A control system dynamic evaluation system and method based on step autonomous perception

Abstract

The present application relates to a kind of control system dynamic evaluation system and method based on step autonomous perception, the system provides multiple types of industrial field protocol data communication interface, with any monitoring system platform realizes data interaction, the system is composed of four core function modules of data interface adaptation, step autonomous perception, data state latch, index quantitative calculation, based on autonomous controllable programmable logic controller, build a set of automatic control quality dynamic evaluation guidance system with autonomous perception.The present application solves the defect that the general-purpose of traditional control system evaluation system platform is poor, the method involved in the present application realizes the dynamic index evaluation and parameter configuration guidance of cross-platform control system, realizes the autonomous controllable alternative scheme of diagnostic evaluation type technical product, can effectively help energy production enterprise to realize intelligent management and intelligent operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent evaluation and analysis of automatic control systems, and particularly relates to a control system dynamic evaluation system and method based on step autonomous perception. BACKGROUND

[0002] The dynamic quality index of a control system has always been a key element for measuring the quality of an automatic system. In the energy industry such as electric power, there are clear technical index requirements for automatic investment in control systems, such as the DL / T 657 Thermal Power Plant Analog Control System Acceptance Test regulation. At present, the intelligentization of production process control has not yet developed, and with the penetration of smart energy technology, more and more platform systems for assisting production management and operation have emerged, but the current market product function design is relatively single, with poor universality and low market application recognition, and the technology is only at the level of simple evaluation and monitoring, without forming a closed-loop control with actual production, and unable to provide optimization suggestions and feedback to power generation enterprises, and unable to bring actual management benefits to enterprise production and operation. SUMMARY

[0003] Therefore, the present application aims to overcome the defects in the prior art, and to provide a control system dynamic evaluation system and method based on step autonomous perception.

[0004] A control system dynamic evaluation system based on step autonomous perception, comprising a data interface adaptation module, a step autonomous perception module, a data state latching module, and an index quantitative calculation module; the system is defined with two state flag bits of "evaluation start" and "evaluation end", the evaluation start flag bit represents that the control system detects a step change in the set value, and is used to activate the timer module function in the step autonomous perception module; the evaluation end flag bit represents that the current dynamic evaluation is over, and waits for the start of the next dynamic evaluation.

[0005] The data interface adaptation module is used to establish a data channel between the control system to be tested and the dynamic evaluation system, including the adaptation of communication protocols, communication ports, and communication data volume parameters, and on this basis, data transmission is completed, and the data acquisition content includes the set value SP, the actual process value PV, and the automatic operation mode flag bit.

[0006] The step autonomous perception module includes a change rate perception module and a timer module, and the step autonomous perception module is used to acquire the variables collected through the data interface adaptation module, first judges whether the control system to be tested meets the automatic operation mode condition, and then judges whether the system to be tested meets the steady state condition, under the condition that both the above two conditions are met, the step perception function is activated, the calculation period is set, and the set value SP data change rate is discriminated, if the change rate in the calculation period exceeds the set threshold, the evaluation start flag bit is set, and the data latching module function is executed.

[0007] The data state latching module includes a latching register module, and the data state latching module is used for continuously storing the set value and process value data of a fixed time interval, and when the data latching exceeds the fixed time interval or the control system tends to be in a steady state in advance, the "evaluation end" flag bit is automatically set, and the function of the next module (index quantitative calculation) is executed.

[0008] The index quantitative calculation module is used for calculating the control system index after the control system is disturbed each time the data latching occurs, and scoring is performed according to the scoring mechanism set by the program.

[0009] Further, the data interface adaptation module is adapted to, but not limited to, Profibus, Modbus or CAN protocol.

[0010] An evaluation method of a control system dynamic evaluation system based on step autonomous perception according to any one of the above, comprising the following steps:

[0011] S1: connecting the data interface adaptation module with the automatic control system to be measured, and setting the automatic control system to be measured to an automatic operation mode;

[0012] S2: the step autonomous perception module extracts the dynamic data stream of the automatic control system to be measured through the data interface adaptation module according to the set sampling period, and stores the obtained actual value PV and set value SP in the corresponding register storage address;

[0013] S3: the step autonomous perception module judges whether the control system to be measured is in the automatic operation mode, and after the condition is met, iteratively calculates the real-time deviation ΔE of the actual value PV and the set value SP t , ΔE t =|PV t -SP t| , records the implementation deviation sequence {ΔE1, ΔE2…ΔE n} according to the period, covers and refreshes every a times, t takes the value of: 1, 2…a, and

[0014] ;

[0015] The state at this time is defined as the initial control system steady state working condition, wherein δ is the reference regulation standard value, and the dead zone value is 10% of δ;

[0016] S4: determining the threshold value of the change rate perceiver module in the step autonomous perception module, when the actual value PV and the set value SP at adjacent time t-1 and t, |PV t -PV t-1 |≤β and |SP t -SP t-1|>>2δ, automatic trigger set value step sensing logic, set "evaluation start" state flag, activate timer module timing, system jump to data latch function module to execute the next step, otherwise loop steps S2-S4, where β is 1% of the absolute value of the actual value PV;

[0017] S5: When the system jumps to the data latch function module, latch the current system time to the latch register, pre-allocate a continuous multiple register address and jump to the index quantitative calculation function module to execute the next step;

[0018] S6: When the timer module reaches the measured time of the system to be measured, set the "evaluation end" state flag, and the index quantitative calculation function module processes the actual value continuous storage variable index value [0, x] twice to obtain the actual value maximum value PV max1 and PV max2 in the two evaluation processes, and records the register index values n1 and n2 of the two maximum values; PV max1 is the maximum value of the actual value in the first evaluation process, and PV max2 is the maximum value of the actual value in the second evaluation process; n1 is the register index value of the first maximum value, and n2 is the register index value of the second maximum value;

[0019] S7: Compare the absolute values of the actual value maximum values in the two evaluation processes, if |PV max2 |≥|PV max1 |, the system is in a "divergent" state, and directly outputs the "system divergence" evaluation index, and an alarm should be raised for automatic removal; if |PV max2 |<|PV max1 |, then determine whether |PV i -SP i | of the last continuous y seconds in the storage variable array satisfies the control system steady state condition described in step S3, if all satisfy, execute overshoot, decay rate, and stable time quantitative calculation, evaluate the overshoot, decay rate, and stable time according to the evaluation standard, and output the evaluation results; if it does not satisfy the control system steady state condition described in step S3, directly output the "system exceeds stable time" evaluation index; i takes values x-(y-1), …, x-1, x;

[0020] S8: The system empties the latch register array elements and resets the flag, releases the storage space, scores the measured automatic control system according to the built-in system scoring mechanism, and outputs and displays the overshoot, decay rate, stable time, and system score data information.

[0021] Further, the sampling period set in step S2 is 1 second, and the deviation sequence {ΔE1, ΔE2…ΔEa}, every 10 cover refresh, t value: 1, 2, … 10.

[0022] Further, the threshold of the rate of change of the S4 step in the autonomous perception module is ± 2δ / s.

[0023] Further, the step S5 in the activation timer module timing, pre-allocate 600 consecutive register address, step S6 in the actual value of the continuous storage variable index value is [0, 600], step S7 if |PV max2 |≥|PV max1 |, the last 30 seconds of the storage variable array time |PV i -SP i | whether to meet the control system steady state conditions described in step S3, i value is 571, 572…600.

[0024] Further, the step S7 overshoot according to the formula M= |PV max1 -SP t | calculated, the specific evaluation criteria are: if M≥25%ΔSP, output overshoot unqualified evaluation, and let the calculation of overshoot value infinite.

[0025] Further, the step S7 in the attenuation rate is calculated according to the following formula:

[0026] ;

[0027] The specific evaluation criteria are: if ρ≥0.9 or ρ≤0.75, output attenuation rate unqualified evaluation, and let the calculation of attenuation rate value infinite.

[0028] Further, the step S7 in the steady time if meet the following formula:

[0029] ;

[0030] Then record t s =n2 / 60, otherwise n2 with 30 window function to complete the iteration cycle until the condition appears, such as no satisfying condition appears, then output the steady time unqualified evaluation, and let the calculation of steady time value infinite.

[0031] Further, the step S8 in the system score mechanism is as follows: the overshoot, attenuation rate and steady time of full marks are set to 30 points, 30 points and 40 points respectively, and the score of the measured system is calculated by the formula:

[0032] ;

[0033]

[0034] ​The technical scheme of the present application has the following advantages:

[0035] 1. The technical scheme provided by the present application can autonomously complete control system evaluation without human intervention, and the system is configured with a man-machine interactive interface, and system dynamic evaluation can be reflected in real time in the monitoring system configuration picture.

[0036] 2. The technical scheme provided by the present application is designed with a fault-tolerant mechanism, and the initialization condition triggering automatic sensing is added with steady-state condition judgment, and the divergent system is automatically cut off pulse and picture early warning prompt, and the PID optimization parameter table is preset according to the system evaluation mechanism program, and the dynamic monitoring, intelligent evaluation and closed-loop management functions of the control system are truly realized. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical scheme in the specific embodiments or prior art of the present application, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0038] Figure 1 The flowchart of steps S2-S4 is shown in Figure 2.

[0039] Figure 2 The flowchart of steps S5-S8 is shown in Figure 3. DETAILED DESCRIPTION

[0040] The technical scheme of the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0041] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0042] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements. 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.

[0043] In addition, the technical features involved in the different embodiments of the application described below can be combined with each other as long as there is no conflict between them.

[0044] A dynamic evaluation system of a control system based on step autonomous perception, comprising a data interface adaptation module, a step autonomous perception module, a data state latching module and an index quantitative calculation module; the system is defined with two state flag bits of "evaluation start" and "evaluation end", the evaluation start flag bit represents that the control system detects that the set value has a step change, and is used to activate the timer module function in the step autonomous perception module; the evaluation end flag bit represents that the current dynamic evaluation is over, and waits for the start of the next dynamic evaluation;

[0045] The data interface adaptation module is used to establish a data channel between the control system to be tested and the dynamic evaluation system, including the parameter adaptation of communication protocol, communication port and communication data volume, and on this basis, data transmission is completed, the data acquisition period is set to 500 ms by default, which can be modified artificially, and the data acquisition content includes the set value SP, the actual process value PV and the automatic operation mode flag bit.

[0046] The step autonomous perception module (including a change rate perception module and a timer module) is used to acquire the variables collected through the data interface adaptation module, first judges whether the control system to be tested meets the automatic operation mode condition, and then judges whether the system to be tested meets the steady state condition, under the condition that the above two conditions are met, the step perception function is activated, the calculation period (default time 1s) is set, the set value SP data change rate is discriminated, if the change rate exceeds the set threshold (change rate 2δ / s) in the calculation period, the evaluation start flag bit is set, and the function of the next module (data latching module) is executed.

[0047] The data state latching module (including a latching register module) is used to continuously store the set value and process value data in a fixed time interval (default 600 seconds), when the data latching exceeds the fixed time interval (i.e. more than 600 groups of continuously stored data) or the control system tends to be in a steady state, the "evaluation end" flag bit is automatically set, and the function of the next module (index quantitative calculation) is executed.

[0048] The index quantitative calculation module is used for calculating the control system index after the control system disturbance occurs each time data latching occurs, and scoring is performed according to a program setting scoring mechanism.

[0049] In the embodiment, the data interface adaptation module is adapted to, but is not limited to, Profibus, Modbus or CAN protocol and the like, and the function is realized by setting parameters in internal registers of the programmable logic controller to match the protocols.

[0050] Please refer to Figure 1 and Figure 2 The application also includes an evaluation method of the control system dynamic evaluation system based on the step autonomous perception, comprising the following steps:

[0051] S1: connecting the data interface adaptation module with the automatic control system to be tested, and setting the automatic control system to be tested to an automatic operation mode;

[0052] S2: initializing parameters of the data interface adaptation module, and the step autonomous perception module extracts dynamic data flow of the automatic control system to be tested according to a set sampling period through the data interface adaptation module, and stores actual values PV and set values SP in corresponding register storage addresses;

[0053] S3: the step autonomous perception module judges whether the control system to be tested is in the automatic operation mode, and after the condition is met, iteratively calculates real-time deviations ΔE of the actual values PV and the set values SP t , ΔE t =|PV t -SP t| , records a deviation sequence {ΔE1, ΔE2…ΔE n} according to a period, refreshes every a times, t takes values of 1, 2…a, and

[0054] ;

[0055] defines the state at this time as an initial control system steady state condition, wherein δ is a reference regulation standard value, and a dead zone value is 10% of δ;

[0056] S4: determining a threshold of the change rate perceiver module in the step autonomous perception module, when the actual values PV and the set values SP at adjacent time points t-1 and t satisfy |PV t -PV t-1 |≤β and |SP t -SP t-1 |>>2δ, automatically triggering the set value step perception logic, setting a “evaluation start” state flag, activating a timer module to count, and the system jumps to a data latching function module to execute the next step, otherwise, repeating steps S2-S4, wherein β is 1% of an absolute value of the actual value PV.

[0057] S5: When the system jumps to the data latch function module, the current system time is latched to the latch register, a plurality of continuous register addresses are pre-allocated, and the next step is executed by jumping to the index quantitative calculation function module;

[0058] S6: When the timer module reaches the measured time of the system to be measured, the "evaluation end" state flag bit is set, the index quantitative calculation function module performs two times of large selection processing on the actual value continuous storage variable index value [0, x] (x takes the value of 600 or 1200) to obtain the actual value maximum value PV max1 and PV max2 in the two evaluation processes, and the register index values n1 and n2 of the two maximum values are recorded; PV max1 is the actual value maximum value in the first evaluation process, PV max2 is the actual value maximum value in the second evaluation process; n1 is the register index value of the first maximum value, and n2 is the register index value of the second maximum value;

[0059] S7: The absolute values of the actual value maximum values in the two evaluation processes are compared, if |PV max2 |≥|PV max1 |, the system is in a "divergence" state, and the "system divergence" evaluation index is directly output, and an alarm should be given for automatic cutting; if |PV max2 |<|PV max1 |, whether |PV i -SP i | of the last continuous y seconds in the storage variable array satisfies the control system steady state condition described in step S3 is judged, if all satisfy, overshoot, decay rate, and stable time quantitative calculation are executed, the overshoot, decay rate, and stable time quantitative evaluation is respectively evaluated according to the evaluation standard, and the evaluation result is output; if the control system steady state condition described in step S3 is not satisfied, the "system exceeds stable time" evaluation index is directly output; i takes the value of x-(y-1), …, x-1, x;

[0060] S8: The system empties the latch register array elements, resets the flag bit, releases the storage space, scores the measured automatic control system according to the built-in system scoring mechanism, and outputs and displays the overshoot, decay rate, stable time, and system score data information.

[0061] In the embodiment, the sampling period set in step S2 is 1 second, the deviation sequence {ΔE1, ΔE2…ΔE 10} is recorded in step S3 according to the period, and the t value is: 1, 2…10.

[0062] In this embodiment, the threshold of the rate of change detector in the S4 step is ±2δ / s.

[0063] In this embodiment, the timer module is activated in step S5, and 600 consecutive register addresses are pre-allocated (corresponding to 10 min actual value data variables). For large lag systems, 1200 register addresses need to be allocated (corresponding to 20 min actual value data variables). In this embodiment, 600 consecutive step register addresses are pre-allocated, and the actual value continuous storage variable index value is [0, 600] in step S6. If |PV max2 |≥|PV max1 |, it is determined whether |PV i -SP i | of the last 30 seconds in the storage variable array meets the control system steady state condition in step S3. i takes values of 571, 572, …, 600.

[0064] In this embodiment, the overshoot in step S7 is calculated according to the formula M= |PV max1 -SP t |, and the specific evaluation criteria are as follows: if M≥25%ΔSP, the output overshoot is unqualified, and the calculated overshoot is set to infinity.

[0065] In this embodiment, the decay rate in step S7 is calculated according to the following formula:

[0066] ;

[0067] The specific evaluation criteria are as follows: if ρ≥0.9 or ρ≤0.75, the output decay rate is unqualified, and the calculated decay rate is set to infinity.

[0068] In this embodiment, the settling time in step S7 meets the following formula:

[0069] ;

[0070] If t s =n2 / 60, otherwise n2 completes an iterative cycle with a window function of 30, and if no condition is met, the output settling time is unqualified, and the calculated settling time is set to infinity.

[0071] In this embodiment, the system scoring mechanism in step S8 is as follows: the full marks of overshoot, decay rate, and settling time are set to 30 points, 30 points, and 40 points, respectively. The score of the measured system is calculated by the formula:

[0072] ;

[0073] .

[0074] Obviously, the above-mentioned embodiments are only examples for clearly illustrating the present application, and are not intended to limit the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to enumerate all the embodiments. The obvious changes or variations derived from the above description are still within the protection scope of the present application.

Claims

1. An evaluation method for a dynamic evaluation system of a control system based on step autonomous sensing, characterized in that, The dynamic evaluation system for control systems based on step autonomous sensing includes a data interface adaptation module, a step autonomous sensing module, a data state latching module, and an index quantitative calculation module. The system defines two status flags: "evaluation start" and "evaluation end". The evaluation start flag indicates that the control system has detected a step change in the set value and is used to activate the timer module function in the step autonomous sensing module. The evaluation end flag indicates that the current dynamic evaluation has ended and is waiting for the next dynamic evaluation to begin. The data interface adaptation module is used to establish a data channel between the control system under test and the dynamic evaluation system, including parameter adaptation of communication protocol, communication port, and communication data volume, and to complete data transmission on this basis. The data acquisition content includes: set value SP, actual process value PV, and automatic operation mode flag. The step autonomous sensing module includes a rate of change sensing module and a timer module. The step autonomous sensing module is used to collect variables through the data interface adapter module. First, it determines whether the control system under test meets the automatic operation mode conditions. Then, it determines whether the system under test meets the steady-state conditions. If both conditions are met, the step sensing function is activated, a calculation period is set, and the rate of change of the set value SP data is judged. If the rate of change exceeds the set threshold within the calculation period, the evaluation start flag is set, and the data latch module function is executed. The data status latch module includes a latch register module. The data status latch module is used to continuously store set values ​​and process value data at fixed time intervals. When the data latch exceeds the fixed time interval or the control system reaches a steady state in advance, the "evaluation end" flag is automatically set, and the quantitative calculation module function is executed. The quantitative calculation module is used to calculate the control system indicators after each data latching disturbance, and to score them according to the scoring mechanism set in the program. The evaluation method for dynamic evaluation of control systems based on step autonomous sensing includes the following steps: S1: Connect the data interface adapter module to the automatic control system under test, and set the automatic control system under test to automatic operation mode; S2: The step autonomous sensing module extracts the dynamic data stream of the automatic control system under test through the data interface adapter module according to the set sampling period, and assigns the actual value PV and the set value SP to the corresponding register storage address. S3: The step autonomous sensing module determines whether the control system under test is in automatic operation mode. If the condition is met, it iteratively calculates the real-time deviation ΔE between the actual value PV and the set value SP. t ΔE t =|PV t -SP t| Record the implementation deviation sequence {ΔE1, ΔE2…ΔE} periodically. n }, for every 'a' overwrites and refreshes, t takes the value: 1, 2...a, and ； The current state is defined as the initial steady-state condition of the control system, where δ is the reference standard value and the dead zone value is 10% of δ; S4: Determine the threshold of the rate of change sensor module in the step autonomous sensing module. When the actual value PV and the set value SP are at adjacent times t-1 and t, |PV t -PV t-1 |≤β and|SP t -SP t-1 |>>2δ, automatically trigger the set value step perception logic, set the "evaluation start" status flag, activate the timer module to start timing, and the system jumps to the data latch function module to execute the next step; otherwise, loop through steps S2-S4, where β is 1% of the absolute value of the actual value PV; S5: When the system jumps to the data latching function module, it latches the current system time into the latch register, pre-allocates multiple consecutive register addresses, and jumps to the indicator quantitative calculation function module to execute the next step; S6: When the timer module reaches the test time of the system under test, the "Evaluation End" status flag is set. The quantitative calculation function module performs two rounds of selection processing on the continuous storage variable index value [0,x] of the actual value to obtain the maximum value PV of the actual value during the two evaluation processes. max1 and PV max2 And record the maximum register index values ​​n1 and n2 twice; PV max1 PV represents the maximum actual value during the first evaluation process. max2 n1 represents the maximum actual value during the second evaluation process; n2 represents the index value of the register for the first maximum value and n1 represents the index value of the register for the second maximum value. S7: Compare the absolute values ​​of the maximum actual values ​​during the two evaluation processes. If |PV max2 |≥|PV max1 If |PV, then the system is in a "divergent" state, and the "system divergent" evaluation index should be output directly. Simultaneously, an alarm should be issued for automatic remediation. max2 |<|PV max1 |, then determine the |PV| within the last consecutive y seconds of the stored variable array. i -SP i If the steady-state operating conditions of the control system described in step S3 are met, then the overshoot, damping rate, and settling time are quantitatively calculated. The overshoot, damping rate, and settling time are evaluated quantitatively according to the established evaluation criteria, and the evaluation results are output. If the steady-state operating conditions of the control system described in step S3 are not met, then the evaluation index "system exceeds settling time" is directly output. The value of i is x-(y-1), ..., x-1, x. S8: The system clears the latch register array elements, resets the flag bits, releases the storage space, scores the tested automatic control system according to the built-in system scoring mechanism, and outputs and displays the overshoot, attenuation rate, settling time, and system score data.

2. The evaluation method according to claim 1, characterized in that, The data interface adapter module is compatible with, but not limited to, Profibus, Modbus, or CAN protocols.

3. The evaluation method according to claim 1, characterized in that, In step S2, the sampling period is set to 1 second. In step S3, the implementation deviation sequence {ΔE1, ΔE2…ΔE} is recorded periodically. a }, every 10 overwrites and refreshes, t takes the value: 1, 2...

10.

4. The evaluation method according to claim 1, characterized in that, The threshold value of the rate of change sensor module in the step autonomous sensing module of S4 is ±2δ / s.

5. The evaluation method according to claim 1, characterized in that, In step S5, the timer module is activated to keep time, and 600 consecutive register addresses are pre-allocated. In step S6, the actual value is stored continuously with the variable index [0, 600]. In step S7, if |PV max2 |≥|PV max1 |, then determine the |PV| within the last 30 consecutive seconds of the stored variable array. i -SP i | Whether all of them meet the steady-state operating conditions of the control system described in step S3, i takes the value of 571, 572...

600.

6. The evaluation method according to claim 1, characterized in that, In step S7, the overshoot is calculated using the formula M = |PV max1 -SP t The specific evaluation criteria are as follows: if M ≥ 25%ΔSP, the output overshoot is deemed unqualified, and the calculated overshoot is set to an infinite value.

7. The evaluation method according to claim 1, characterized in that, In step S7, the attenuation rate is calculated according to the following formula: ； The specific evaluation criteria are as follows: if ρ≥0.9 or ρ≤0.75, the output attenuation rate is deemed unqualified, and the calculated attenuation rate is set to infinity.

8. The evaluation method according to claim 1, characterized in that, If the settling time in step S7 satisfies the following formula: ； Then record t s =n2 / 60, otherwise n2 completes the iteration loop with a window function of 30 until the condition is met. If the condition is not met, the stable time is output as an unqualified evaluation, and the calculated stable time is set to infinity.

9. The evaluation method according to claim 1, characterized in that, The system scoring mechanism in step S8 is as follows: the maximum scores for overshoot, decay rate, and settling time are set to 30, 30, and 40 points respectively, using the formula: ； Calculate the score of the tested system.

Images