A PID control system and control method

Abstract

The embodiment of the application provides a PID control system and a control method, relates to the field of automatic control, and solves the problem that a single adjustment coefficient adjustment mode in the related art cannot guarantee the control speed and stability of a control system simultaneously. The control system comprises the following steps: determining a target adjustment amount according to a target control deviation and a target adjustment item in a current sampling period; determining a target input amount according to the target adjustment amount and a preset algorithm model; the output value of the preset algorithm model and the change amount of the output value are monotonically increasing on a preset interval; the preset algorithm model comprises a preset point and an origin; the abscissa of the origin is a starting endpoint of the preset interval; the abscissa of the preset point is a terminal endpoint of the preset interval; and inputting the target input amount into a PID adjustment device, so that the PID adjustment device adjusts the target adjustment item.

Description

TECHNICAL FIELD

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

[0002] PID (proportional integral derivative) control device is widely used in various automation control systems. The PID control device involves three adjustment terms of proportional adjustment, integral adjustment and derivative adjustment, and the three adjustment terms correspond to three adjustment coefficients. In actual application, the control deviation and the control deviation increment of the controlled parameter according to a fixed sampling period are input to the PID control device, and the output feedback of each sampling period is obtained according to the control deviation of each sampling period and the adjustment coefficient corresponding to each sampling period. The control deviation corresponding to each sampling period is the difference between the output feedback of a sampling period and the output feedback of the previous sampling period.

[0003] In the above control process, the adjustment coefficient is increased when the change amount of the controlled parameter is small, or the adjustment coefficient is decreased when the change amount of the controlled parameter is large, so that the control system can respond normally. However, the above single adjustment of the adjustment coefficient cannot guarantee the control speed and stability of the control system at the same time; that is, the increase of the adjustment coefficient will destroy the system stability and the decrease of the adjustment coefficient will reduce the convergence speed, that is, the control speed will slow down. SUMMARY

[0004] The present application provides a PID control system and a control method to solve the problem that the single adjustment of the adjustment coefficient cannot guarantee the control speed and stability of the control system at the same time.

[0005] In a first aspect, a PID control system is provided, the control system comprising: a collection device configured to collect control deviation of a controlled parameter in sequence according to a sampling period; a PID adjustment device configured to adjust a corresponding adjustment term according to an input input quantity, and output a corresponding output feedback; the control deviation represents the difference between the output feedback of two adjacent sampling periods; a controller connected with the collection device and the PID adjustment device; the controller is configured to perform: determining a target adjustment quantity according to a target control deviation and a target adjustment term of a current sampling period; determining a target input quantity according to the target adjustment quantity and a preset algorithm model; the output value and the change amount of the output value of the preset algorithm model are monotonically increasing in a preset interval; the preset algorithm model comprises a preset point and an origin; the abscissa of the origin is the starting endpoint of the preset interval; the abscissa of the preset point is the terminal endpoint of the preset interval; and inputting the target input quantity to the PID adjustment device, so that the PID adjustment device adjusts the target adjustment term.

[0006] The technical scheme provided by the embodiments of the present application at least brings the following beneficial effects: after the control deviation quantity of each sampling period is collected according to the sampling period, the control deviation quantity collected in each sampling period is not directly taken as the input quantity of the PID adjusting device; instead, the preset algorithm model is used to adjust the collected control deviation quantity, so as to input the adjusted target input quantity into the PID adjusting device. Based on the monotone increasing nature of the output value of the preset algorithm model in the preset interval, it can be ensured that the change amount of the adjusted target input quantity is not too small, so that the corresponding adjusting coefficient does not need to be adjusted too large, thereby ensuring the stability of the control system without introducing external interference or larger external interference. Meanwhile, the change amount of the output value of the preset algorithm model has the monotone increasing nature in the preset interval, so that the convergence speed of the change amount of the target input quantity change is not too slow, thereby ensuring the speed of the control system. Therefore, the PID control system of the present application can ensure the stability of the control system and the control speed of the control system.

[0007] In some embodiments, the controller is configured to determine the target input quantity according to the target adjusting quantity and the preset algorithm model, specifically including: performing normalization processing on the target adjusting quantity to obtain a processing result; the processing result being within a preset interval; and determining the target input quantity according to the processing result and the preset algorithm model.

[0008] Based on this, after the target adjusting quantity is normalized, the processing result is within the preset interval range, so that the data applied by the preset algorithm model has the same measurement scale, thereby making the obtained target input quantity within a reasonable range to ensure the stability of the input quantity of the PID adjusting device, thereby ensuring the stability of the control system. Therefore, this embodiment considers the influence of the too large difference in the order of magnitude of the data applied by the preset algorithm model on the too large difference in the obtained target input quantity, and ensures that the target input quantity is within a small fluctuation range through the normalization method.

[0009] In some embodiments, the target adjusting term corresponds to a target adjusting coefficient; and the controller is configured to input the target input quantity into the PID adjusting device, specifically including: in the case that the target adjusting quantity is greater than or equal to 0, inputting the target adjusting coefficient and the target input quantity into the PID adjusting device; and in the case that the target adjusting quantity is less than 0, inputting the opposite number of the target adjusting coefficient and the target input quantity into the PID adjusting device.

[0010] In this embodiment, the controller adjusts the positivity or negativity of the target adjusting coefficient based on the positivity or negativity of the target adjusting quantity, so that the PID adjusting device completes positive regulation or negative regulation. When the target adjusting quantity is positive, the positive target adjusting coefficient is taken as the adjusting coefficient of the target adjusting term to complete positive regulation; when the target adjusting quantity is negative, the negative target adjusting coefficient is taken as the adjusting coefficient of the target adjusting term to complete negative regulation.

[0011] Based on this, the embodiment ensures the accuracy of the adjustment direction of the PID adjustment device, thereby improving the accuracy of the adjustment process of the control system, avoiding the problem of too low accuracy of the adjustment result of the control system due to the error of the adjustment direction, thereby causing the control system to abnormally adjust.

[0012] In some embodiments, the preset interval includes a non-sensitive interval corresponding to the control system; a starting endpoint of the non-sensitive interval is a starting endpoint of the preset interval; the controller is further configured to perform: determining a first algorithm model corresponding to the non-sensitive interval according to a starting endpoint and an interval termination endpoint corresponding to the non-sensitive interval; the starting endpoint and the interval termination endpoint correspond to an origin point and a first interval termination point on the first algorithm model, respectively; determining a target point according to the first interval termination point and the preset algorithm model; wherein the abscissa of the target point is located in the preset interval outside the non-sensitive interval; the objective function and the tangent function are the same function; the objective function is a function of a straight line determined by the target point and the first interval termination point; the tangent function is a function corresponding to a tangent line of the target point on the preset algorithm model; an interval composed of the abscissa from the interval termination endpoint to the target point is determined as the first interval; a second algorithm model corresponding to the first interval is the objective function; an interval composed of the abscissa from the target point to the termination endpoint of the preset interval is determined as a second interval; an algorithm model corresponding to the second interval is the preset algorithm model.

[0013] The non-sensitive interval is determined according to the preset algorithm model, the adjustment characteristics of the control system, and the adjustment effect. The adjustment characteristics can include adjustment response speed, adjustment process stability, and the like. Generally, the preset algorithm model has a small adjustment effect in a certain interval range, and the interval is determined as the non-sensitive interval. After passing through the non-sensitive interval, the first interval is entered, and the preset algorithm model has a slow adjustment speed in the control system in the first interval. Therefore, the interval range corresponding to the slow adjustment speed of the preset algorithm model in the control system is determined as the first interval. Further, the interval range corresponding to the good adjustment characteristics of the control system is determined as the second interval.

[0014] In some embodiments, the non-sensitive interval is also referred to as a dead zone, and the first interval is also referred to as a buffer interval.

[0015] In the embodiment, the preset interval is re-divided into the non-sensitive interval, the first interval and the second interval for the case that the preset interval includes the non-sensitive interval. Meanwhile, different algorithm models are configured for the re-divided intervals. Different algorithm models are set based on the above different intervals, so that the algorithm models corresponding to the entire preset interval can all play a role. Therefore, through the above implementation, the interval in which the preset algorithm model does not play an obvious role in the preset interval is re-configured with a new algorithm model, so as to ensure that the PID adjusting device in the entire preset interval can play a role, thereby ensuring the adjusting efficiency of the control system.

[0016] In some embodiments, the controller is configured to determine the target input quantity according to the processing result and the preset algorithm model, specifically including: in the case that the processing result belongs to the second interval, inputting the processing result into the preset algorithm model to obtain the target input quantity.

[0017] In the embodiment, the processing result is first judged, and in the case that the processing result is included in the second interval, the processing result is input as the input of the preset algorithm model to obtain the target input quantity. Therefore, the implementation is a way of determining the target input quantity for the scenario that the processing result belongs to the second interval.

[0018] In some embodiments, the controller is further configured to perform: in the case that the processing result belongs to the non-sensitive interval, inputting the processing result into the first algorithm model to obtain the target input quantity.

[0019] In the embodiment, the processing result is first judged, and in the case that the processing result is included in the non-sensitive interval, the processing result is input as the input of the first algorithm model to obtain the target input quantity. Therefore, the implementation is a way of determining the target input quantity for the scenario that the processing result belongs to the non-sensitive interval.

[0020] In some embodiments, the controller is further configured to perform: in the case that the processing result belongs to the first interval, inputting the processing result into the second algorithm model to obtain the target input quantity.

[0021] In the embodiment, the processing result is first judged, and in the case that the processing result is included in the first interval, the processing result is input as the input of the second algorithm model to obtain the target input quantity. Therefore, the implementation is a way of determining the target input quantity for the scenario that the processing result belongs to the first interval.

[0022] In the embodiment, the target adjusting term is one or more of a proportional adjusting term, an integral adjusting term or a differential adjusting term.

[0023] In a second aspect, the embodiments of the present application provide a PID control method, which comprises: determining a target adjustment amount according to a target control deviation and a target adjustment item in a current sampling period; determining a target input amount according to the target adjustment amount and a preset algorithm model; an output value of the preset algorithm model and a change amount of the output value are monotonically increasing on a preset interval; the preset algorithm model comprises a preset point and an origin; an abscissa of the origin is a starting endpoint of the preset interval; an abscissa of the preset point is a terminal endpoint of the preset interval; and inputting the target input amount into a PID adjustment device to enable the PID adjustment device to adjust the target adjustment item.

[0024] In some embodiments, the determining of the target input amount according to the target adjustment amount and the preset algorithm model specifically comprises: performing normalization processing on the target adjustment amount to obtain a processing result; the processing result is within the preset interval; and the determining of the target input amount according to the processing result and the preset algorithm model.

[0025] In a third aspect, the embodiments of the present application provide a computer readable storage medium, which stores instructions, and when the instructions are run on any of the above devices, the device executes the control method of any of the above PID control systems.

[0026] In a fourth aspect, the embodiments of the present application provide a chip, which comprises: a processor and a memory; the memory is used to store computer execution instructions, and the processor is connected with the memory; when the chip is running, 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.

[0027] In a fifth aspect, the embodiments of the present application provide a computer program product comprising instructions, and when the computer program product is run on any of the above devices, the device executes the control method of any of the above PID control systems.

[0028] In the embodiments of the present application, the names of the components of the above device do not constitute a limitation on the device itself, and in actual implementation, these components can appear with other names. As long as the functions of the components are similar to those in the embodiments of the present application, they belong to the scope of the present application and its equivalent technologies.

[0029] In addition, the technical effects brought by any one of the design methods in the second aspect to the fifth aspect can refer to the technical effects brought by the different design methods in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification, and are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.

[0031] Figure 1 A circuit system architecture diagram of a PID control system provided by the present application;

[0032] Figure 2 A control process schematic diagram of a PID control system provided by the present application;

[0033] Figure 3 A structure schematic diagram of a PID regulating device provided by the present application;

[0034] Figure 4 A flow chart of a control method of a PID control system provided by the present application;

[0035] Figure 5 A flow chart of a control method of a PID control system provided by the present application;

[0036] Figure 6 A flow chart of a control method of a PID control system provided by the present application;

[0037] Figure 7 A flow chart of a control method of a PID control system provided by the present application;

[0038] Figure 8 A curve schematic diagram of a preset algorithm model provided by the present application;

[0039] Figure 9 A flow chart of a control method of a PID control system provided by the present application;

[0040] Figure 10 A hardware structure schematic diagram of a controller provided by the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0042] It should be noted that all directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications will also change accordingly.

[0043] The terms "first", "second", etc. are used only for the purpose of description and do not imply or suggest relative importance or imply the number of the technical features indicated. Thus, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0044] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, when describing the pipeline, "connected" and "connected" in the present application have the meaning of conducting. The specific meaning should be understood in combination with the context.

[0045] In the embodiments of the present application, the words such as "exemplary" or "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplary" or "for example" are intended to present the relevant concept in a specific manner.

[0046] PID (proportional integral derivative) control device is widely used in various automation control systems. The PID control device involves three adjustment terms of proportional adjustment, integral adjustment and derivative adjustment, and the three adjustment terms correspond to three adjustment coefficients. In actual application, the control deviation and the control deviation increment of the controlled parameter according to a certain fixed sampling period are input to the PID control device, and the output feedback quantity of each sampling period is obtained according to the control deviation of each sampling period and the adjustment coefficient corresponding to each sampling period. The control deviation corresponding to each sampling period is the difference between the output feedback quantity of a sampling period and the output feedback quantity of the last sampling period.

[0047] In the above control process, when the change amount of the controlled parameter is very small, the adjustment coefficient is increased, or when the change amount of the controlled parameter is very large, the adjustment coefficient is decreased, so that the control system can respond normally. However, the above single adjustment of the adjustment coefficient cannot guarantee the control speed and stability of the control system at the same time; that is, the increase of the adjustment coefficient will destroy the system stability and the decrease of the adjustment coefficient will reduce the convergence speed, that is, the control speed will slow down.

[0048] Therefore, the PID control system provided by the application can guarantee the stability and the control speed of the control system.

[0049] Therefore, the PID control system provided by the application can guarantee the stability and the control speed of the control system.

[0050] To further describe the scheme of the application, refer to Figure 1 An exemplary control system architecture diagram is shown, and a kind of air conditioning system provided by the embodiment of the application is described as follows.

[0051] As shown in Figure 1 PID control system includes: acquisition device 101, PID regulating device 102 and controller 103.

[0052] Wherein, acquisition device 101 is for sequentially collecting the control deviation and control deviation increment of controlled parameter according to sampling period;PID regulating device 102 is for outputting corresponding output feedback according to the input of each sampling period;Control deviation represents the difference of output feedback of two adjacent sampling periods;Controller 103, controller 103 is connected with acquisition device 101 and PID regulating device 102 respectively.

[0053] Referring to Figure 2 The schematic diagram of PID control system control process is shown, and acquisition device 101 includes detection sensor and collector. Detection sensor detects output feedback according to sampling period. In current sampling period, collector collects the output feedback of current sampling period, and the difference between the output feedback of current sampling period and the output feedback of last sampling period of current sampling period is used as control deviation, which can be detected by detection sensor and transmitted to collector. Controller 103 controls target input to PID regulating device 102 based on control deviation using control algorithm. PID regulating device 102 outputs output feedback of each sampling period based on target input.

[0054] In some embodiments, asFigure 3 As shown, the PID adjusting device 102 includes a proportional adjusting device 31, an integral adjusting device 32 and a differential adjusting device 33. The proportional adjusting device 31 of the PID adjusting device 102 corresponds to a proportional adjusting term for exerting proportional action; the integral adjusting device 32 corresponds to an integral adjusting term for exerting integral action; and the differential adjusting device 33 corresponds to a differential adjusting term for exerting differential action. The proportional adjusting term corresponds to a proportional adjusting coefficient, the integral adjusting term corresponds to an integral adjusting coefficient, and the differential adjusting term corresponds to a differential adjusting coefficient.

[0055] The parameters affecting the action of the PID adjusting device 102 include the coefficients corresponding to the adjusting terms, the sampling period, and the input control deviation, the control deviation increment and the change value of the control deviation increment. Therefore, when the three adjusting terms need to be adjusted, the parameters corresponding to the adjusting terms can be adjusted. For example, when the proportional action needs to be increased, the proportional adjusting coefficient or the control deviation increment can be increased; when the integral action needs to be increased, the integral adjusting coefficient can be increased; and when the differential action needs to be increased, the differential adjusting coefficient or the change value of the control deviation increment can be increased.

[0056] In some embodiments, the PID adjusting device 102 adjusts the target control term by the following algorithm formula.

[0057]

[0058] wherein e k represents the deviation at the kth sampling; e i represents the control deviation at the ith sampling; e k-1 represents the deviation at the (k-1)th sampling period; Δe k = e k - e k-1 represents the control deviation increment at the kth 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 kth sampling period; u k represents the output of the adjusting device at the kth sampling; Δu k represents the output increment of the PID adjusting device at the kth sampling; K P represents the proportional coefficient; K I represents the integral coefficient; K D represents the differential coefficient; and T represents the sampling period.

[0059] Based on the above PID incremental formula (1), when the controlled parameter changes slowly and the sampling period is small, i.e. the sampling time interval is small, such as in some temperature control occasions, since the controlled parameter change is smaller than the sampling accuracy of the sensor, it will cause the control deviation increment Δe k = e k - e k-1 and the change of the control deviation increment Δδe k = Δe k - Δe k-1 to be equal to zero or very small, so that only the integral term plays a role, and the proportional term and the differential term cannot play a regulating role, so that the PID control system becomes unstable, the dynamic response becomes very poor, and in severe cases, it causes oscillation and cannot work normally.

[0060] If the method of increasing the coefficients K P and K D is used for adjustment, the coefficients need to be amplified by many times, which will introduce relatively large external interference and cause the output of the control system to deviate from the true value.

[0061] In another embodiment, the target adjustment amount is first determined: the control deviation increment Δe k , the control deviation e k , and the change of the control deviation increment Δδe k = Δe k - Δe k-1 corresponding to the preset algorithm model pf(x), if(x), and df(x). Then, based on the corresponding preset algorithm model, the control deviation increment Δe k , the control deviation e k , and the change of the control deviation increment Δδe k are adjusted, i.e. the adjusted target input amount pf(Δe k ), if(e k ), and df(Δe k - Δe k-1 ) are obtained. Then, the output increment Δu k of the PID adjustment device is determined according to the adjusted target input amount, which is exemplified as the following formula (2).

[0062] Δu k = K P · pf(Δe k ) + K I · if(e k ) + K D · df(Δe k - Δe k-1 ) Formula (2)

[0063] In some embodiments, the controller 103 refers to a device that can operate according to instruction opcodes and timing signals to generate operation control signals to instruct the control system to execute control instructions. Illustratively, the controller 103 can be a central processing unit (CPU), a general-purpose processor 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 make any limitation thereto.

[0064] In some embodiments, the control system further comprises a display 104. The display 104 can be used to display the control panel or other image information of the control system. Illustratively, the control system can display the processing process of the current controlled parameter or the waveform of the output feedback quantity of the control system through the display 104.

[0065] 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, and those skilled in the art can understand that the display 104 can be changed in performance and configuration as needed.

[0066] In some embodiments, the control system further comprises a communication device 105, which is a component for communicating 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, other network communication protocol chips, or a near field communication protocol chip, and an infrared receiver.

[0067] In some embodiments, the control system can transmit control signals and data signals between the terminal device (such as a mobile phone, a tablet computer, a wearable mobile device, etc.) server used by the user through the communication device 105.

[0068] In some embodiments, the control system further comprises a human-machine interaction device 106 for realizing the interaction between the user and the control system. The human-machine interaction device 106 can comprise one or more of physical buttons, a touch display panel, or a voice recognition device. In some embodiments, the control system further comprises a power supply 107 for providing power supply support for the control system under the control of the controller 103.

[0069] Based on the above PID control system, as shown in the figure, Figure 4 The embodiment of the present application provides a PID control method, which is executed by the above controller, and the method comprises the following steps:

[0070] In step S401, a target adjustment amount is determined according to a target control deviation amount and a target adjustment term of a current sampling period.

[0071] It should be understood that the control deviation amount represents the difference between the output feedback amounts of two adjacent sampling periods. The output feedback amount is the output amount output according to the input amount input in each sampling period. Each of the above sampling periods corresponds to the control deviation amount of the controlled parameter. The control deviation increment is the difference between the control deviation amounts of two adjacent sampling periods.

[0072] Based on this, the target control deviation amount is the difference between the output feedback amount of the current sampling period and the output feedback amount of the last sampling period of the current sampling period.

[0073] It should be noted that the target adjustment term at least comprises one or more of a proportional adjustment term, an integral adjustment term and a differential adjustment term. Generally, the differential adjustment term does not exist alone, and the proportional adjustment term and the integral adjustment term can exist alone.

[0074] For example, when the target adjustment term comprises a differential adjustment term, the target adjustment term can be a target adjustment term combined by a proportional adjustment term and a differential adjustment term; can be a target adjustment term combined by an integral adjustment term and a differential adjustment term; and can be a target adjustment term combined by a proportional adjustment term, an integral adjustment term and a differential adjustment term. And the input corresponding to the proportional adjustment term is determined based on the control deviation increment of each sampling period, and the input corresponding to the differential adjustment term is determined based on the difference between the control deviation amounts of two adjacent sampling periods. Therefore, the type of the adjustment term of the target adjustment term is not limited in the present application.

[0075] The specific implementation steps of determining the target adjustment amount according to the target control deviation amount and the target adjustment term are as follows: first, it is determined that the target adjustment term comprises one or more of the following adjustment terms (proportional adjustment term, integral adjustment term and differential adjustment term), and according to the determination that the target adjustment term comprises the adjustment term, the target adjustment amount corresponding to each adjustment term is determined.

[0076] Specifically, the target adjustment quantity corresponding to the integral adjustment term is the control deviation. The target adjustment quantity corresponding to the proportional adjustment term is a control deviation increment, which is a difference between control deviations of two adjacent sampling periods. The target adjustment quantity corresponding to the differential adjustment term is a change in the control deviation increment, which is a difference between control deviation increments of two adjacent sampling periods.

[0077] For example, the output feedback quantity is described in detail taking the target input quantity as the proportional adjustment term input quantity. The controller inputs the proportional adjustment term input quantity to the proportional adjustment term corresponding to the PID adjustment device. The PID adjustment device adjusts the proportional adjustment term according to the proportional adjustment term, and outputs the feedback quantity after the proportional adjustment term is adjusted.

[0078] For example, the output feedback quantity is described in detail taking the target input quantity as the proportional adjustment term input quantity and the differential adjustment term input quantity. The controller controls the proportional adjustment term input quantity to be input to the proportional adjustment term corresponding to the PID adjustment device, and controls the differential adjustment term input quantity to be input to the differential adjustment term corresponding to the PID adjustment device. The PID adjustment device adjusts the proportional adjustment term according to the proportional adjustment term, and adjusts the differential adjustment term according to the differential adjustment term, and outputs the feedback quantity after the proportional adjustment term and the differential adjustment term are comprehensively adjusted.

[0079] The following embodiments of the present application are described in detail taking the scenario that the target adjustment term at least includes the proportional adjustment term or the differential adjustment term as an example.

[0080] In step S402, the target input quantity is determined according to the target adjustment quantity and a preset algorithm model.

[0081] The output value and the change in the output value of the preset algorithm model monotonically increase in the preset interval; the preset algorithm model includes a preset point and an origin; the abscissa of the origin is the starting endpoint of the preset interval; and the abscissa of the preset point is the terminal endpoint of the preset interval.

[0082] As an embodiment, the preset algorithm model can be a function that satisfies the following function characteristics.

[0083] Characteristic 1: passing through the origin (0, 0) and the preset point (1, 1), and tangent to the abscissa axis at the origin, then the preset interval is [0, 1].

[0084] Characteristic 2: being an increasing function in the closed interval [0, 1].

[0085] Characteristic 3: except at the origin, the first derivative and the second derivative of the model are both greater than zero, and the functions corresponding to the first derivative and the second derivative of the model are both increasing functions.

[0086] Based on the above three characteristics, the preset algorithm model is an increasing function in the preset interval, so that the target adjustment quantity corresponding to the integral adjustment term, i.e., the integral adjustment quantity, is more in line with the control system corresponding control speed and control system stability requirements after being adjusted by the preset algorithm model. Further, the first derivative of the preset algorithm model is an increasing function in the preset interval, so that the target adjustment quantity corresponding to the proportional adjustment term, i.e., the proportional adjustment quantity, is more in line with the control system corresponding control speed and control system stability requirements after being adjusted by the preset algorithm model. Still further, the second derivative of the preset algorithm model is an increasing function in the preset interval, so that the target adjustment quantity corresponding to the differential adjustment term, i.e., the differential adjustment quantity, is more in line with the control system corresponding control speed and control system stability requirements after being adjusted by the preset algorithm model.

[0087] For example, the preset algorithm model (i.e., pf(x), if(x), df(x)) can be a power function with an exponential not less than 2 (such as y=x 2 , y=x 2.5 , etc.), or a trigonometric function, such as y=1-cos(πx / 2) and the like.

[0088] It should be noted that the preset algorithm model: pf(x), if(x), and df(x) can all be replaced by the above y.

[0089] For example, the preset algorithm model pf(x), if(x), or df(x) can be the same type of function, such as pf(x), if(x), or df(x) being all trigonometric functions y=1-cos(πx / 2) or all power functions y=x 2.5 .

[0090] For another example, the preset algorithm model pf(x), if(x), or df(x) can also be different types of functions, such as df(x) being a power function y=x 2 , if(x) being a power function y=x 2.5 , and pf(x) being a trigonometric function y=1-cos(πx / 2).

[0091] Step S403: inputting the target input quantity into the PID adjustment device, so that the PID adjustment device adjusts the target adjustment term.

[0092] Figure 4The technical solution presented offers at least the following advantages: After collecting the control deviation values ​​for each sampling period, instead of directly using these values ​​as the input to the PID controller, a preset algorithm model is used to adjust the collected control deviation values, which are then input to the PID controller. Since the output value of the preset algorithm model is monotonically increasing within a preset range, the change in the adjusted target input value is not too small, preventing the corresponding adjustment coefficient from becoming excessively large and thus avoiding the introduction of external interference or significant external disturbances, thereby ensuring the stability of the control system. Simultaneously, the monotonically increasing output value of the preset algorithm model within a preset range ensures that the convergence speed of the target input value change is not too slow, thus guaranteeing the speed of the control system. Therefore, the PID control system of this application ensures both the stability and the control speed of the control system.

[0093] As one implementation method, combined with Figure 4 ,like Figure 5 As shown, given the significant differences in the magnitude of the target adjustment amount across different sampling periods, it is necessary to normalize the target adjustment amount first to eliminate the impact of these magnitude differences. Specifically, in step S402 above, when the controller determines the target input amount based on the target adjustment amount and the preset algorithm model, the specific implementation involves the following steps:

[0094] Step S501: Normalize the target adjustment amount to obtain the processing result.

[0095] The processing results are within a preset range.

[0096] As one implementation method, the target adjustment amount is normalized in the following way, where the target adjustment amount is one or more of the control deviation increment, the control deviation amount, and the change in the control deviation increment. First, for any sampling period, the control deviation increment Δe is normalized. k Control deviation e k and the change in the control deviation increment Δδe k Each preset value is set with a first preset value M1, a second preset value M2, and a third preset value M3. The quotient of the target adjustment amount and the corresponding preset value is then used as the processing result. Specifically, the control deviation increment Δe... k Control deviation e k and the change in the control deviation increment Δδe k The corresponding normalization results are Δe k / M1、(e k / M2) and ((Δe) k -Δe k-1 ) / M3).

[0097] It should be noted that the absolute value of the first preset value M1 is greater than the control deviation increment Δe corresponding to any sampling period. k The absolute value of the second preset value M2 is greater than the control deviation e corresponding to any sampling period. k The absolute value of the third preset value M3 is greater than the change in control deviation increment Δδe corresponding to any sampling period. k The absolute value of.

[0098] Step S502: Determine the target input quantity based on the processing results and the preset algorithm model.

[0099] In one implementation, the processing result of the above-mentioned target adjustment amount normalization process is input into a preset algorithm model to obtain the target input amount.

[0100] For example, the normalized result of the target adjustment is: Δe k / M1、(e k / M2) and ((Δe) k -Δe k-1 The input value is preset in the algorithm model to obtain the corresponding target input: pf(Δe) / M3) k / M1), if(e k / M2) and df((Δe k -Δe k-1 ) / M3).

[0101] In this embodiment, after normalizing the target adjustment amount, the processing result is within a preset range, so that the data applied by the preset algorithm model have the same measurement scale, thereby ensuring that the obtained target input amount is within a reasonable range, so as to ensure the stability of the input amount of the PID control device, and thus ensure the stability of the control system.

[0102] Therefore, this implementation takes into account the impact of the large difference in the magnitude of the data applied by the preset algorithm model, which leads to a large difference in the target input. By normalization, it ensures that the target input is within a small fluctuation range.

[0103] As one implementation method, combined with Figure 4 ,like Figure 6 As shown, when the target adjustment quantity has both positive and negative adjustments, it is necessary to determine the adjustment direction to ensure the accuracy of the control system's adjustment direction. In step S403 above, when the controller inputs the target input quantity to the PID control device, the specific implementation involves the following steps:

[0104] Step S601: When the target adjustment amount is greater than or equal to 0, the target adjustment coefficient and the target input amount are input to the PID control device.

[0105] The aforementioned target adjustment terms correspond to target adjustment coefficients. Target adjustment coefficients can be one or more of the proportional adjustment coefficient, integral adjustment coefficient, and derivative adjustment coefficient. Furthermore, each of the aforementioned target adjustment terms also corresponds one-to-one with the target adjustment amount.

[0106] For example, based on the above control deviation increment Δe k The case where it is positive, i.e., Δe k >0, if Δe k The positive preset value is M 1p M 1P If the value is greater than 0, then the normalization result is Δe. k / M 1P Correspondingly, the target input is pf(Δe) k / M 1P Adjust the proportional coefficient K. p The target input is input to the PID controller, and the corresponding proportional control term's adjustment increment is Δy. p =K p ·pf(Δe k / M 1P ).

[0107] Another example is based on the aforementioned control deviation e. k The case where it is positive, i.e., e k >0, if e k The positive preset value is M 2P M 2P If the value is greater than 0, then the normalization result is e. k / M 2P Correspondingly, the target input is if(e k / M 2P The integral adjustment coefficient K i The target input quantity is input to the PI control device, and the corresponding integral control term adjustment increment is Δy. i =K i ·if(e k / M 2P ).

[0108] Another example is based on the change in the control deviation increment Δδe mentioned above. k The case where it is positive, i.e., Δ 2 e k >0, if Δδe k The positive preset value is M 3P M 3P If the value is greater than 0, then the normalization result is Δ. 2 ek / M 3P , the target input quantity is df(Δe 2 / M k ). 3P The differential adjustment coefficient K d and the target input quantity are input to the PID adjustment device, and the adjustment increment of the corresponding differential adjustment term is Δy d = K d · df(Δe 2 / M k ). 3P

[0109] It should be noted that in the example of step S601, the adjustment increment is a positive adjustment increment. Moreover, the absolute value of each of the above-mentioned positive preset values is greater than the absolute value of the positive target adjustment quantity.

[0110] In step S602, in the case where the target adjustment quantity is less than 0, the reciprocal of the target adjustment coefficient and the target input quantity are input to the PID adjustment device.

[0111] For example, based on the case where the above-mentioned control deviation increment Δe k is negative, i.e., Δe k < 0, if the negative preset value of Δe k is M 1N , M 1N < 0, then the normalization result is Δe k / M 1N , and the corresponding target input quantity is pf(Δe k / M 1N ). The reciprocal of the proportional adjustment coefficient K p and the target input quantity are input to the PID adjustment device, and the adjustment increment of the corresponding proportional adjustment term is Δy p = -K p · pf(Δe k / M 1N ).

[0112] In another example, based on the case where the above-mentioned control deviation quantity e k is negative, i.e., e k < 0, if the positive preset value of e k is M 2N , M 2N < 0, then the normalization result is (e k / M 2N ), and the corresponding target input quantity is if(e k / M 2N ). The reciprocal of the integral adjustment coefficient K i and the target input quantity are input to the PID adjustment device, and the adjustment increment of the corresponding integral adjustment term is Δy​i = -K i · if (e k <0 2N ).

[0113] In another example, the variation amount of the control bias increment Δδe k is negative, i.e. Δ 2 e k <0. If the negative preset value of the variation amount of the control bias increment Δδe k is M 3N , M 3N <0, then the normalized result (Δ 2 e k / M 3N ) is obtained, and the target input amount is df(Δ 2 e k / M 3N ) accordingly. The reciprocal of the differential adjustment coefficient K d , i.e. -K d , and the target input amount df(Δ 2 e k / M 3N ) are input to the PID adjustment device, and the adjustment increment of the corresponding differential adjustment term is Δy d = -K d ·df(Δ 2 e k / M 3N ).

[0114] It should be noted that in the example of the step S602, the adjustment increment is a negative adjustment increment. Moreover, the absolute value of each of the above-mentioned negative preset values is greater than the absolute value of the negative target adjustment amount.

[0115] In this embodiment, the controller adjusts the positive and negative of the target adjustment coefficient based on the positive and negative of the target adjustment amount, so that the PID adjustment device completes positive adjustment or negative adjustment. When the target adjustment amount is positive, the positive target adjustment coefficient is used as the adjustment coefficient of the target adjustment term to complete positive adjustment; when the target adjustment amount is negative, the negative target adjustment coefficient is used as the adjustment coefficient of the target adjustment term to complete negative adjustment.

[0116] Therefore, the embodiment ensures the accuracy of the adjustment direction of the PID adjustment device, thereby improving the accuracy of the adjustment process of the control system, avoiding the problem that the accuracy of the adjustment result of the control system is too low due to the error of the adjustment direction, which leads to the abnormal adjustment of the control system.

[0117] As an embodiment, the target adjustment amount is the target adjustment amount of the control system, and the target adjustment coefficient is the target adjustment coefficient of the control system. Figure 7As shown, this applies to the case where the preset interval includes the insensitive interval corresponding to the control system. The controller is also configured to perform the following steps to re-divide the preset interval.

[0118] Step S701: Determine the first algorithm model corresponding to the non-sensitive interval based on the start endpoint and end endpoint of the non-sensitive interval.

[0119] In this step, the starting endpoint of the non-sensitive interval is the starting endpoint of the preset interval, and the points corresponding to the starting endpoint and the end endpoint of the interval on the first algorithm model are the origin and the end point of the first interval, respectively.

[0120] In some implementations, the aforementioned non-sensitive region is also referred to as the dead zone.

[0121] Step S702: Determine the target point based on the endpoint of the first interval and the preset algorithm model.

[0122] In this step, the x-coordinate of the target point is located within a preset interval outside the non-sensitive interval; the objective function and the tangent function are the same function; the objective function is the function of the straight line determined by the target point and the endpoint of the first interval; the tangent function is the function corresponding to the tangent line of the target point on the preset algorithm model.

[0123] For example, such as Figure 8 The curve shown corresponds to the preset algorithm model. This curve specifically represents the controlled curve where the target input changes with the target adjustment amount. The vertical axis y represents the target input, such as pf(Δe) mentioned above. k / M1), if(e k / M2) and / or df((Δe) k -Δe k-1 () / M3); The horizontal axis x represents the target adjustment amount or the result of normalizing the target adjustment amount, such as Δe k / M1、(e k / M2) and / or ((Δe) k -Δe k-1 ) / M3).

[0124] Should Figure 8 The non-sensitive interval shown is [0 0.2], which consists of the x-coordinate of the origin (0, 0) and the x-coordinate of point B (0.2, 0) (0.2). A tangent line is drawn to the curve at point B (0.2, 0). The point of tangency between this tangent line and the curve is the target point A, with an x-coordinate of 0.4. The first algorithm model corresponding to this non-sensitive interval is y = 0.

[0125] Step S703: Determine the interval formed by the x-coordinates of the endpoint of the interval to the target point as the first interval.

[0126] It should be noted that the second algorithm model corresponding to the first interval is the objective function.

[0127] For example, as Figure 8 The first interval is [0.2 0.4], which is composed of the horizontal coordinate 0.2 of the point B and the horizontal coordinate 0.4 of the target point A. The objective function is the function of the straight line AB determined by the target point A and the end point B of the first interval. If the curve corresponding to the preset algorithm model is y=x 2 The target point A is (0.4, 0.16), that is, the objective function is y=0.8(x-0.2).

[0128] In some embodiments, the first interval described above is also called a buffer interval or a transition interval.

[0129] In step S704, the interval composed of the horizontal coordinate of the target point to the end point of the preset interval is determined as the second interval.

[0130] The algorithm model corresponding to the second interval described above is the preset algorithm model.

[0131] For example, as Figure 8 The second interval is [0.4 1], which is composed of the horizontal coordinate 0.4 of the target point A and the end point 1 (the horizontal coordinate 1 of the point C) of the preset interval. If the curve corresponding to the preset algorithm model is y=x 2 The algorithm model corresponding to the second interval is y=x 2 .

[0132] It should be noted that the three intervals: the non-sensitive interval, the first interval and the second interval can be composed of semi-open semi-closed intervals and fully closed intervals; or only fully closed intervals. Therefore, the open and closed forms of the non-sensitive interval, the first interval and the second interval are not specifically limited by the present application, as long as the union of the three intervals is equal to the set of the preset interval.

[0133] For example, the non-sensitive interval and the first interval are intervals that are closed in front and open in back; and the second interval is a fully closed interval that is closed in front and closed in back.

[0134] For another example, the non-sensitive interval is a semi-open semi-closed interval that is closed in front and open in back, the first interval is a fully closed interval that is closed in front and closed in back, and the second interval is a semi-open semi-closed interval that is open in front and closed in back.

[0135] In a specific embodiment, the non-sensitive interval described above is determined according to the preset algorithm model in the control system. The adjustment characteristics can be adjustment response speed, adjustment process stability and the like. Generally, as Figure 8As shown, if the preset algorithm model has a very small regulating effect within a certain range, then this range is defined as the insensitive range. After passing through the insensitive range, it enters the first range. In the first range, the preset algorithm model's regulating speed in the control system is very slow. Therefore, the range corresponding to the slow regulating speed of the preset algorithm model in the control system is defined as the first range. Furthermore, the range corresponding to the good regulating characteristics of the control system is defined as the second range.

[0136] In this embodiment, for cases where the preset interval includes a non-sensitive interval, the preset interval is re-divided into a non-sensitive interval, a first interval, and a second interval. Simultaneously, different algorithm models are configured for the re-divided intervals. Based on these different intervals, different algorithm models are set to ensure that the algorithm models corresponding to the entire preset interval can function effectively.

[0137] Therefore, through the above implementation method, a new algorithm model is reconfigured for the range where the preset algorithm model does not play an obvious role in the preset range, so as to ensure that the PID control device can play a role in the entire preset range, thereby ensuring the control efficiency of the control system.

[0138] Based on the application scenario where there is a non-sensitive interval in the aforementioned preset interval, after executing the above step S401, the controller first determines the target interval corresponding to the target adjustment amount, and then determines the target algorithm model corresponding to the target interval corresponding to the target adjustment amount.

[0139] As a specific implementation method, combined with Figure 5 ,like Figure 9 As shown, the controller determines the target interval corresponding to the target adjustment amount by: after executing step S501, first judging the processing result, determining the target interval corresponding to the processing result, and then determining the target algorithm model corresponding to the target interval corresponding to the processing result, thereby determining the target algorithm model corresponding to the target adjustment amount. This can be specifically implemented through the following steps.

[0140] Step S901: Determine the target interval to which the processing result belongs.

[0141] Step S902: If the target interval is the second interval, the processing result is input into the preset algorithm model.

[0142] It should be understood that if the processing result belongs to the second interval, the processing result is input into the preset algorithm model to obtain the target input quantity.

[0143] In this step, the processing result is first judged. If the processing result is included in the second interval, the processing result is input into the preset algorithm model to obtain the target input quantity. Therefore, this step is a way of determining the target input quantity for the scenario that the processing result belongs to the second interval.

[0144] In step S903, if the target interval is a non-sensitive interval, the processing result is input into the first algorithm model.

[0145] It should be understood that in the case that the processing result belongs to the non-sensitive interval, the processing result is input into the first algorithm model to obtain the target input quantity.

[0146] In this implementation step, the processing result is first judged. If the processing result is included in the non-sensitive interval, the processing result is input into the first algorithm model to obtain the target input quantity. Therefore, this implementation is a way of determining the target input quantity for the scenario that the processing result belongs to the non-sensitive interval.

[0147] In step S904, if the target interval is the first interval, the processing result is input into the second algorithm model.

[0148] In the case that the processing result belongs to the first interval, the processing result is input into the second algorithm model to obtain the target input quantity.

[0149] In this implementation step, the processing result is first judged. If the processing result is included in the first interval, the processing result is input into the second algorithm model to obtain the target input quantity. Therefore, this implementation is a way of determining the target input quantity for the scenario that the processing result belongs to the first interval.

[0150] It can be seen that the above mainly introduces the scheme provided by the embodiments of the present application from the perspective of method. In order to implement the above functions, the embodiments of the present application provide corresponding hardware structures and / or software modules for executing various functions. Those skilled in the art should easily realize that the modules and algorithm steps of the examples described in combination with the embodiments disclosed in the present text can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form 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 beyond the scope of the present application.

[0151] The embodiments of the present application can divide the functional modules of the controller according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated in one processing module. The integrated module can be realized in the form of hardware or in the form of a software functional module. Optionally, the division of the modules in the embodiments of the present application is illustrative, and is only a logical functional division. In actual implementation, another division manner can be used.

[0152] The embodiments of the present application also provide a hardware structure diagram of a controller. As shown in Figure 10 The controller 103 includes a processor 301, and optionally includes a memory 302 and a communication interface 303 connected with the processor 301. The processor 301, the memory 302 and the communication interface 303 are connected through a bus 304.

[0153] The processor 301 can be a central processing unit (CPU), a general processor network processor (NP), a digital signal processing (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD) or any combination thereof. The processor 301 can also be any other device having a processing function, such as a circuit, a device or a software module. The processor 301 can include multiple CPUs, and the processor 301 can be a single-CPU processor or a multi-CPU processor. The processor herein can refer to one or more devices, circuits or processing cores for processing data (for example, computer program instructions).

[0154] The memory 302 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing instructions or data that can be accessed by a computer, and the embodiments of the present application do not make any limitation thereon. The memory 302 can exist independently or be integrated with the processor 301. The memory 302 can contain computer program codes. The processor 301 is configured to execute the computer program codes stored in the memory 302, so as to implement the control method provided by the embodiments of the present application.

[0155] The communication interface 303 can be configured to communicate with other devices or communication networks (such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.). The communication interface 303 can be a module, a circuit, a transceiver or any device capable of realizing communication.

[0156] 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 convenience of representation, Figure 10 Only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0157] The embodiments of the present application also provide a computer readable storage medium, including computer execution instructions, when running on a computer, causing the computer to execute any one of the audio signal processing methods of the sound equipment provided by the above embodiments.

[0158] The embodiment of the present application further provides a computer program product comprising computer-executable instructions which, when executed on a computer, cause the computer to perform the audio signal processing method of any of the audio devices provided by the above-mentioned embodiment.

[0159] In the above-mentioned embodiments, the implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented by using a software program, the implementation can be achieved entirely or partially in the form of a computer program product. The computer program product comprises one or more computer-executable instructions. When the computer-executable instructions are loaded and executed on a computer, the entire or partial process or function according to the embodiment of the present application is generated. 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 computer-readable storage medium, for example, the computer-executable instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device comprising one or more servers, data centers, etc. integrated with the medium. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk (SSD)), etc.

[0160] Although the present application is described herein in conjunction with various embodiments, other variations of the disclosed embodiments can be understood and implemented by those skilled in the art through viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Some measures described in mutually different dependent claims can be combined and produce beneficial results.

[0161] Although the present application has been described in connection with specific embodiments thereof, it will be evident that many modifications and changes can be made thereto without departing from the spirit and scope of the application. Accordingly, it is intended to cover all modifications and changes as fall within the true spirit and scope of the application, and it is intended to include all such modifications and changes in the scope of the claims and their equivalents. Obviously, many modifications and variations of this application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

[0162] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application.

Claims

1. A PID control system, characterized in that, The control system includes: The data acquisition device is used to sequentially acquire the control deviation of the controlled parameters according to the sampling period; The PID control device is used to adjust the corresponding control term according to the input quantity and output the corresponding output feedback quantity; the control deviation quantity represents the difference between the output feedback quantities of two adjacent sampling periods. The controller is connected to both the data acquisition device and the PID control device. The controller is configured to perform: The target adjustment amount is determined based on the target control deviation and target adjustment term of the current sampling period; Based on the target adjustment amount and the preset algorithm model, the target input amount is determined; the output value of the preset algorithm model and the change in the output value are both monotonically increasing within a preset interval; the preset algorithm model includes a preset point and an origin; the x-coordinate of the origin is the starting endpoint of the preset interval; the x-coordinate of the preset point is the ending endpoint of the preset interval; The target input quantity is input to the PID control device so that the PID control device adjusts the target control term.

2. The PID control system according to claim 1, characterized in that, The controller is configured to perform the determination of the target input based on the target adjustment amount and a preset algorithm model, specifically including: The target adjustment amount is normalized to obtain a processing result; the processing result is within the preset range. The target input quantity is determined based on the processing result and the preset algorithm model.

3. The PID control system according to claim 1, characterized in that, The target adjustment term corresponds to the target adjustment coefficient; The controller is configured to input the target input quantity to the PID control device, specifically including: When the target adjustment amount is greater than or equal to 0, the target adjustment coefficient and the target input amount are input to the PID control device; When the target adjustment amount is less than 0, the opposite of the target adjustment coefficient and the target input amount are input to the PID control device.

4. The PID control system according to claim 2, characterized in that, The preset interval includes the non-sensitive interval corresponding to the control system; the starting endpoint of the non-sensitive interval is the starting endpoint of the preset interval; The controller is also configured to perform: Based on the start endpoint and end endpoint of the non-sensitive interval, a first algorithm model corresponding to the non-sensitive interval is determined; the points corresponding to the start endpoint and the end endpoint of the interval on the first algorithm model are the origin and the end point of the first interval, respectively. A target point is determined based on the endpoint of the first interval and the preset algorithm model; wherein the x-coordinate of the target point is located within the preset interval outside the non-sensitive interval; the objective function and the tangent function are the same function; the objective function is a function of the straight line determined by the target point and the endpoint of the first interval; the tangent function is a function corresponding to the tangent line of the target point on the preset algorithm model; The interval formed by the x-coordinates of the termination point of the interval to the target point is defined as the first interval; the second algorithm model corresponding to the first interval is the objective function. The interval formed by the x-coordinate of the target point and the endpoint of the preset interval is defined as the second interval; the algorithm model corresponding to the second interval is the preset algorithm model.

5. The PID control system according to claim 4, characterized in that, The controller is configured to perform the step of determining the target input quantity based on the processing result and a preset algorithm model, specifically including: If the processing result belongs to the second interval, the processing result is input into the preset algorithm model to obtain the target input quantity.

6. The PID control system according to claim 5, characterized in that, The controller is also configured to perform: If the processing result falls within the non-sensitive range, the processing result is input into the first algorithm model to obtain the target input quantity.

7. The PID control system according to claim 5, characterized in that, The controller is also configured to perform: If the processing result belongs to the first interval, the processing result is input into the second algorithm model to obtain the target input quantity.

8. The PID control system according to any one of claims 1 to 7, characterized in that, The target adjustment term is one or more of the following: proportional adjustment term, integral adjustment term, or derivative adjustment term.

9. A PID control method, characterized in that, The method includes: The target adjustment amount is determined based on the target control deviation and target adjustment term of the current sampling period; Based on the target adjustment amount and the preset algorithm model, the target input amount is determined; the output value of the preset algorithm model and the change in the output value are both monotonically increasing within a preset interval; the preset algorithm model includes a preset point and an origin; the x-coordinate of the origin is the starting endpoint of the preset interval; the x-coordinate of the preset point is the ending endpoint of the preset interval; The target input quantity is input to the PID control device so that the PID control device adjusts the target control term.

10. The PID control method according to claim 9, characterized in that, The step of determining the target input based on the target adjustment amount and the preset algorithm model specifically includes: The target adjustment amount is normalized to obtain a processing result; the processing result is within the preset range. The target input quantity is determined based on the processing result and the preset algorithm model.

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