Adaptive control method and system of actuation control system

Abstract

The invention relates to a self-adaptive control method and system of an actuation control system, belongs to the technical field of actuation control systems, and solves the problem that a control algorithm in the prior art cannot meet the stability of the actuation control system and time domain control characteristics of an approximate trapezoid. Calculating a control error, a control error absolute value, a differential and a differential absolute value based on the target instruction and the controlled quantity; obtaining a position error weight based on the control error and the absolute value thereof, obtaining a speed weight based on the differential and the absolute value thereof, and obtaining a gain parameter based on the position error weight and the speed weight; a control quantity adjustment coefficient is obtained based on the controlled quantity, the differential of the controlled quantity and the instruction amplitude limiting value; obtaining a first gain parameter and a first control quantity adjustment coefficient through amplitude limiting processing; and obtaining an intermediate control gain parameter based on the first gain parameter and the gain constant, obtaining an intermediate control quantity based on the intermediate control gain parameter, obtaining a target control quantity based on the first control quantity adjustment coefficient and the intermediate control quantity, and taking the target control quantity as an output result. The suppression of overshoot and steady-state self-excited oscillation is realized, and the stability of the time domain performance of the actuation control system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of actuation control systems, and in particular to an adaptive control method and system for an actuation control system. Background Art

[0002] The actuation control system is a system used to control the movement of mechanical parts. It is widely used in aerospace, automobile, industrial automation and other fields. The core of the actuation control system is to use control algorithms to achieve precise control of components to achieve the desired movement or positioning purpose. Therefore, in order to ensure the performance of the actuation control system, advanced control algorithms are particularly critical, especially the time domain characteristics, which determine the speed and reliability of the control system. The development trend of the actuation control system requires that the time domain characteristic curve is close to a trapezoid, that is, the dynamic response process has a short rise time and a small overshoot, and the steady-state control accuracy is high, especially the overshoot control of the maximum displacement command, in order to avoid the displacement output exceeding the mechanical limit and hitting the cylinder and damaging it.

[0003] The control algorithms of the existing actuator control system include mechanical improvement method, segmented PID control method, command feedforward control method, etc. Among them, the mechanical improvement method eliminates the nonlinearity of the control model and improves the consistency of time domain indicators and frequency domain indicators by selecting high-precision transmission mechanism, precision control circuit, high-performance motor and other components. The disadvantages are high transformation cost, low flexibility, and inability to achieve fast and stable approximate trapezoidal time domain characteristics; the segmented PID control method is segmented according to the error size to achieve performance adjustment of different amplitude instructions, but it cannot take into account the time domain rapidity index and time domain stability index, and cannot achieve fast and stable approximate trapezoidal time domain characteristics; the command feedforward control method compensates the closed-loop control amount according to the command speed and acceleration to improve the tracking rapidity, but the feedforward control method weakens the positive control effect on the medium and high frequency bands, and even forms disturbances to the system due to phase reversal, and cannot achieve fast and stable approximate trapezoidal time domain characteristics.

[0004] Therefore, the existing control algorithm cannot meet the stability of the actuation control system and the approximately trapezoidal time domain control characteristics. Summary of the invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide an adaptive control method and system for an actuation control system, so as to solve the problem that the existing control algorithm cannot satisfy the stability of the actuation control system and the approximately trapezoidal time domain control characteristics.

[0006] On the one hand, an embodiment of the present invention provides an adaptive control method for an actuation control system, wherein in each control cycle, the following operations are performed:

[0007] Obtain target instructions and controlled quantities;

[0008] Calculating a control error, an absolute value of the control error, a differential, and an absolute value of the differential of the controlled variable based on the target instruction and the controlled variable;

[0009] A position error weight value for overshoot prediction is calculated based on the control error and the absolute value of the control error, a speed weight value for overshoot prediction is calculated based on the differential and the absolute value of the differential, an overshoot prediction amount is obtained based on the position error weight value and the speed weight value, and a gain parameter is obtained based on the overshoot prediction amount;

[0010] Calculate the control amount adjustment coefficient based on the controlled amount, the differential of the controlled amount and the command limit value;

[0011] Performing a limiting process on the gain parameter and the control amount adjustment coefficient to obtain a first gain parameter and a first control amount adjustment coefficient;

[0012] An intermediate control gain parameter is obtained based on the first gain parameter and the gain constant, an intermediate control amount is obtained based on the intermediate control gain parameter, a target control amount is obtained based on the first control amount adjustment coefficient and the intermediate control amount, and the target control amount is used as the output result of the current control cycle.

[0013] Based on the further improvement of the above method, the control error, absolute value of the control error, differential and absolute value of the differential of the controlled quantity are calculated based on the target instruction and the controlled quantity, including: the control error of the controlled quantity is:

[0014] TargetErrorNow=TargetNow-FeedbackNow, where TargetNow is the target instruction, FeedbackNow is the controlled quantity obtained in the current control cycle, and the absolute value of the control error of the controlled quantity is:

[0015] FabsTargetError=fabs(TargetErrorNow),

[0016] Among them, fabs() represents the absolute value function of floating point numbers;

[0017] The differential of the controlled quantity is:

[0018]

[0019] Among them, FeedbackLast is the controlled quantity obtained in the previous control cycle, and TimeLag is the control cycle;

[0020] The differential of the controlled quantity is limited. If the differential is greater than the maximum speed design value of the controlled quantity, the differential is equal to the maximum speed design value of the controlled quantity; if the differential is less than the negative number of the maximum speed design value of the controlled quantity, the differential is equal to the negative number of the maximum speed design value of the controlled quantity; otherwise, the differential of the controlled quantity is kept unchanged;

[0021] The absolute value of the differential of the controlled quantity is:

[0022] FabsFeedbackVelocity=fabs(FeedbackVelocityNow).

[0023] Based on the further improvement of the above method, the position error weight value of the overshoot prediction calculated based on the control error and the absolute value of the control error includes: if the absolute value of the control error is greater than a first error constant, the position error weight value is set to the first error constant:

[0024] PositionWeight = BigError,

[0025] Wherein, PisitionWeight is the position error weight, BigError is the first error constant; if the absolute value of the control error is greater than or equal to the second error constant and less than or equal to the first error constant, the position error weight is:

[0026]

[0027] Among them, SmallError is the second error constant, BigEC is the first error prediction coefficient, SmallEC is the second error prediction coefficient, the first error constant is greater than the second error constant, and the first error prediction coefficient is less than the second error prediction coefficient; if the absolute value of the control error is less than the second error constant, the position error weight is:

[0028] PositionWeight=SmallError.

[0029] Based on the further improvement of the above method, the speed weight value of overshoot prediction calculated based on the differential and the absolute value of the differential includes: if the absolute value of the differential of the controlled quantity is greater than the first speed constant, the speed weight value is equal to the first speed prediction coefficient:

[0030] VelocityWeight = BigVC,

[0031] Wherein, VelocityWeight is the velocity weight, BigVC is the first velocity prediction coefficient; if the absolute value of the differential of the controlled quantity is less than or equal to the first velocity constant and greater than or equal to the second velocity constant, the velocity weight is:

[0032]

[0033] Wherein, BigVelocity is the first speed constant, SmallVelocity is the second speed constant, SmallVC is the second speed prediction coefficient, the first speed constant is greater than the second speed constant, and the first speed prediction coefficient is greater than the second speed prediction coefficient; if the absolute value of the differential of the controlled quantity is less than the second speed constant, the speed weight is:

[0034] VelocityWeight = SmallVC.

[0035] Based on the further improvement of the above method, the overshoot prediction amount obtained based on the position error weight and the speed weight includes: if the control error of the controlled amount has the same sign as the differential, the overshoot prediction amount is:

[0036] OvershootPrediction = PositionWeight*VelocityWeight+0.01, otherwise, the overshoot prediction value is a constant 1.

[0037] Based on a further improvement of the above method, obtaining a gain parameter based on the overshoot prediction amount includes: taking the inverse of the overshoot prediction amount to obtain the gain parameter.

[0038] Based on the further improvement of the above method, the command limit value includes a positive command limit value and a negative command limit value, and the control amount adjustment coefficient includes a positive impact cylinder control amount adjustment coefficient and a reverse impact cylinder control amount adjustment coefficient; the control amount adjustment coefficient calculated based on the controlled amount, the differential of the controlled amount and the command limit value includes: when the controlled amount is greater than the positive command limit value, first determine whether the output control constant is a positive number, if so, set the forward impact cylinder control amount adjustment coefficient to the first control amount constant, if not, then determine whether the differential of the controlled amount is a positive number, if so, set The forward impact cylinder control quantity adjustment coefficient is set to the second control quantity constant, if not, the forward impact cylinder control quantity adjustment coefficient is set to constant 1; wherein, the first control quantity constant is less than the second control quantity constant; when the controlled quantity is less than the negative instruction limit value, first determine whether the output control constant is a negative number, if so, set the reverse impact cylinder control quantity adjustment coefficient to the first control quantity constant, if not, determine whether the differential of the controlled quantity is a negative number, if so, set the reverse impact cylinder control quantity adjustment coefficient to the second control quantity constant, if not, set the reverse impact cylinder control quantity adjustment coefficient to constant 1.

[0039] Based on the further improvement of the above method, the limiting processing of the gain parameter and the control amount adjustment coefficient to obtain the first gain parameter and the first control amount adjustment coefficient includes: if the gain parameter is greater than the upper boundary of the gain parameter adjustment coefficient, the upper boundary of the gain parameter adjustment coefficient is used as the first gain parameter; if the gain parameter is less than the lower boundary of the gain parameter adjustment coefficient, the lower boundary of the gain parameter adjustment coefficient is used as the first gain parameter, otherwise the gain parameter is directly used as the first gain parameter; if the control amount adjustment coefficient is greater than the upper boundary of the control amount adjustment coefficient, the upper boundary of the control amount adjustment coefficient is used as the first control amount adjustment coefficient; if the control amount adjustment coefficient is less than the lower boundary of the control amount adjustment coefficient, the lower boundary of the control amount adjustment coefficient is used as the first control amount adjustment coefficient, otherwise the control amount adjustment coefficient is directly used as the first gain amount adjustment coefficient.

[0040] Based on the further improvement of the above method, the intermediate control gain parameter obtained based on the first gain parameter and the gain constant includes: multiplying the first gain parameter and the gain constant to obtain the intermediate control gain parameter; the target control quantity obtained based on the first control quantity adjustment coefficient and the intermediate control quantity includes: multiplying the first control quantity adjustment coefficient and the intermediate control quantity to obtain the target control quantity.

[0041] On the other hand, an embodiment of the present invention provides an adaptive control system for time domain performance stability of an actuation control system, the system comprising:

[0042] Input data module to obtain target instructions and controlled quantities;

[0043] A data preprocessing module is used to calculate the control error, absolute value of the control error, differential and absolute value of the differential of the controlled quantity based on the target instruction and the controlled quantity;

[0044] A gain parameter calculation module is configured to calculate a position error weight for overshoot prediction based on the control error and the absolute value of the control error, calculate a speed weight for overshoot prediction based on the differential and the absolute value of the differential, obtain an overshoot prediction amount based on the position error weight and the speed weight, and obtain a gain parameter based on the overshoot prediction amount;

[0045] A control quantity parameter calculation module is configured to calculate a control quantity adjustment coefficient based on the controlled quantity, the differential of the controlled quantity and the command limit value;

[0046] A limiting processing module performs limiting processing on the gain parameter and the control amount adjustment coefficient to obtain a first gain parameter and a first control amount adjustment coefficient;

[0047] An output module obtains an intermediate control gain parameter based on the first gain parameter and the gain constant, obtains an intermediate control amount based on the intermediate control gain parameter, obtains a target control amount based on the first control amount adjustment coefficient and the intermediate control amount, and uses the target control amount as an output result of the current control cycle.

[0048] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0049] 1. The present invention proposes an adaptive control method and system for an actuation control system, wherein the gain parameter adjustment coefficient is obtained by the position error weight and the speed weight, and both the position error weight and the speed weight need to consider limiting conditions during calculation, and different results are obtained according to different limiting conditions. The control quantity adjustment coefficient also obtains different results according to different limiting conditions, and adaptive calculation is achieved by setting limiting conditions for different situations to meet the diverse changes in the controlled quantity in the actuation control system.

[0050] 2. The adaptive control method and system of an actuation control system proposed in the present invention do not require high-precision control circuits and transmission structures compared to the control algorithms of existing actuation control systems. They are low in cost, fast in speed, and highly flexible. Starting from the time domain characteristics, the changes in the controlled quantity in each control cycle are studied, and the output results can achieve an approximately trapezoidal time domain characteristic.

[0051] 3. The adaptive control method and system of an actuation control system proposed in the present invention, the gain parameter adjustment coefficient can reduce the overshoot to a certain extent, and the control amount adjustment coefficient can reduce the forward control amount and enhance the pullback control amount to a certain extent, thereby improving the stability of the output result of the actuation control system.

[0052] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0054] Figure 1 A schematic diagram of an adaptive control method of an actuation control system in an embodiment;

[0055] Figure 2 It is a schematic diagram of an adaptive control system of an actuation control system in an embodiment. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0057] A specific embodiment of the present invention discloses an adaptive control method for an actuation control system, such as Figure 1 As shown, it is characterized in that in each control cycle, the following operations are performed:

[0058] S1: Get target instructions and controlled quantities.

[0059] Exemplarily, the target instruction refers to a target position, and the controlled quantity refers to a current position.

[0060] S2: Calculating the control error, absolute value of the control error, differential and absolute value of the differential of the controlled variable based on the target instruction and the controlled variable, including:

[0061] The control error of the controlled quantity is:

[0062] TargetErrorNow=TargetNow-FeedbackNow, where TargetNow is the target instruction, FeedbackNow is the controlled quantity obtained in the current control cycle, and the absolute value of the control error of the controlled quantity is:

[0063] FabsTargetError=fabs(TargetErrorNow),

[0064] Among them, fabs() represents the absolute value function of floating point numbers.

[0065] The differential of the controlled quantity is:

[0066]

[0067] Among them, FeedbackLast is the controlled variable obtained in the previous control cycle, and TimeLag is the control cycle.

[0068] The differential of the controlled quantity is limited. If the differential is greater than the maximum speed design value of the controlled quantity, the differential is equal to the maximum speed design value of the controlled quantity; if the differential is less than the negative number of the maximum speed design value of the controlled quantity, the differential is equal to the negative number of the maximum speed design value of the controlled quantity; otherwise, the differential of the controlled quantity is kept unchanged. Exemplarily, the differential limiting process of the controlled quantity can also be expressed as:

[0069] if(FeedbackVelocityNow>MAXVelocity)

[0070] {FeedbackVelocityNow=MAXVelocity};

[0071] else if(FeedbackVelocityNow<-MAXVelocity)

[0072] {FeedbackVelocityNow=-MAXVelocity};

[0073] else

[0074] {FeedbackVelocityNow=FeedbackVelocityNow}

[0075] Among them, MAXVelocity is the maximum velocity design value of the controlled variable.

[0076] The absolute value of the differential of the controlled quantity is:

[0077] FabsFeedbackVelocity=fabs(FeedbackVelocityNow).

[0078] It should be pointed out that when the program is executed for the first time, FeedbackNow and TargetNow are initialized according to the real values, and the initial value of FeedbackLast is equal to FeedbackNow.

[0079] S3: Calculating a position error weight for overshoot prediction based on the control error and the absolute value of the control error, calculating a speed weight for overshoot prediction based on the differential and the absolute value of the differential, obtaining an overshoot prediction amount based on the position error weight and the speed weight, and obtaining a gain parameter based on the overshoot prediction amount, including:

[0080] The position error weight value of overshoot prediction calculated based on the control error and the absolute value of the control error includes:

[0081] If the absolute value of the control error is greater than the first error constant, the position error weight is set to the first error constant:

[0082] Position Weight = BigError,

[0083] Among them, PisitionWeight is the position error weight, BigError is the first error constant;

[0084] If the absolute value of the control error is greater than or equal to the second error constant and less than or equal to the first error constant, the position error weight is:

[0085]

[0086] Among them, SmallError is the second error constant, BigEC is the first error prediction coefficient, SmallEC is the second error prediction coefficient, the first error constant is greater than the second error constant, and the first error prediction coefficient is less than the second error prediction coefficient;

[0087] If the absolute value of the control error is less than the second error constant, the position error weight is:

[0088] Position Weight=SmallError.

[0089] The speed weight value for overshoot prediction calculated based on the differential and the absolute value of the differential includes:

[0090] If the absolute value of the differential of the controlled quantity is greater than the first speed constant, the speed weight is equal to the first speed prediction coefficient:

[0091] VelocityWeight = BigVC,

[0092] Among them, VelocityWeight is the velocity weight, and BigVC is the first velocity prediction coefficient;

[0093] If the absolute value of the differential of the controlled variable is less than or equal to the first speed constant and greater than or equal to the second speed constant, the speed weight is:

[0094]

[0095] Wherein, BigVelocity is the first velocity constant, SmallVelocity is the second velocity constant, SmallVC is the second velocity prediction coefficient, the first velocity constant is greater than the second velocity constant, and the first velocity prediction coefficient is greater than the second velocity prediction coefficient;

[0096] If the absolute value of the differential of the controlled variable is less than the second speed constant, the speed weight is:

[0097] VelocityWeight = SmallVC.

[0098] The obtaining of the overshoot prediction amount based on the position error weight and the speed weight comprises:

[0099] If the control error of the controlled quantity has the same sign as the differential, the overshoot prediction quantity is:

[0100] OvershootPrediction = PositionWeight*VelocityWeight+0.01, otherwise, the overshoot prediction value is a constant 1.

[0101] Exemplarily, the first error constant BigError is generally 10 times the control accuracy of the controlled quantity required in the task book, and the task book refers to the product development task book, technical requirements, product specifications, etc. In this embodiment, the position control accuracy of the actuator control system can be specified as 0.1mm; the second error constant SmallError is generally 0.3 to 0.5 times BigError; the first speed constant BigVelocity is generally 0.7 to 1.0 times the maximum speed design value MAXVelocity of the controlled quantity; the second speed constant SmallVelocity is generally 0.3 to 0.5 times BigVelocity; the first error prediction coefficient BigEC is required to be greater than 0 and less than or equal to 1, and generally takes a value of 0.75; the second error prediction coefficient SmallEC is required to be greater than or equal to 1, and generally takes a value of 1.33; the first speed prediction coefficient BigVC is required to be greater than or equal to 1, and generally takes a value of 1.33; the second speed prediction coefficient SmallVC is required to be greater than 0 and less than or equal to 1, and generally takes a value of 0.75.

[0102] The obtaining of a gain parameter based on the overshoot prediction amount includes: obtaining the gain parameter by taking the inverse of the overshoot prediction amount.

[0103] Exemplarily, the gain parameter GainFactor=1 / OvershootPrediction.

[0104] The above process includes the process of overshoot prediction. By predicting the severity of the overshoot and then adjusting the gain coefficient, the purpose of reducing the overshoot is achieved while pursuing fast calculation.

[0105] In addition, the present invention also considers the anti-collision cylinder process in the actuation control system. For the anti-collision cylinder process, it is determined by the controlled quantity, the differential of the controlled quantity and the command limit value, and the result obtained is the control quantity adjustment coefficient. Among them, the command limit value includes a positive command limit value and a negative command limit value, and the control quantity adjustment coefficient includes a positive collision cylinder control quantity adjustment coefficient and a reverse collision cylinder control quantity adjustment coefficient. The specific calculation method is shown in step S4.

[0106] S4: Calculating a control amount adjustment coefficient based on the controlled amount, the differential of the controlled amount and the command limit value, including:

[0107] For the forward impact cylinder process, when the controlled quantity is greater than the forward command limit value, first determine whether the output control constant is a positive number. If so, set the forward impact cylinder control quantity adjustment coefficient to the first control quantity constant. If not, determine whether the differential of the controlled quantity is a positive number. If so, set the forward impact cylinder control quantity adjustment coefficient to the second control quantity constant. If not, set the forward impact cylinder control quantity adjustment coefficient to constant 1; wherein, the first control quantity constant is less than the second control quantity constant.

[0108] For example, the first control constant is 0.1, the second control constant is 10.0, and the forward impact cylinder process can also be expressed as:

[0109]

[0110] Among them, ForwardTargetLimit is the forward command limit value, and OutputFactor is the control amount adjustment coefficient.

[0111] For the reverse impact cylinder process, when the controlled quantity is less than the negative instruction limit value, first determine whether the output control constant is a negative number. If so, set the reverse impact cylinder control quantity adjustment coefficient to the first control quantity constant. If not, determine whether the differential of the controlled quantity is a negative number. If so, set the reverse impact cylinder control quantity adjustment coefficient to the second control quantity constant. If not, set the reverse impact cylinder control quantity adjustment coefficient to the constant 1.

[0112] For example, the reverse impact cylinder process can also be expressed as:

[0113]

[0114] Among them, BackwardTargetLimit is the negative command limit value.

[0115] It can be understood that in practical applications, the first control quantity constant and the second control quantity constant can be set according to actual needs.

[0116] The above calculation process is used to adaptively calculate the output control quantity adjustment coefficient after the controlled quantity exceeds the target instruction limit, reduce the forward control quantity, enhance the pullback control quantity, and inhibit the controlled quantity from continuing to move toward the mechanical boundary to avoid cylinder collision damage.

[0117] S5: performing a limiting process on the gain parameter and the control amount adjustment coefficient to obtain a first gain parameter and a first control amount adjustment coefficient, including:

[0118] If the gain parameter is greater than the upper limit of the gain parameter adjustment coefficient, the upper limit of the gain parameter adjustment coefficient is used as the first gain parameter; if the gain parameter is less than the lower limit of the gain parameter adjustment coefficient, the lower limit of the gain parameter adjustment coefficient is used as the first gain parameter.

[0119] Exemplarily, the above process can be expressed as:

[0120] if(GainFactor>UpBoundGainFactor)

[0121] {GainFactor=UpBoundGainFactor;}

[0122] if(GainFactor <DownBoundGainFactor)

[0123] {GainFactor=DownBoundGainFactor;}

[0124] Among them, UpBoundGainFactor is the upper boundary of the control gain parameter adjustment coefficient, and DownBoundGainFactor is the lower boundary of the control gain parameter adjustment coefficient.

[0125] If the above conditions are not met, the gain parameter is directly used as the first gain parameter

[0126] If the control amount adjustment coefficient is greater than the upper limit of the control amount adjustment coefficient, the upper limit of the control amount adjustment coefficient is used as the first control amount adjustment coefficient; if the control amount adjustment coefficient is less than the lower limit of the control amount adjustment coefficient, the lower limit of the control amount adjustment coefficient is used as the first control amount adjustment coefficient.

[0127] Exemplarily, the above process can be expressed as:

[0128] if(OutputFactor>UpBoundOutputFactor)

[0129] {OutputFactor=UpBoundOutputFactor;}

[0130] if(OutputFactor <DownBoundOutputFactor)

[0131] {OutputFactor=DownBoundOutputFactor;}

[0132] Among them, UpBoundOutputFactor is the upper boundary of the control amount adjustment coefficient, and DownBoundOutputFactor is the lower boundary of the control amount adjustment coefficient.

[0133] If the above conditions are not met, the control amount adjustment coefficient is directly used as the first increase control amount adjustment coefficient.

[0134] Generally, the lower boundary is required to be greater than 0 and less than the upper boundary, and the upper boundary is required to be greater than 1. The values ​​of the upper boundary and the lower boundary can be set according to actual needs. Preferably, the lower boundary is set to 0.1 and the upper boundary is set to 10.

[0135] S6: obtaining an intermediate control gain parameter based on the first gain parameter and the gain constant, obtaining an intermediate control amount based on the intermediate control gain parameter, obtaining a target control amount based on the first control amount adjustment coefficient and the intermediate control amount, and using the target control amount as an output result of the current control cycle, including:

[0136] The gain constant is determined by the actuation control system and its value remains unchanged in each cycle.

[0137] The obtaining of the intermediate control gain parameter based on the first gain parameter and the gain constant includes: multiplying the first gain parameter and the gain constant to obtain the intermediate control gain parameter.

[0138] The obtaining of the intermediate control amount based on the intermediate control gain parameter comprises: inputting the intermediate control gain parameter into the actuation control system to obtain an output result as the intermediate control amount.

[0139] The obtaining of the target control amount based on the first control amount adjustment coefficient and the intermediate control amount includes: multiplying the first control amount adjustment coefficient and the intermediate control amount to obtain the target control amount.

[0140] It can be understood that the actuation control system includes a PID controller, P is the controller gain, which is a proportional control parameter; I is an integral control parameter, and D is a differential control parameter. In the present invention, P remains unchanged as a gain constant, and the intermediate control gain parameter is obtained by multiplying the first gain parameter and the controller gain P.

[0141] The present invention provides an adaptive control method for an actuation control system. According to the dynamic relationship between feedback, feedback speed and position command in the control information flow and the rules set by the present invention, the control gain is adaptively adjusted, and finally a safety limiting output is performed to avoid excessive overshoot and steady-state self-oscillation caused by increasing the control gain to improve rapidity, thereby achieving performance improvement with both fast and stable time domain characteristics.

[0142] Another specific embodiment of the present invention discloses an adaptive control system for the stability of the time domain performance of an actuation control system, such as Figure 2 As shown, the system comprises:

[0143] Input data module to obtain target instructions and controlled quantities;

[0144] A data preprocessing module is used to calculate the control error, absolute value of the control error, differential and absolute value of the differential of the controlled quantity based on the target instruction and the controlled quantity;

[0145] A gain parameter calculation module is configured to calculate a position error weight for overshoot prediction based on the control error and the absolute value of the control error, calculate a speed weight for overshoot prediction based on the differential and the absolute value of the differential, obtain an overshoot prediction amount based on the position error weight and the speed weight, and obtain a gain parameter based on the overshoot prediction amount;

[0146] A control quantity parameter calculation module is configured to calculate a control quantity adjustment coefficient based on the controlled quantity, the differential of the controlled quantity and the command limit value;

[0147] A limiting processing module performs limiting processing on the gain parameter and the control amount adjustment coefficient to obtain a first gain parameter and a first control amount adjustment coefficient;

[0148] An output module obtains an intermediate control gain parameter based on the first gain parameter and the gain constant, obtains an intermediate control amount based on the intermediate control gain parameter, obtains a target control amount based on the first control amount adjustment coefficient and the intermediate control amount, and uses the target control amount as an output result of the current control cycle.

[0149] Compared with the prior art, the adaptive control method and system of an actuation control system provided in this embodiment obtain different results according to different limiting conditions, and the control quantity adjustment coefficient also obtains different results according to different limiting conditions, thereby realizing adaptive calculation by setting limiting conditions for different situations to meet the diverse changes of the controlled quantity in the actuation control system; compared with the control algorithm of the existing actuation control system, it has low cost, high speed, high flexibility, and the output result realizes an approximately trapezoidal time domain characteristic; the gain parameter adjustment coefficient can reduce the overshoot to a certain extent, and the control quantity adjustment coefficient can reduce the forward control quantity and enhance the pullback control quantity to a certain extent, thereby improving the stability of the output result of the actuation control system.

[0150] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0151] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An adaptive control method for an actuation control system, characterized in that: In each control cycle, the following operations are performed: Obtain target instructions and controlled quantities; Calculating a control error, an absolute value of the control error, a differential, and an absolute value of the differential of the controlled variable based on the target instruction and the controlled variable; A position error weight value for overshoot prediction is calculated based on the control error and the absolute value of the control error, a speed weight value for overshoot prediction is calculated based on the differential and the absolute value of the differential, an overshoot prediction amount is obtained based on the position error weight value and the speed weight value, and a gain parameter is obtained based on the overshoot prediction amount; Calculate the control amount adjustment coefficient based on the controlled amount, the differential of the controlled amount and the command limit value; Performing a limiting process on the gain parameter and the control amount adjustment coefficient to obtain a first gain parameter and a first control amount adjustment coefficient; An intermediate control gain parameter is obtained based on the first gain parameter and the gain constant, an intermediate control amount is obtained based on the intermediate control gain parameter, a target control amount is obtained based on the first control amount adjustment coefficient and the intermediate control amount, and the target control amount is used as the output result of the current control cycle.

2. The adaptive control method of an actuation control system according to claim 1, characterized in that: The control error, absolute value of the control error, differential and absolute value of the differential of the controlled quantity are calculated based on the target instruction and the controlled quantity, including: The control error of the controlled quantity is: TargetErrorNow=TargetNow-FeedbackNow, Wherein, TargetNow is the target instruction, FeedbackNow is the controlled quantity obtained in the current control cycle, and the absolute value of the control error of the controlled quantity is: FabsTargetError=fabs(TargetErrorNow), where fabs() represents a floating point absolute value function; The differential of the controlled quantity is: Among them, FeedbackLast is the controlled quantity obtained in the previous control cycle, and TimeLag is the control cycle; The differential of the controlled quantity is limited. If the differential is greater than the maximum speed design value of the controlled quantity, the differential is equal to the maximum speed design value of the controlled quantity; if the differential is less than the negative number of the maximum speed design value of the controlled quantity, the differential is equal to the negative number of the maximum speed design value of the controlled quantity; otherwise, the differential of the controlled quantity is kept unchanged; The absolute value of the differential of the controlled quantity is: FabsFeedbackVelocity=fabs(FeedbackVelocityNow).

3. The adaptive control method of an actuation control system according to claim 2, characterized in that: The position error weight value of overshoot prediction calculated based on the control error and the absolute value of the control error includes: If the absolute value of the control error is greater than the first error constant, the position error weight is set to the first error constant: Position Weight = BigError, Among them, PisitionWeight is the position error weight, BigError is the first error constant; If the absolute value of the control error is greater than or equal to the second error constant and less than or equal to the first error constant, the position error weight is: Among them, SmallError is the second error constant, BigEC is the first error prediction coefficient, SmallEC is the second error prediction coefficient, the first error constant is greater than the second error constant, and the first error prediction coefficient is less than the second error prediction coefficient; If the absolute value of the control error is less than the second error constant, the position error weight is: Position Weight=SmallError.

4. The adaptive control method of an actuation control system according to claim 3, characterized in that: The speed weight value for overshoot prediction calculated based on the differential and the absolute value of the differential includes: If the absolute value of the differential of the controlled quantity is greater than the first speed constant, the speed weight is equal to the first speed prediction coefficient: VelocityWeight = BigVC, Among them, VelocityWeight is the velocity weight, and BigVC is the first velocity prediction coefficient; If the absolute value of the differential of the controlled variable is less than or equal to the first speed constant and greater than or equal to the second speed constant, the speed weight is: Wherein, BigVelocity is the first velocity constant, SmallVelocity is the second velocity constant, SmallVC is the second velocity prediction coefficient, the first velocity constant is greater than the second velocity constant, and the first velocity prediction coefficient is greater than the second velocity prediction coefficient; If the absolute value of the differential of the controlled variable is less than the second speed constant, the speed weight is: VelocityWeight = SmallVC.

5. The adaptive control method of an actuation control system according to claim 4, characterized in that: The obtaining of the overshoot prediction amount based on the position error weight and the speed weight comprises: If the control error of the controlled quantity has the same sign as the differential, the overshoot prediction quantity is: OvershootPrediction=PositionWeight*VelocityWeight+0.01, Otherwise, the overshoot prediction quantity is a constant of 1.

6. The adaptive control method of an actuation control system according to claim 5, characterized in that: The obtaining of a gain parameter based on the overshoot prediction amount includes: obtaining the gain parameter by taking the inverse of the overshoot prediction amount.

7. The adaptive control method of an actuation control system according to claim 6, characterized in that: The command limit value includes a positive command limit value and a negative command limit value, and the control amount adjustment coefficient includes a positive impact cylinder control amount adjustment coefficient and a reverse impact cylinder control amount adjustment coefficient; The control amount adjustment coefficient calculated based on the controlled amount, the differential of the controlled amount and the command limit value includes: When the controlled quantity is greater than the forward command limit value, first determine whether the output control constant is a positive number, if so, set the forward collision cylinder control quantity adjustment coefficient to the first control quantity constant, if not, then determine whether the differential of the controlled quantity is a positive number, if so, set the forward collision cylinder control quantity adjustment coefficient to the second control quantity constant, if not, set the forward collision cylinder control quantity adjustment coefficient to the constant 1; wherein, the first control quantity constant is less than the second control quantity constant; When the controlled quantity is less than the negative instruction limit value, first determine whether the output control constant is a negative number. If so, set the reverse impact cylinder control quantity adjustment coefficient to the first control quantity constant. If not, determine whether the differential of the controlled quantity is a negative number. If so, set the reverse impact cylinder control quantity adjustment coefficient to the second control quantity constant. If not, set the reverse impact cylinder control quantity adjustment coefficient to the constant 1.

8. The adaptive control method of an actuation control system according to claim 7, characterized in that: The step of performing a limiting process on the gain parameter and the control amount adjustment coefficient to obtain the first gain parameter and the first control amount adjustment coefficient comprises: if the gain parameter is greater than the upper boundary of the gain parameter adjustment coefficient, taking the upper boundary of the gain parameter adjustment coefficient as the first gain parameter; if the gain parameter is less than the lower boundary of the gain parameter adjustment coefficient, taking the lower boundary of the gain parameter adjustment coefficient as the first gain parameter; otherwise, directly taking the gain parameter as the first gain parameter; If the control amount adjustment coefficient is greater than the upper limit of the control amount adjustment coefficient, the upper limit of the control amount adjustment coefficient is used as the first control amount adjustment coefficient; if the control amount adjustment coefficient is less than the lower limit of the control amount adjustment coefficient, the lower limit of the control amount adjustment coefficient is used as the first control amount adjustment coefficient, otherwise the control amount adjustment coefficient is directly used as the first increased control amount adjustment coefficient.

9. The adaptive control method of an actuation control system according to claim 8, characterized in that: The obtaining of the intermediate control gain parameter based on the first gain parameter and the gain constant comprises: multiplying the first gain parameter and the gain constant to obtain the intermediate control gain parameter; The obtaining of the target control amount based on the first control amount adjustment coefficient and the intermediate control amount includes: multiplying the first control amount adjustment coefficient and the intermediate control amount to obtain the target control amount.

10. An adaptive control system for an actuation control system, characterized in that: The system comprises: Input data module to obtain target instructions and controlled quantities; A data preprocessing module, which calculates the control error, absolute value of the control error, differential and absolute value of the differential of the controlled quantity based on the target instruction and the controlled quantity; A gain parameter calculation module is configured to calculate a position error weight for overshoot prediction based on the control error and the absolute value of the control error, calculate a speed weight for overshoot prediction based on the differential and the absolute value of the differential, obtain an overshoot prediction amount based on the position error weight and the speed weight, and obtain a gain parameter based on the overshoot prediction amount; A control quantity parameter calculation module is configured to calculate a control quantity adjustment coefficient based on the controlled quantity, the differential of the controlled quantity and the command limit value; A limiting processing module performs limiting processing on the gain parameter and the control amount adjustment coefficient to obtain a first gain parameter and a first control amount adjustment coefficient; An output module obtains an intermediate control gain parameter based on the first gain parameter and the gain constant, obtains an intermediate control amount based on the intermediate control gain parameter, obtains a target control amount based on the first control amount adjustment coefficient and the intermediate control amount, and uses the target control amount as an output result of the current control cycle.

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