability and dynamic response ability of the control system.

[0086] As a possible implementation, as Figure 5 shown, in the above step S402, when the controller executes to determine the first target deviation increment in the current sampling period according to each control deviation quantity, it is specifically implemented as the following steps:

[0087] Step S501: Determine at least one control deviation quantity from each control deviation quantity whose absolute value of the difference from the control deviation quantity of the current sampling period is greater than the preset deviation threshold.

[0088] Step S502: Determine at least one control deviation quantity as the candidate control deviation quantity.

[0089] Step S503: Determine, as the control deviation amount corresponding to the first target sampling period, the candidate control deviation amount with the smallest time interval between the corresponding sampling period and the current sampling period among all candidate control deviation amounts.

[0090] In this step, the first target sampling period is the sampling period corresponding to the candidate control deviation amount with the smallest time interval from the current sampling period.

[0091] Step S504: Determine the difference between the control deviation amount corresponding to the current sampling period and the control deviation amount of the first target sampling period as the first target deviation increment.

[0092] In this implementation, the controller uses, as candidate control deviation amounts, the control deviation amounts that meet the preset conditions among the control deviation amounts corresponding to each sampling period. Then, from the sampling periods corresponding to the at least one candidate control deviation amount above, it determines the sampling period with the smallest time interval from the current sampling period as the first target sampling period, and thus determines the difference between the control deviation difference of the current sampling period and the control deviation amount of the first target sampling period as the first target deviation increment. Herein, the preset condition is that the absolute value of the difference from the control deviation amount of the current sampling period is greater than the preset deviation threshold.

[0093] Based on this, the determined first target deviation increment meets both the preset conditions and the condition of the smallest time interval of the period difference, enabling the control system to have a small fluctuation range and a fast response speed when adjusting the target adjustment item according to the target input amount; it avoids the problem that the target input amount is too small and a large external interference needs to be introduced, and at the same time also avoids the problem that the change in the original parameter adjustment amount of the target adjustment item is too large due to the large interval between the introduced first target sampling period and the current sampling period, resulting in a slow response speed and poor stability of the control system.

[0094] As a possible implementation, as Figure 6 shown, for the case where the target adjustment item includes a differential adjustment item. In the above step S403, when the controller determines the target input amount input to the PID adjustment device according to the first target deviation increment, the specific implementation is as follows:

[0095] Step S601: Determine that the positive and negative of the first target deviation increment are the same as those of the first deviation amount; the same positive and negative indicates that the two compared quantities are both positive or both negative.

[0096] Step S602: The first deviation amount is the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period.

[0097] Step S603: Determine the first target deviation increment as the proportional adjustment item input amount.

[0098] Exemplarily, if the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is a positive number (e.g., 1), and the first target deviation increment is a positive number (e.g., 3), then the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period, and the first target deviation increment are of the same positive and negative nature. If the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is a negative number (e.g., -3), and the first target deviation increment is a negative number (e.g., -2), then the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period, and the first target deviation increment are of the same positive and negative nature.

[0099] It should be noted that based on the application scenario where the output feedback amount of each sampling period does not usually change with time in a single change characteristic. And when the above output feedback amount does not change with time in a single change characteristic, the change characteristics of the control deviation amount of each sampling period are also very complex.

[0100] In this implementation manner, if the target adjustment term includes a differential adjustment term, then the corresponding differential adjustment term input amount needs to be configured for this proportional adjustment term to adjust the proportional adjustment term. After the controller determines the first target deviation increment, it judges the positive and negative nature of the first target deviation increment. When ensuring that the positive and negative nature of the positive increment of the first target deviation is consistent with the positive and negative nature of the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period, the first target deviation increment is used as the proportional adjustment term input amount to control and adjust the proportional adjustment term of the control system.

[0101] Based on this, when the target adjustment term includes a proportional adjustment term, it can make the determined proportional adjustment term input amount conform to the change characteristic of the output feedback amount output by the PID adjustment device with time, thereby ensuring the precise control of the PID adjustment device over the control system, and avoiding the problem of incorrect adjustment and control of the control system due to the input proportional adjustment term input amount not conforming to the change characteristic of the output feedback amount, resulting in inaccurate control results.

[0102] As a possible implementation manner, as Figure 7 shown, for the case where the target adjustment term includes a differential adjustment term. The above step S403 can also be specifically implemented through the following steps.

[0103] Step S701, determine that the positive and negative nature of the first target deviation increment and the first deviation amount is inconsistent.

[0104] Among them, the inconsistent positive and negative nature means that among the two comparison quantities, one comparison quantity is a positive number and the other comparison quantity is a negative number.

[0105] It is understandable that the control deviation amounts corresponding to the first target sampling period and the current sampling period are in a function interval where the function monotonicity of the control deviation amount with respect to time changes non-uniformly.

[0106] Step S702: Determine the absolute values of each deviation difference respectively.

[0107] Each of the above deviation differences is the difference between the control deviation amount of the current sampling period and the control deviation amount of the sampling period that is the period difference number of sampling periods before the current sampling period. The period difference is the number of sampling periods between the current sampling period and the first target sampling period.

[0108] Step S703: Determine the deviation difference with the largest absolute value among each deviation difference as the proportional regulation term input amount.

[0109] Exemplarily, if the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is a positive number (e.g., -1), and the first target deviation increment is a negative number (e.g., 3), then the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period, and the first target deviation increment are of inconsistent positive and negative signs. If the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is a negative number (e.g., -3), and the first target deviation increment is a positive number (e.g., 2), then the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period, and the first target deviation increment are of inconsistent positive and negative signs.

[0110] In another example, if the first target sampling period is the 5th sampling period and the current sampling period is the 15th sampling period, then the period difference is 10.

[0111] As a specific implementation manner, as Figure 8 shown, in the function curve of the control deviation amount with respect to time, the change characteristic of the control deviation amount is not a single increasing characteristic or a single decreasing characteristic. Therefore, in this implementation manner, the deviation amount function curve of the control deviation amount with respect to time is obtained based on the control deviation amounts of each sampling period, and the monotonicity of the function within the range of the period difference number from the first target period is analyzed. Based on the analysis result of this monotonicity, the extreme point is determined, and the difference between the control deviation amount corresponding to the current sampling period and the control deviation amount corresponding to the sampling period of the extreme point is used as the proportional regulation term input amount.

[0112] Specifically, taking the control deviation amount corresponding to the current sampling period as e k and taking the control deviation amount corresponding to the first target sampling period as e k-n as an example, with the period difference being n, the following explanation is made for the inconsistent positive and negative signs of the above first target deviation increment and the first deviation amount.

[0113] Obtain the control deviation increments from the (k-n)th to the kth (current sampling period) in sequence, and obtain a sequence E={e k-n , e k-n+1 ,…,e k}, each numerical item in the sequence is recorded as E[0]=e k-n , E[1]=e k-n+1 ,…,E[n]=e k ; Start calculating ε in reverse order of the data in sequence E, that is, in the order of E[n], E[n-1], …, E[0]. i =E[n]-E[i], where i is a number from 0 to (n-1), select ε i The ε with the largest absolute value i Input quantity as a proportional adjustment item.

[0114] For example, taking n as 5, Figure 8 The control deviation variation characteristics of the controlled curve in which the control deviation varies with time are described as follows. In this application, each sampling period corresponds to a sampling moment. The control deviation increment at sampling moment k is Δe k That is, Δe k =e k -e k-5 <0, but the situation is that the controlled curve reaches the extreme point at point k-2, and then begins to increase, Δe k The actual value of is greater than zero, so the proportional adjustment direction at point k is wrong and must be corrected.

[0115] In the above implementation method, in view of the inconsistency of the positive and negative value of the first target deviation positive increment, and the positive and negative value of the difference between the control deviation of the current sampling cycle and the control deviation of the previous sampling cycle of the current sampling cycle, the proportional adjustment item input is re-determined according to the difference between the control deviation of the current sampling cycle and the control deviation of the sampling cycles with a cycle difference, so that the determined proportional adjustment item input conforms to the changing characteristics of the output feedback quantity output by the PID control device over time.

[0116] As a possible implementation, Figure 9 As shown, for the case where the input deviation includes the differential adjustment item input, and the target adjustment item includes the differential adjustment item, the above step S403 can also be specifically implemented through the following steps.

[0117] Step S901: Determine a second target deviation increment in a previous sampling period according to the first target deviation increment.

[0118] Step S902: Determine the difference between the first target deviation increment and the second target deviation increment as the target deviation change value.

[0119] Step S903: Determine that the sign of the target deviation change value is the same as that of the current deviation change value in the current sampling period.

[0120] Among them, the deviation change value in the current sampling period is the difference between the first deviation amount and the second deviation amount; the second deviation amount is the difference between the control deviation amount in the previous sampling period of the current sampling period and the control deviation amount in the sampling period before the previous sampling period of the current sampling period.

[0121] Step S904: Determine the target deviation change value as the input quantity of the differential regulation term.

[0122] In this implementation manner, the target regulation term includes a differential regulation term, and it is necessary to configure a corresponding input quantity for the differential regulation term to adjust the differential regulation term. The controller first determines the first target deviation increment and the second target deviation increment. Then, it judges based on the sign of the difference between the first target deviation increment and the second target deviation increment. Under the condition that the sign of the difference between the first target deviation increment and the second target deviation increment is the same as the sign of the difference between the first deviation amount and the second deviation amount, the first target deviation increment is used as the input quantity of the proportional regulation term to control and adjust the proportional regulation term of the control system.

[0123] Based on this, the determined input quantity of the differential regulation term can conform to the change characteristics of the control deviation increment over time for each sampling period, thereby ensuring the precise control of the PID regulating device over the control system and avoiding the problem of incorrect adjustment and control of the control system due to the input quantity of the differential regulation term not conforming to the change characteristics of the control deviation increment, resulting in inaccurate control results.

[0124] As an implementation manner, the above-mentioned second target deviation amount is determined in the following way: According to the first target deviation increment, determine the second target deviation increment in the previous sampling period; including: According to the period difference corresponding to the first target deviation increment, among each sampling period, the sampling period corresponding to the sequence number separated by the period difference number of sampling periods from the previous sampling period of the current sampling period is determined as the second target sampling period; the difference between the control deviation amount in the previous sampling period of the current sampling period and the control deviation amount in the second target sampling period is determined as the second target deviation amount.

[0125] This implementation manner is based on the premise that the period difference between the sampling periods spanned by the first target deviation increment and the second target deviation increment is the same. According to the number of sampling periods spanned by the first target deviation increment and taking the previous sampling period of the current sampling period as the starting point of a sampling period span, the second target sampling period is obtained.

[0126] As a possible implementation manner, such as Figure 10As shown, for the case where the input deviation amount includes a differential adjustment term input amount and the target adjustment term includes a differential adjustment term. The above step S403 can also be specifically implemented through the following steps.

[0127] Step S111, determine that the signs of the target deviation change value and the current deviation change value in the current sampling period are inconsistent.

[0128] Step S112, determine the difference between the third target deviation increment and the fourth target deviation increment as the differential adjustment term input amount.

[0129] The above third target deviation increment is the difference between the control deviation amount in the current sampling period and the control deviation amount in the third target sampling period. The fourth target deviation increment is the difference between the control deviation amount in the third sampling period and the control deviation amount in the fourth target sampling period. The interval difference between the current sampling period and the third target sampling period, and the interval difference between the third target sampling period and the fourth target sampling period are the same; the value of the interval difference is the integer value obtained by rounding up half of the period difference.

[0130] In some embodiments, the control deviation increment change function curve with respect to time is obtained based on the control deviation amounts of each sampling period, and the concavity and convexity of the control deviation increment change function curve are analyzed. Taking n as 5 as an example, in combination with Figure 11 the controlled curve of the control deviation amount changing with time in the following description of the control deviation increment change characteristics. The change value Δδe of the control deviation increment at the sampling moment k k When using the correction formula Δδe k =Δe k -Δe k-n to calculate the change value Δδe of the control deviation increment k is Δδe k >0, but actually starting from the inflection point (k - 3), the controlled curve has changed from concave down to convex up. The curve Δδe before the inflection point k >0, and Δδe after the inflection point k <0. The real situation at point k should be Δδe k <0. From the graph, as long as the sampling moment k is at any moment from the inflection point to the sampling moment C, using the correction formula of Δδe k =Δe k -Δe k-n to calculate the change value of the control deviation increment is incorrect.

[0131] Exemplarily, sequentially obtain the control deviation increments from the (k - 2n)th to the kth (current sampling period), with the control deviation amount corresponding to the current sampling period being e k and with the control deviation amount corresponding to the first target sampling period being e k-nFor example, if the period difference is n, then the period interval difference is m; if n is odd, take m = (n + 1) / 2; if n is even, take m = n / 2. When the signs of the target deviation change value and the current deviation change value of the current sampling period are inconsistent, the input of the differential adjustment term is the corrected Δδe k That is, Δδe k = Δe k - Δe k-m = e k - 2·e k-m + e k-2m . When the signs of the target deviation change value and the current deviation change value of the current sampling period are consistent, the input of the differential adjustment term is Δδe k , which can be expressed as the following formula (4).

[0132]

[0133] The case where the signs of the target deviation change value and the current deviation change value of the current sampling period are inconsistent is described as follows.

[0134] It should be noted that in this application, when the subscript j of e j is less than or equal to 0, e j is 0. For example, when (k – 2m) is less than 0, e k-2m is equal to 0.

[0135] In some embodiments, the characteristic values E1 of n control deviation variables correspond to the (k - 2n)th to (k - n)th sampling periods, and the characteristic values E2 correspond to the (k - n)th to kth segments respectively. Whether the characteristic values E1 and the characteristic values E2 have the same sign is determined by the following formulas (5) and (6). If they have the same sign, it indicates that the signs of the target deviation change value and the current deviation change value of the current sampling period are determined to be consistent. If they have different signs, it indicates that the signs of the target deviation change value and the current deviation change value of the current sampling period are determined to be inconsistent.

[0136]

[0137]

[0138] In the above implementation manner, for the case where the signs of the difference between the first target deviation increment and the second target deviation increment, and the signs of the difference between the first deviation amount and the second deviation amount are consistent, the input of the differential adjustment term is re - determined according to the difference between the third target deviation increment and the fourth target deviation increment, so that the determined input of the differential adjustment term conforms to the change characteristics of the control deviation increment over time for each sampling period.

[0139] As an implementation, the following steps may be further executed after the above step S403. The target input quantity is input to the corresponding target adjustment item of the PID adjustment device, so that the PID adjustment device outputs the output feedback quantity of the current sampling period by adjusting the target adjustment item; the output feedback quantity of the current sampling period is obtained.

[0140] It should be noted that the target input quantity may be one or both of the proportional adjustment item input quantity and the differential adjustment item input quantity. Usually, the differential adjustment item input quantity does not exist alone. When the target input quantity includes the differential adjustment item input quantity, the target input quantity may be the target input quantity combined with the proportional adjustment item input quantity and the differential adjustment item input quantity; it may also be the target input quantity combined with the integral adjustment item input quantity and the differential adjustment item input quantity; it may also be the target input quantity combined with the proportional adjustment item input quantity, the integral adjustment item input quantity and the differential adjustment item input quantity.

[0141] Exemplarily, taking the target input quantity as the proportional adjustment item input quantity as an example, the content included in the output feedback quantity will be described in detail. The controller inputs the proportional adjustment item input quantity to the corresponding proportional adjustment item of the PID adjustment device. The PID adjustment device adjusts the proportional adjustment item according to the proportional adjustment item and outputs the feedback quantity after the proportional adjustment item is adjusted.

[0142] Another exemplarily, taking the target input quantity as the proportional adjustment item input quantity and the differential adjustment item input quantity as an example, the content included in the output feedback quantity will be described in detail. The controller controls the proportional adjustment item input quantity to be input to the corresponding proportional adjustment item of the PID adjustment device, and the differential adjustment item input quantity to be input to the corresponding differential adjustment item of the PID adjustment device. The PID adjustment device adjusts the proportional adjustment item according to the proportional adjustment item and adjusts the differential adjustment item according to the differential adjustment item, and outputs the feedback quantity after the comprehensive adjustment of the proportional adjustment item adjustment and the differential adjustment item adjustment.

[0143] Based on this implementation, the acquisition of the output feedback quantity of the current sampling period is realized.

[0144] It can be seen that the above mainly introduces the solution provided by the embodiments of the present application from the perspective of the method. To implement the above functions, the embodiments of the present application provide the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the modules and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0145] Embodiments of the present application can divide the controller into functional modules according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. Optionally, the division of modules in the embodiments of the present application is illustrative and is only a logical function division. There may be other division methods in actual implementation.

[0146] Embodiments of the present application also provide a schematic diagram of the hardware structure of a controller. As Figure 12 shown, the controller 300 includes a processor 301. Optionally, it further includes a memory 302 and a communication interface 303 connected to the processor 301. The processor 301, the memory 302, and the communication interface 303 are connected through a bus 304.

[0147] The processor 301 can be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 301 can also be any other device with processing functions, such as a circuit, a device, or a software module. The processor 301 can also include multiple CPUs, and the processor 301 can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. Here, the processor can refer to one or more devices, circuits, or processing cores for processing data (such as computer program instructions).

[0148] The memory 302 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM), or other types of dynamic storage devices that can store information and instructions. It can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer. The embodiments of the present application do not impose any restrictions on this. The memory 302 can exist independently or be integrated with the processor 301. Among them, the memory 302 can contain computer program code. The processor 301 is used to execute the computer program code stored in the memory 302, thereby implementing the control method provided by the embodiments of the present application.

[0149] The communication interface 303 can be used to communicate with other devices or communication networks (such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.). The communication interface 303 can be a module, a circuit, a transceiver, or any device capable of implementing communication.

[0150] The bus 304 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 304 can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 12 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0151] The embodiments of the present application also provide a computer-readable storage medium, including computer-executable instructions, which when running on a computer, cause the computer to execute any one of the audio signal processing methods of the audio device provided in the above embodiments.

[0152] The embodiments of the present application also provide a computer program product including computer-executable instructions. When it runs on a computer, it enables the computer to execute any one of the audio signal processing methods of the audio device provided in the above embodiments.

[0153] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer-executable instructions. When the computer-executable instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer-executable instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer-executable instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more media integrated therein. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0154] Although the present application has been described in conjunction with various embodiments herein, however, in the process of implementing the claimed present application, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure content, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality of cases. A single processor or other unit can implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0155] Although the present application has been described in connection with specific features and their embodiments, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the present specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

[0156] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application.

Claims

1. A PID control system, characterized in that, The control system includes: a collection device, configured to sequentially collect the control deviation amount and the control deviation increment of the controlled parameter according to the sampling period; a PID adjustment device, configured to output a corresponding output feedback amount according to the input amount input in each sampling period; the control deviation amount represents the difference between the output feedback amounts of two adjacent sampling periods before and after; a controller, which is respectively connected to the collection device and the PID adjustment device; The controller is configured to execute: when the absolute value of the control deviation increment of the current sampling period included in the input amount to be input to the PID adjustment device is less than or equal to a preset deviation threshold, obtain the control deviation amounts of each sampling period before the current sampling period; determine at least one control deviation amount from the control deviation amounts, the absolute value of the difference between which and the control deviation amount of the current sampling period is greater than the preset deviation threshold; determine the at least one control deviation amount as a candidate control deviation amount; determine, as the control deviation amount corresponding to the first target sampling period, the candidate control deviation amount with the smallest time interval between the corresponding sampling period and the current sampling period among the candidate control deviation amounts, where the first target sampling period is the sampling period corresponding to the candidate control deviation amount with the smallest time interval from the current sampling period; determine the difference between the control deviation amount corresponding to the current sampling period and the control deviation amount of the first target sampling period as the first target deviation increment; the absolute value of the first target deviation increment is greater than the preset deviation threshold; determine the target input amount input to the PID adjustment device according to the first target deviation increment, so that the PID adjustment device adjusts the corresponding target adjustment item.

2. The PID control system according to claim 1, characterized in that, The target adjustment item includes a proportional adjustment item; the target input amount includes a proportional adjustment item input amount; the controller is specifically configured to execute the determining the target input amount input to the PID adjustment device according to the first target deviation increment, including: determine that the positive and negative of the first target deviation increment are the same as those of the first deviation amount; the same positive and negative means that the two compared quantities are both positive or both negative; the first deviation amount is the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period; determine the first target deviation increment as the proportional adjustment item input amount.

3. The PID control system according to claim 2, characterized in that, The controller is further specifically configured to execute: determine that the positive and negative of the first target deviation increment and the first deviation amount are different; the different positive and negative means that among the two compared quantities, one is positive and the other is negative; respectively determine the absolute values of each deviation difference; each deviation difference is the difference between the control deviation amount of the current sampling period and the control deviation amount of the sampling period with a period difference before the current sampling period, and the period difference is the number of sampling periods between the current sampling period and the first target sampling period; determine the deviation difference with the largest absolute value among the deviation differences as the proportional adjustment item input amount.

4. The PID control system according to claim 3, wherein The target adjustment term includes a differential adjustment term; the target input deviation amount includes a differential adjustment term input amount, and the controller is configured to specifically execute determining the target input amount input to the PID adjustment device according to the first target deviation increment, and further includes: Determining a second target deviation increment of the previous sampling period according to the first target deviation increment; Determining the difference between the first target deviation increment and the second target deviation increment as the target deviation change value; Determining that the positive and negative of the target deviation change value are consistent with the current deviation change value of the current sampling period; wherein, the deviation change value of the current sampling period is the difference between the first deviation amount and the second deviation amount; the second deviation amount is the difference between the control deviation amount of the previous sampling period of the current sampling period and the control deviation amount of the previous sampling period of the previous sampling period of the current sampling period; Determining the target deviation change value as the differential adjustment term input amount.

5. The PID control system according to claim 4, wherein The respective sampling periods are sorted in chronological order, and the controller is configured to specifically execute: determining a second target deviation increment of the previous sampling period according to the first target deviation increment; including: According to the period difference corresponding to the first target deviation increment, determining, among the respective sampling periods, the sampling period corresponding to the ordinal position separated from the previous sampling period of the current sampling period by the number of sampling periods of the period difference as the second target sampling period; Determining the difference between the control deviation amount of the previous sampling period of the current sampling period and the control deviation amount of the second target sampling period as the second target deviation amount.

6. The PID control system according to claim 5, wherein, The controller is further configured to specifically execute: Determining that the positive and negative of the target deviation change value are inconsistent with the current deviation change value of the current sampling period; Determining the difference between a third target deviation increment and a fourth target deviation increment as the differential adjustment term input amount; the third target deviation increment is the difference between the control deviation amount of the current sampling period and the control deviation amount of the third target sampling period, the fourth target deviation increment is the difference between the control deviation amount of the third sampling period and the control deviation amount of the fourth target sampling period, the period interval difference between the current sampling period and the third target sampling period, and the period interval difference between the third target sampling period and the fourth target sampling period are the same; the value of the period interval difference is the integer value obtained by rounding up half of the value of the period difference.

7. The PID control system according to any one of claims 1 to 6, characterized in that The controller is further configured to execute: Inputting the target input amount to the corresponding target adjustment term of the PID adjustment device, so that the PID adjustment device outputs the output feedback amount of the current sampling period by adjusting the target adjustment term; Obtaining the output feedback amount of the current sampling period.

8. The PID control system according to any one of claims 1 to 6, characterized in that, The controller is further configured to execute: When the absolute value of the control deviation increment of the current sampling period included in the to-be-input amount is greater than the preset deviation threshold, determining the input target amount according to the control deviation increment of the current sampling period.

9. A PID control method, characterized in that, The method includes: When the absolute value of the control deviation increment of the current sampling period included in the quantity to be input to the PID adjustment device is less than or equal to the preset deviation threshold, obtain each control deviation quantity of each sampling period before the current sampling period; the control deviation quantity represents the difference quantity of the output feedback quantities of two adjacent sampling periods before and after; From each of the control deviation quantities, determine at least one control deviation quantity whose absolute value of the difference from the control deviation quantity of the current sampling period is greater than the preset deviation threshold; Determine the at least one control deviation quantity as a candidate control deviation quantity; Determine the candidate control deviation quantity with the smallest time interval between the corresponding sampling period and the current sampling period among each of the candidate control deviation quantities as the control deviation quantity corresponding to the first target sampling period, where the first target sampling period is the sampling period corresponding to the candidate control deviation quantity with the smallest time interval from the current sampling period; Determine the difference between the control deviation quantity corresponding to the current sampling period and the control deviation quantity of the first target sampling period as the first target deviation increment; the absolute value of the first target deviation increment is greater than the preset deviation threshold; Determine the target input quantity input to the PID adjustment device according to the first target deviation increment, so that the PID adjustment device adjusts the corresponding target adjustment item.

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