Multi-actuator hierarchical control system, method, device and readable storage medium

Abstract

The present application relates to a multi-actuator hierarchical control system, method, device and readable storage medium. The multi-actuator hierarchical control system includes a saturation link, a dead zone link and an actuator. The saturation interval of the saturation link belonging to the same level control unit is greater than the dead zone interval of the dead zone link. In the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, the input control amount is output to the first-level control unit, and the actuator corresponding to the first-level saturation link is driven to control the controlled object based on the input control amount, and the first-level dead zone link is controlled to process the input control amount, and the input control amount of the next-level control unit is output to drive the corresponding actuator to control the controlled object at the next level, until the last-level control unit, the hierarchical control of the controlled object is completed. The method can effectively manage and coordinate the startup and output of each actuator in the multi-actuator system to achieve hierarchical control.

Description

Technical Field

[0001] The present application relates to the field of control engineering technology, and in particular to a multi-actuator hierarchical control system, method, device and readable storage medium. Background Art

[0002] In the control fields such as active damping adjustment and active height control of automobile shock absorbers, mechanical arm drive of engineering machinery, retraction and extension control of aircraft landing gear, motion control of robot motion mechanism, displacement or force active control of motion test equipment, etc., it is usually necessary to achieve one or several control targets through multiple actuators. Since these actuators will have an impact on the control target, it is necessary to reasonably design and match the output of these actuators. For example, the piston position control of the active hydraulic shock absorber of an automobile may be affected by the joint influence of actuators such as the opening of the CDC (Continuous Damping Control) valve of the recovery chamber, the opening of the CDC valve of the compression chamber, the speed and direction of the hydraulic pump, etc. It is necessary to reasonably control the output of these actuators under different working conditions to ensure that the piston position is achieved accurately, quickly and robustly.

[0003] However, the related art lacks a solution for effectively managing and coordinating the startup and output of each actuator in a multi-actuator system. Summary of the invention

[0004] Based on this, it is necessary to provide a multi-actuator hierarchical control system, method, computer device, computer-readable storage medium and computer program product that can effectively manage and coordinate the startup and output of each actuator in a multi-actuator system to achieve optimized control performance and efficiency in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a multi-actuator hierarchical control system, the multi-actuator hierarchical control system comprising a controlled object, a control device, n actuators and a processing unit, the control device comprising a multi-level control unit, each level of the control unit comprising a saturation link of a corresponding level, at least the multi-level control unit comprises a dead zone link of a corresponding level, each of the saturation links corresponds to an actuator, the saturation interval of each of the saturation links is different, the saturation interval of the saturation links belonging to the same level of control unit is greater than the dead zone interval of the dead zone link, wherein:

[0006] The processing unit is used to determine the input control amount of the control device according to the actual operating value of the controlled object and the target value of the controlled object to reach the target state;

[0007] The control device is used to, in the case of hierarchical control, based on the control execution order of each control unit, start from the first-level control unit, output the input control quantity to the first-level control unit, drive the actuator corresponding to the first-level saturation link to control the controlled object based on the input control quantity, and control the first-level dead zone link to process the input control quantity, output the input control quantity of the next-level control unit to drive the corresponding actuator to control the controlled object at the next level, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, thereby completing the hierarchical control of the controlled object and reaching the target state.

[0008] In one embodiment, the output control amount of the last level control unit drives the corresponding actuator n to control the controlled object, which includes:

[0009] If the output control quantity of the last-level dead zone link is not within the control range of the actuator n, the last-level control unit only includes the last-level saturation link, and the output control quantity of the last-level dead zone link is used as the input of the last-level saturation link to drive the actuator n to control the controlled object.

[0010] In one embodiment, the output control amount of the last level control unit drives the corresponding actuator n to control the controlled object, which includes:

[0011] If the output control amount of the last-stage dead zone link is within the control range of the actuator n, the actuator n is driven to control the controlled object according to the output control amount of the last-stage dead zone link.

[0012] In one embodiment, the multi-actuator hierarchical control system also includes an amplification link, which is arranged between the saturation link and the actuator corresponding to the saturation link, and the amplification link is used to amplify the output of the saturation link so that the amplified output is within the control range of the actuator to drive the actuator; wherein the amplification gain of each amplification link is determined according to the output control amount of the corresponding saturation link and the control amount range received by the actuator.

[0013] In one embodiment, the processing unit includes a filtering section, a comparing section and an adjusting section, wherein:

[0014] The filtering link is used to filter the actual operating value, and feed back the actual operating value after filtering to the comparison link. The comparison link compares the deviation between the actual operating value after filtering and the target value to obtain a deviation value, and outputs the deviation value to the adjustment link. The adjustment link adjusts the deviation value to obtain the input control amount of the control device.

[0015] In one embodiment, the total saturation interval determined by the saturation interval of the saturation link includes all variation intervals of the output control quantity of the adjustment link, and the saturation interval of each saturation link is determined based on at least one of the response speed, adjustment sensitivity and adjustment range of the corresponding actuator; wherein the control priority of the actuator is determined based on the response speed, adjustment sensitivity and adjustment range of the actuator.

[0016] In a second aspect, the present application also provides a multi-actuator hierarchical control method, comprising:

[0017] Acquiring an actual operating value of a controlled object and a target value for the controlled object to reach a target state;

[0018] Determining an input control amount of the control device according to the actual operating value and the target value;

[0019] In the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, the input control amount is output to the first-level control unit, and the first actuator corresponding to the first-level saturation link is driven to control the controlled object based on the input control amount;

[0020] Control the first-level dead zone link to process the input control quantity, output the input control quantity of the next-level control unit to drive the corresponding actuator to perform the next-level control on the controlled object, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, complete the hierarchical control of the controlled object, and reach the target state.

[0021] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0022] Acquiring an actual operating value of a controlled object and a target value for the controlled object to reach a target state;

[0023] Determining an input control amount of the control device according to the actual operating value and the target value;

[0024] In the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, the input control amount is output to the first-level control unit, and the first actuator corresponding to the first-level saturation link is driven to control the controlled object based on the input control amount;

[0025] Control the first-level dead zone link to process the input control quantity, output the input control quantity of the next-level control unit to drive the corresponding actuator to perform the next-level control on the controlled object, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, complete the hierarchical control of the controlled object, and reach the target state.

[0026] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0027] Acquiring an actual operating value of a controlled object and a target value for the controlled object to reach a target state;

[0028] Determining an input control amount of the control device according to the actual operating value and the target value;

[0029] In the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, the input control amount is output to the first-level control unit, and the first actuator corresponding to the first-level saturation link is driven to control the controlled object based on the input control amount;

[0030] Control the first-level dead zone link to process the input control quantity, output the input control quantity of the next-level control unit to drive the corresponding actuator to perform the next-level control on the controlled object, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, complete the hierarchical control of the controlled object, and reach the target state.

[0031] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0032] Acquiring an actual operating value of a controlled object and a target value for the controlled object to reach a target state;

[0033] Determining an input control amount of the control device according to the actual operating value and the target value;

[0034] In the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, the input control amount is output to the first-level control unit, and the first actuator corresponding to the first-level saturation link is driven to control the controlled object based on the input control amount;

[0035] Control the first-level dead zone link to process the input control quantity, output the input control quantity of the next-level control unit to drive the corresponding actuator to perform the next-level control on the controlled object, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, complete the hierarchical control of the controlled object, and reach the target state.

[0036] The multi-actuator hierarchical control system, method, computer device, computer-readable storage medium and computer program product are composed of a multi-level control unit, a controlled object, n actuators and a processing unit. The control unit is provided with corresponding saturation links and dead zone links. Each saturation link corresponds to an actuator. The saturation interval of each saturation link is different. The saturation interval of the saturation link belonging to the same level of control unit is greater than the dead zone interval of the dead zone link. Each level of control is completed in sequence by taking the output control amount of the previous level dead zone unit as the input of the next level control unit, until the output control amount of the last level control unit drives the corresponding actuator n to control the controlled object, and the hierarchical control of the controlled object is completed. This method allows the system to be finely adjusted at different control levels, and the setting of the saturation link and the dead zone link enables the system to properly process the input control amount at different control stages, thereby achieving more accurate control and system stability. In addition, the design is modularized, and each saturation link corresponds to an actuator, so it can be easily expanded to more actuators, controlled objects and operating indicators. In other words, this control method can not only realize the control of multiple actuators, but also effectively manage and coordinate the startup and output of each actuator in the multi-actuator system to achieve optimized control performance and efficiency, but also can be expanded to more complex systems by adding control units and actuators to meet more control requirements and operating indicators. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1is a schematic diagram of a multi-actuator hierarchical control system in one embodiment;

[0039] Figure 2 A schematic diagram of control parameters of a saturation link in an embodiment;

[0040] Figure 3 A schematic diagram of control parameters of a dead zone link in an embodiment;

[0041] Figure 4 A schematic diagram of a multi-actuator hierarchical control system in another embodiment;

[0042] Figure 5 A schematic diagram of a multi-actuator hierarchical control system in another embodiment;

[0043] Figure 6 A schematic diagram of a nested multi-actuator hierarchical control system in another embodiment;

[0044] Figure 7 An example diagram of hierarchical control in one embodiment;

[0045] Figure 8 A schematic diagram of hierarchical control effect in one embodiment;

[0046] Fig. 9 It is a schematic block diagram of the process of a multi-actuator hierarchical control method in one embodiment;

[0047] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] In an exemplary embodiment, Figure 1 As shown, a multi-actuator hierarchical control system is provided, which includes a controlled object, a control device, n actuators and a processor, and the control device includes a multi-level control unit, each level of the control unit includes a saturation link of a corresponding level, at least the multi-level control unit includes a dead zone link of a corresponding level, each saturation link corresponds to an actuator, and each saturation link has a different saturation interval, and the saturation interval of the saturation link belonging to the same level of control unit is greater than the dead zone interval of the dead zone link. Wherein:

[0050] The processor is used to determine the input control amount of the control device according to the actual operating value of the controlled object and the target value of the controlled object to reach the target state.

[0051] Among them, the controlled objects can be but are not limited to automobile shock absorbers, aircraft landing gear, aircraft flaperon opening and closing actuators, robot action mechanisms, engineering machinery motion mechanisms, and support and buffer mechanisms of motion test equipment. The target state can be that the length of the controlled object is extended to a specified length or the angle is rotated to a specified angle. Different controlled objects have different target states to be achieved under different working conditions, which are not limited here. The control target needs to be controlled for the controlled object to reach the target value of the target state. The control target can be the operating index of one or more controlled objects, or the operating index of one or more actuators, or the combination of the operating index of one or more controlled objects and the operating index of one or more actuators. n is a positive integer.

[0052] A control device is used for, in the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, outputting the input control quantity to the first-level control unit, driving the actuator corresponding to the first-level saturation link to control the controlled object based on the input control quantity, and controlling the first-level dead zone link to process the input control quantity, outputting the input control quantity of the next-level control unit to drive the corresponding actuator to control the controlled object at the next level, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, thereby completing the hierarchical control of the controlled object and reaching the target state.

[0053] Among them, each level of saturation link corresponds to an actuator, that is, the number of levels of saturation links is determined by the number of actuators. The adjustment range of the actuator corresponding to each level of saturation link is different, and the control sequence of each actuator is also different. For the controlled object to reach the specified target state, the required actuator can be determined in advance, and the role of each actuator in controlling the controlled object is also different. For example, actuator 1 controls the first robotic arm of the controlled object, and actuator 2 controls the second robotic arm of the controlled object. The saturation link contains 2 control parameters. The saturation lower limit ys_min and the saturation upper limit ys_max determine the saturation interval. The calculation rule of the saturation link is: when the input value is between the two, the original value is output; when the input value is outside the interval determined by the two, saturation occurs; when the input value is less than ys_min, the output is ys_min; when the input value is greater than ys_max, the output is ys_max, such as Figure 2 FIG. 1 is a schematic diagram of control parameters of a saturation link in an exemplary embodiment.

[0054] The dead zone link also includes two control parameters. The lower limit of the dead zone xd_min and the upper limit of the dead zone xd_max determine the dead zone interval. The calculation rule of the dead zone link is: when the input value is between the two, it is output as zero; when the input value is less than xd_min, it is output as the original value minus xd_min; when the input value is greater than xd_max, it is output as the original value minus xd_max. Figure 3 FIG. 1 is a schematic diagram of control parameters of a dead zone link in an exemplary embodiment.

[0055] It is understandable that the saturation interval of the saturation link belonging to the same level of control unit is greater than the dead zone interval of the dead zone link, the purpose of which is to ensure the continuity of hierarchical control and avoid sudden impact force on the load. The saturation intervals of saturation links of different levels are different. The saturation intervals of the saturation link of each level of control unit are determined according to at least one of the response speed, adjustment sensitivity and adjustment range of the corresponding actuator. In other words, the setting of the saturation intervals of each level is set according to the comprehensive ranking results of the response speed, adjustment sensitivity and adjustment range of the corresponding actuator. The specific setting method can be determined according to actual needs or pre-set methods. The control execution order of each actuator is different. For example, the actuator with fast response speed, high adjustment sensitivity and small adjustment range is controlled first.

[0056] It should be noted that each level of control unit includes a saturation link of the corresponding level, and at least multiple levels of control units include a dead zone link of the corresponding level. It can be understood that all control units include a saturation link, but not all control units include a dead zone link. In the last level of control unit, the control unit may only include a saturation link. In the case where all control units include a saturation link and a dead zone link, the dead zone link of the previous level is connected to the dead zone link and the saturation link of the next level control unit, the saturation link is connected to the corresponding actuator, and the dead zone link of the last level is connected to the actuator. In the case where the last level control unit only includes a saturation link, the dead zone link of the previous level is connected to the dead zone link and the saturation link of the next level control unit, the saturation link is connected to the corresponding actuator, and the dead zone link of the last level is connected to the saturation link of the last level control unit.

[0057] Exemplarily, the control device includes a multi-level control unit, from the first-level control unit to the last-level control unit, the saturation link of the first-level control unit is connected to the corresponding actuator, the dead zone link of the first-level control unit is respectively connected to the saturation link and dead zone link of the second-level control unit, and for each level of control unit after the first-level control unit to the last-level control unit, the dead zone link of the previous level control unit is respectively connected to the saturation link and dead zone link of the next level control unit. The last-level control unit may include a saturation link and a dead zone link, or may only include a saturation link. In the case where the last-level control unit may include a saturation link and a dead zone link, the connection method is the same as the dead zone link of the previous level control unit being respectively connected to the saturation link and dead zone link of the next level control unit. In the case where the last-level control unit only includes a saturation link, the dead zone link of the previous level control unit is directly connected to the saturation link.

[0058] Based on this control device, in the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, the input control amount is output to the first-level control unit, the actuator corresponding to the first-level saturation link is driven to control the controlled object based on the input control amount, and the first-level dead zone link is controlled to process the input control amount, and the input control amount of the next-level control unit is output to drive the corresponding actuator to control the controlled object at the next level, until the output control amount of the last-level control unit drives the corresponding actuator n to control the controlled object, completes the hierarchical control of the controlled object, and reaches the target state. After all actuators are controlled together, the next stage of control will be carried out based on the actual operating value of the controlled object.

[0059] The multi-actuator hierarchical control system is composed of a multi-level control unit, a controlled object, n actuators and a processing unit. The control unit is provided with corresponding saturation links and dead zone links. Each saturation link corresponds to an actuator. The saturation interval of each saturation link is different. The saturation interval of the saturation link belonging to the same level of control unit is greater than the dead zone interval of the dead zone link. Each level of control is completed in sequence by taking the output control amount of the previous level dead zone unit as the input of the next level control unit, until the output control amount of the last level control unit drives the corresponding actuator n to control the controlled object and complete the hierarchical control of the controlled object. This method allows the system to be finely adjusted at different control levels, and the setting of the saturation link and the dead zone link enables the system to properly process the input control amount at different control stages, thereby achieving more precise control and system stability. In addition, it is designed in a modular way, and each saturation link corresponds to an actuator, so it can be easily expanded to more actuators, controlled objects and operating indicators. In other words, this control method can not only realize the control of multiple actuators, but also effectively manage and coordinate the startup and output of each actuator in the multi-actuator system to achieve optimized control performance and efficiency, but also can be expanded to more complex systems by adding control units and actuators to meet more control requirements and operating indicators.

[0060] It is understandable that the control unit corresponding to the last-level dead zone link is not necessarily the last-level control unit. In other words, there are different settings for the last-level control unit of the multi-actuator hierarchical control system. The following are two settings for the last-level control unit of the multi-actuator hierarchical control system:

[0061] Case 1: If the output control quantity of the last dead zone link is not within the control range of actuator n, the last control unit only includes the last saturation link, and the output control quantity of the last dead zone link is used as the input of the last saturation link to drive actuator n to control the controlled object. This method ensures the safe and stable operation of the system by adding a saturation link to the last saturation link.

[0062] Case 2: If the output control quantity of the last dead zone link is within the control range of actuator n, the last control unit includes the last saturation link and the last dead zone link. According to the output control quantity of the last dead zone link, actuator n is driven to control the controlled object. This method does not set a saturation link in the last dead zone link, simplifies the control system structure, reduces the number of components, and avoids the nonlinear effect of the saturation link, thereby reducing the impact on the dynamic performance of the system and improving the control accuracy.

[0063] It can be understood that, between each saturation link or dead zone link and the corresponding actuator, if the output of the saturation link or dead zone link can directly drive the corresponding actuator, there is no need to set an amplification link; if not, an amplification link needs to be set.

[0064] Optionally, in an exemplary embodiment, the multi-actuator hierarchical control system also includes an amplification link, which is arranged between the saturation link or the dead zone link and the actuator corresponding to the saturation link or the dead zone link, and the amplification link is used to amplify the output of the saturation link or the dead zone link so that the amplified output is within the control range of the actuator to drive the actuator; wherein the amplification gain of each amplification link is determined according to the output control amount of the corresponding saturation link or the dead zone link and the control amount range received by the actuator.

[0065] It can be understood that in each level of amplification link, the amplification gain is set according to the control amount output by the corresponding saturation link and the control amount range acceptable to the actuator. The output of the amplification link should cover and not exceed the control amount range acceptable to the corresponding actuator as much as possible, that is, the output of the amplification link should be large enough to drive the actuator to its maximum or minimum working range when necessary, and the output of the amplification link should not exceed the limit range accepted by the actuator. When the control amount output by the saturation link can cover the control amount range acceptable to the corresponding actuator after proportional scaling, the corresponding amplification link can set an appropriate amplification gain; when the control amount output by the saturation link exceeds the control amount range acceptable to the corresponding actuator after proportional scaling, the corresponding amplification link needs to set an appropriate bias in addition to the appropriate amplification gain; the appropriate amplification gain can be understood as making the control amount output by the saturation link just cover the complete control amount range acceptable to the actuator after amplification, while avoiding exceeding this range.

[0066] Furthermore, when there is a coupling relationship between multiple actuators, such as interlocking, mutual inversion, complementarity, etc., the appropriate amplification gain is matched according to the coupling relationship. For example, for a complementary relationship, the sum of the amplification gains of the amplification links corresponding to the actuators in the complementary relationship is set to a specific value.

[0067] It can be understood that based on the above-mentioned multi-actuator hierarchical control system, open-loop control of multiple actuators or multiple operating indicators can be performed. Further, in an exemplary embodiment, Figure 4 As shown, in addition to the saturation link, dead zone link, amplification link, actuator, and controlled object, the multi-actuator hierarchical control system also includes a filtering link, a comparison link, and an adjustment link in the processing unit, among which:

[0068] The filtering link is used to filter the actual operating value, and feed the actual operating value after filtering to the comparison link. The comparison link is used to compare the deviation between the actual operating value after filtering and the target value to obtain the deviation value, and output the deviation value to the adjustment link. The adjustment link adjusts the deviation value to obtain the input control quantity of the control device.

[0069] It is understandable that the multi-actuator hierarchical control system can realize hierarchical control of the system with multiple actuators and a single control target, so the control parameter design is also particularly critical. Among them, the filtering link can be compatible with different types of filtering algorithms, which are not limited here. The filtering method and parameters in the filtering link can be determined according to actual needs, so that the output of the filtering link can timely reflect the changing trend of the operating value of the controlled object, but does not change with the random and slight changes in the actual operating value of the controlled object. The adjustment link can be compatible with different types of control strategies, and the control strategy and control parameters in the adjustment link can be determined according to actual needs, so that it can quickly, accurately and robustly reduce the deviation between the actual operating value and the target value of the controlled object. Furthermore, the total saturation interval determined by the saturation interval of the saturation link includes all the change intervals of the output control quantity of the adjustment link.

[0070] Optionally, in an exemplary embodiment, the multi-actuator hierarchical control system includes at least a filtering link, a comparison link, a regulation link, a saturation link, a dead zone link, an amplification link, an actuator and a controlled object, such as Figure 5 As shown, a multi-actuator hierarchical control system is provided, which includes a filtering link 00, a comparison link 01, an adjustment link 02, a saturation link 03, a dead zone link 04, an amplification link 05, an actuator 06, a controlled object 07, etc., wherein there are one or more saturation links 03, dead zone links 04, amplification links 05, and actuator 06, and a last-level saturation link is set between the last-level dead zone link and the actuator n. Among them, when there are multiple saturation links 03, dead zone links 04, and amplification links 05, in order to distinguish different saturation links, dead zone links, amplification links, and actuators, numbers can be added after the saturation links, dead zone links, amplification links, and actuator serial numbers to distinguish different saturation links, dead zone links, amplification links, and actuators, such as saturation link 03-1, dead zone link 04-1, such as Figure 5As shown, the saturation link 03 and the dead zone link 04 of the link closest to the regulating link 02 can be respectively called the first-level saturation link 03 and the first dead zone link 04, and the first-level saturation link 03 and the first dead zone link 04 can be regarded as the first-level control unit, and the saturation link 03-1 and the dead zone link 04-1 of the first-level dead zone link 04 are called the second-level saturation link 03-1 and the second dead zone link 04-1, and the second-level saturation link 03-1 and the second dead zone link 04-1 can be regarded as the second-level control unit, and so on, until the last-level saturation link is set between the last-level dead zone link and the actuator n. Figure 5 In the multi-actuator hierarchical control system shown, each stage of the amplification link is arranged between the corresponding saturation link and the actuator.

[0071] Exemplarily, the actual operating value of the controlled object 07 is first acquired by the sensor, processed by the filtering link 00, and fed back to the comparison link 01; the comparison link 01 compares the deviation between the target value and the actual operating value of the controlled object 07, and outputs the deviation value to the adjustment link 02. According to the deviation value, the adjustment link 02 obtains the control amount that is conducive to reducing the deviation through certain operations, and outputs it to the first-level saturation link 03 and the first-level dead zone link 04 synchronously. The first-level saturation link 03 sets a suitable first-level saturation interval [ys_min, ys_max), and the control amount transmitted by the adjustment link 02 is processed according to the calculation rules of the saturation link according to the first-level saturation interval setting, and then output to the first-level amplification link 05; the first-level amplification link 05 processes and outputs it to the first-level actuator 1; the first-level actuator 1 operates according to the received control amount to control the controlled object 07.

[0072] The first-level dead zone link 04 sets a suitable first-level dead zone interval [xd_min, xd_max) to set the control quantity within the first-level dead zone interval among the control quantities transmitted from the adjustment link 02 to 0, and the control quantity exceeding the first-level dead zone interval is processed according to the calculation rules of the dead zone link, and then synchronously output to the second-level saturation link 03-1 and the second-level dead zone link 04-1.

[0073] The second-level saturation link 03-1 sets a suitable second-level saturation interval [ys_min_1, ys_max_1), and processes the control quantity transmitted from the first-level dead zone link 04 according to the second-level saturation interval setting according to the saturation link calculation rules, and outputs it to the second-level amplification link 05-1; the second-level amplification link 05-1 processes and outputs it to the second-level actuator 2; the second-level actuator 2 operates according to the received control quantity to control the controlled object 07.

[0074] The second-level dead zone link 04-1 sets an appropriate second-level dead zone interval [xd_min_1, xd_max_1) to set the control quantity within the second-level dead zone interval among the control quantities transmitted from the first-level dead zone link 04 to 0, and the control quantity exceeding the second-level dead zone interval is processed according to the calculation rules of the dead zone link, and then synchronously output to the next-level saturation link and the next-level dead zone link.

[0075] By analogy, until the last dead zone link, if the output of this link will not exceed the control range of the last actuator n under various circumstances, the saturation link can be omitted and directly output to the last amplification link, which will output to actuator n after calculation for operation control; otherwise, the last saturation link needs to be set, and the last dead zone link only outputs to the last saturation link, and no subsequent dead zone link is set. After all actuators are controlled together, the actual operation value of the controlled object 07 is filtered by the filtering link 00 and fed back to the comparison link 01 for the next stage of control.

[0076] The multi-actuator hierarchical control system based on the filtering link, comparison link, adjustment link, saturation link, dead zone link, amplification link, actuator, controlled object and its operating index feedback allows the system to make detailed adjustments at different control levels, and the setting of the saturation link and the dead zone link enables the system to properly process the input control quantity at different control stages, thereby achieving more precise control and system stability. In addition, it is designed in a modular way, and each saturation link corresponds to an actuator, so it can be easily expanded to more actuators, controlled objects and operating indicators. In other words, this control method can not only realize the control of multiple actuators, but also effectively manage and coordinate the startup and output of each actuator in the multi-actuator system to achieve optimized control performance and efficiency, and can be expanded to more complex systems by adding control units and actuators to meet more control requirements and operating indicators. In addition, the multi-actuator hierarchical control system can also perform hierarchical feedback control on the operating indicators based on one or more operating index feedback of one or more controlled objects / actuators.

[0077] It should be noted that the above-mentioned multi-actuator hierarchical control system can be used for system control of a single control target and multiple actuators, and can also be used for system control of multiple control targets and multiple actuators. When used for the control of multiple control targets, the number of comparison links and adjustment links can be increased as needed, and the added comparison links and adjustment links can be in any reasonable position before each actuator. In addition, the above-mentioned actuator hierarchical control system can be used alone, or in combination of multiple combinations, nested, shared control links, etc., which will not be elaborated here. Optionally, in an exemplary embodiment, such as Figure 6As shown in the above Figure 5 On the basis of the actuator hierarchical control system, a nested application of feedback signals is added. In order to achieve the effect of any actuator from actuator 1 to actuator n, a nested hierarchical control strategy including a saturation link can be added to achieve the target value 1. The added nested system includes a filtering link, a comparison link, an adjustment link, a control unit and an actuator, wherein the actuator may include actuator m1 and actuator m2. The number of control units, the number of actuators and the execution range of the actuators can be determined according to actual needs. The setting principle of each control unit is the same as that of the above-mentioned system, which will not be repeated here.

[0078] For example, in one exemplary embodiment, Figure 7 As shown in the figure, it is an example diagram of hierarchical control. The controlled object is the mechanical arm of the equipment, including arm 1, arm 2 and arm 3. The mechanical arm of the equipment needs to be raised by 100 meters. The corresponding arm 1 is 60 meters long, arm 2 is 30 meters long and arm 3 is 40 meters long. Actuator 1 controls arm 1, actuator 2 controls arm 2, and actuator 3 controls arm 3. To raise the mechanical arm by 100 meters, the corresponding hierarchical control strategy includes: the range of the saturation link corresponding to actuator 1 (saturation interval) is 0-50 meters, the range of the dead zone link belonging to the same level (dead zone interval) is 0-49 meters, the range of the saturation link corresponding to actuator 2 is 0-20 meters, the range of the dead zone link belonging to the same level is 0-19 meters, and the range of the saturation link corresponding to actuator 3 is 0-30 meters. The saturation link output drives actuator 3 to control arm 3 of the controlled object, and the following is obtained: Figure 8 The schematic diagram of hierarchical control effect is shown. Furthermore, nested control can be performed based on the above system. For example, the effect of actuator 1 (such as a hydraulic cylinder) is to extend the length (such as 40 meters). In order to achieve this effect, it is necessary to control the hydraulic oil flow on both sides of the piston in the hydraulic cylinder. These two flows can be achieved by a hierarchical control strategy containing two saturation links, thereby effectively managing and coordinating the startup and output of each actuator in the multi-actuator system to achieve optimized control performance and efficiency.

[0079] It should be noted that the above system can realize the function of controlling multiple actuators to achieve specific control indicators, and has good scalability and compatibility. It can also be used alone to control the specific operating indicators of a certain controlled object, or it can realize the control of multiple specific operating indicators by combining the above multiple systems or increasing the number of comparison links and adjustment links, and can be extended to any number of actuators, any number of controlled objects, and any number of operating indicators. In addition, it can be compatible with different filtering algorithms and control strategies. The various components of the above system can also be functionally equivalent functions, algorithms, hardware, programs, software or their sub-functions, mathematical models, etc., which will not be elaborated here.

[0080] Each module in the multi-actuator hierarchical control system can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0081] Based on the same inventive concept, the embodiment of the present application also provides a multi-actuator hierarchical control method for implementing the multi-actuator hierarchical control system involved above. The implementation solution provided by the method to solve the problem is similar to the implementation solution recorded in the above system, so the specific limitations of one or more multi-actuator hierarchical control method embodiments provided below can refer to the above limitations on the multi-actuator hierarchical control system, and will not be repeated here.

[0082] In an exemplary embodiment, Fig. 9 As shown, a multi-actuator hierarchical control method is provided, and the method is applied to the above-mentioned multi-actuator hierarchical control system as an example for explanation, comprising the following steps:

[0083] Step 902: Acquire the actual operating value of the controlled object and the target value for the controlled object to reach the target state.

[0084] Among them, the actual operating value is obtained through sensor collection.

[0085] Step 904: Determine the input control amount of the control device according to the actual operating value and the target value.

[0086] Step 906, in the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, the input control quantity is output to the first-level control unit, and the first actuator corresponding to the first-level saturation link is driven to control the controlled object based on the input control quantity.

[0087] Step 908, control the first-level dead zone link to process the input control quantity, output the input control quantity of the next-level control unit to drive the corresponding actuator to perform the next-level control on the controlled object, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, complete the hierarchical control of the controlled object, and reach the target state.

[0088] Optionally, in one embodiment, the input control amount of the control device is determined based on the actual operating value and the target value, including: filtering the actual operating value to obtain the actual operating value after filtering; comparing the deviation between the actual operating value after filtering and the target value to obtain the deviation value, and adjusting the deviation value to obtain the input control amount of the control device.

[0089] The multi-actuator hierarchical control method is composed of a multi-actuator hierarchical control system consisting of a multi-level control unit, a controlled object, n actuators and a processing unit. The control unit is provided with corresponding saturation links and dead zone links. Each saturation link corresponds to an actuator. The saturation interval of each saturation link is different. The saturation interval of the saturation link belonging to the same level of control unit is greater than the dead zone interval of the dead zone link. Each level of control is completed in sequence by taking the output control amount of the previous level dead zone unit as the input of the next level control unit, until the output control amount of the last level control unit drives the corresponding actuator n to control the controlled object, completing the hierarchical control of the controlled object. This method allows the system to be finely adjusted at different control levels, and the setting of the saturation link and the dead zone link enables the system to properly process the input control amount at different control stages, thereby achieving more precise control and system stability. In addition, the design is modularized, and each saturation link corresponds to an actuator, so it can be easily expanded to more actuators, controlled objects and operating indicators. In other words, this control method can not only realize the control of multiple actuators, but also effectively manage and coordinate the startup and output of each actuator in the multi-actuator system to achieve optimized control performance and efficiency, but also can be expanded to more complex systems by adding control units and actuators to meet more control requirements and operating indicators.

[0090] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0091] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.10As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a multi-actuator hierarchical control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0092] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0093] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0094] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0095] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0096] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0097] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0098] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0099] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A multi-actuator hierarchical control system, characterized in that: The multi-actuator hierarchical control system includes a controlled object, a control device, n actuators and a processing unit. The control device includes a multi-level control unit. Each level of the control unit includes a saturation link of a corresponding level. At least the multi-level control unit includes a dead zone link of a corresponding level. Each of the saturation links corresponds to an actuator. The saturation interval of each of the saturation links is different. The saturation interval of the saturation links belonging to the same level of control unit is greater than the dead zone interval of the dead zone link. The processing unit is used to determine the input control amount of the control device according to the actual operating value of the controlled object and the target value of the controlled object to reach the target state; The control device is used to, in the case of hierarchical control, based on the control execution order of each control unit, start from the first-level control unit, output the input control quantity to the first-level control unit, drive the actuator corresponding to the first-level saturation link to control the controlled object based on the input control quantity, and control the first-level dead zone link to process the input control quantity, output the input control quantity of the next-level control unit to drive the corresponding actuator to control the controlled object at the next level, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, thereby completing the hierarchical control of the controlled object and reaching the target state.

2. The system according to claim 1, characterized in that The output control amount of the last level control unit drives the corresponding actuator n to control the controlled object, including: If the output control quantity of the last-level dead zone link is not within the control range of the actuator n, the last-level control unit only includes the last-level saturation link, and the output control quantity of the last-level dead zone link is used as the input of the last-level saturation link to drive the actuator n to control the controlled object.

3. The system according to claim 1, characterized in that The output control amount of the last level control unit drives the corresponding actuator n to control the controlled object, including: If the output control quantity of the last-level dead zone link is within the control range of the actuator n, the last-level control unit includes a last-level saturation link and a last-level dead zone link. According to the output control quantity of the last-level dead zone link, the actuator n is driven to control the controlled object.

4. The system according to any one of claims 1 to 3, characterized in that: The multi-actuator hierarchical control system also includes an amplification link, which is arranged between the saturation link and the actuator corresponding to the saturation link. The amplification link is used to amplify the output of the saturation link so that the amplified output is within the control range of the actuator and drives the actuator; wherein the amplification gain of each amplification link is determined according to the output control amount of the corresponding saturation link and the control amount range received by the actuator.

5. The system according to claim 4, characterized in that The processing unit includes a filtering link, a comparison link and an adjustment link, wherein: The filtering link is used to filter the actual operating value, and feed back the actual operating value after filtering to the comparison link. The comparison link compares the deviation between the actual operating value after filtering and the target value to obtain a deviation value, and outputs the deviation value to the adjustment link. The adjustment link adjusts the deviation value to obtain the input control amount of the control device.

6. The system according to claim 5, characterized in that The total saturation interval determined by the saturation interval of the saturation link includes all variation intervals of the output control quantity of the adjustment link, and the saturation interval of each saturation link is determined based on at least one of the response speed, adjustment sensitivity and adjustment range of the corresponding actuator; wherein the control priority of the actuator is determined based on the response speed, adjustment sensitivity and adjustment range of the actuator.

7. A multi-actuator hierarchical control method, characterized in that: Applied to a multi-actuator hierarchical control system according to any one of claims 1 to 6, the method comprising: Acquiring an actual operating value of a controlled object and a target value for the controlled object to reach a target state; Determining an input control amount of the control device according to the actual operating value and the target value; In the case of hierarchical control, based on the control execution order of each control unit, starting from the first-level control unit, the input control amount is output to the first-level control unit, and the first actuator corresponding to the first-level saturation link is driven to control the controlled object based on the input control amount; Control the first-level dead zone link to process the input control quantity, output the input control quantity of the next-level control unit to drive the corresponding actuator to perform the next-level control on the controlled object, until the output control quantity of the last-level control unit drives the corresponding actuator n to control the controlled object, complete the hierarchical control of the controlled object, and reach the target state.

8. The method according to claim 7, characterized in that Determining the input control amount of the control device according to the actual operating value and the target value includes: Performing filtering on the actual operating value to obtain the actual operating value after filtering; The actual operating value after the filtering process is compared with the target value to obtain a deviation value, and the deviation value is adjusted to obtain an input control amount of the control device.

9. A computer device comprising a memory and a processing unit, wherein the memory stores a computer program, characterized in that: When the processing unit executes the computer program, the steps of the method according to claim 7 or claim 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processing unit, the steps of the method according to claim 7 or claim 8 are implemented.

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