Self-adaptive control method applied to time domain performance stability of actuation control system

Abstract

The invention relates to a self-adaptive control method applied to time domain performance stability of an actuation control system, belongs to the technical field of self-adaptive control, and solves the problem that a control algorithm in the prior art cannot meet time domain control characteristics of nonlinear, complex dynamic environments and approximately trapezoidal. Obtaining a control error, a control error absolute value, a differential and a differential absolute value of the controlled quantity based on the target instruction and the controlled quantity; obtaining a first gain parameter and a second gain parameter based on the parameters; calculating a control quantity adjustment coefficient based on the controlled quantity, the differential of the controlled quantity and the instruction amplitude limiting value; after amplitude limiting processing, a first gain parameter amplitude limiting value, a second gain parameter amplitude limiting value and a first control quantity adjustment coefficient are obtained; and obtaining an intermediate control gain parameter based on the first gain parameter amplitude limiting value, the second gain parameter amplitude limiting value 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 of the current control period. And the stability control of the actuation control system on the time domain performance is realized.

Description

Technical Field

[0001] The present invention relates to the field of adaptive control technology, and in particular to an adaptive control method applied to the time domain performance stability of an actuation control system. Background Art

[0002] The actuation control system is a system used to control mechanical motion. It receives control signals and uses actuators (such as motors, hydraulic cylinders, etc.) to achieve precise position, speed and force control. It is widely used in aerospace, automobiles, robotics and other fields. At present, the research on actuation control systems mainly focuses on control strategies and dynamic bandwidth anti-disturbance control. The control strategy determines the stability, rapidity and anti-disturbance ability of the actuation control system. Therefore, in order to ensure the performance of the actuation control system, the control algorithm used is particularly important, especially for the control of time domain characteristics, which directly affects the stability of the actuation control system.

[0003] Existing actuation control systems have the following disadvantages: (1) Nonlinear characteristics, such as friction, elasticity, and backlash, lead to increased tracking errors, drive delays, low-speed "creeping", or limit cycle oscillations; (2) The adaptability to complex dynamic environments is poor, and existing control algorithms cannot meet the requirements of speed and stability; (3) Existing control algorithms, such as mechanical improvement methods, segmented PID control methods, and command feedforward control methods, cannot adaptively adjust control parameters according to the working state of the actuation control system, and thus cannot achieve fast and stable approximate trapezoidal time domain characteristics.

[0004] Therefore, the control algorithms of existing actuation control systems cannot meet the requirements of nonlinear, complex dynamic environments and 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 for the time domain performance stability of an actuation control system, so as to solve the problem that the control algorithm of the existing actuation control system cannot meet the requirements of nonlinear, complex dynamic environments and approximately trapezoidal time domain control characteristics.

[0006] An embodiment of the present invention provides an adaptive control method for time-domain performance stability of an actuation control system, the method comprising: performing the following operations in each control cycle:

[0007] Obtain target instructions and controlled quantities;

[0008] Based on the target command and the controlled quantity, a control error, an absolute value of the control error, a differential and an absolute value of the differential of the controlled quantity are calculated;

[0009] Obtaining a first gain parameter based on a control error, an absolute value of the control error, a differential, and an absolute value of the differential of a controlled quantity;

[0010] Obtaining a second gain parameter based on the crossing overshoot value, the control error and the differential of the controlled quantity;

[0011] Calculating a control amount adjustment coefficient based on the controlled amount, the differential of the controlled amount and the command limit value;

[0012] Performing a limiting process on the first gain parameter, the second gain parameter and the control amount adjustment coefficient to obtain a first gain parameter limiting value, a second gain parameter limiting value and a first control amount adjustment coefficient;

[0013] An intermediate control gain parameter is obtained based on the first gain parameter limiting value, the second gain parameter limiting value and a 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 an output result of the current control cycle.

[0014] Based on the further improvement of the above method, the crossing overshoot value includes a positive crossing overshoot value and a negative crossing overshoot value; the second gain parameter obtained based on the crossing overshoot value, the control error and the differential of the controlled quantity includes:

[0015] S1: If the forward overshoot value is the first overshoot constant, the control error of the controlled variable is a negative number, and the differential of the controlled variable is a positive number, then the second control gain parameter is:

[0016] GainFactor2=1+10*FeedbackVelocityNow / Max Velocity, wherein MaxVelocity is the maximum velocity design value of the controlled variable, and the negative crossing overshoot value is set as the second crossing overshoot constant, and the process jumps to step S6; otherwise, the process executes step S2;

[0017] S2: If the forward overshoot value is the second overshoot constant, the control error of the controlled variable is a negative number, and the differential of the controlled variable is a negative number, the second control gain parameter is:

[0018] GainFactor2=1+0.9*FeedbackVelocityNow / MaxVelocity, and set the negative crossing overshoot value as the third crossing overshoot constant, and jump to step S6; otherwise, execute step S3;

[0019] S3: If the negative crossing overshoot value is the first crossing overshoot constant and the control error of the controlled variable is a positive number and the differential of the controlled variable is a negative number, the second control gain parameter is:

[0020] GainFactor2=1-10*FeedbackVelocityNow / Max Velocity, and set the forward overshoot value as the second overshoot constant, and jump to step S6; otherwise, execute step S4;

[0021] S4: If the negative crossing overshoot value is the second crossing overshoot constant and the control error of the controlled variable is a positive number and the differential of the controlled variable is a positive number, the second control gain parameter is:

[0022] GainFactor2=1-0.9*FeedbackVelocityNow / MaxVelocity, and set the forward overshoot value to the third overshoot constant, and jump to step S6; otherwise, execute step S5;

[0023] S5: The second control gain parameter is: GainFactor2=1;

[0024] S6: Update the positive overshoot value and the negative overshoot value according to the target command change rate.

[0025] Based on the further improvement of the above method, the target instruction change rate is:

[0026] TargetVelocityNow=(TargetNow-TargetLast) / TimeLag, wherein TargetNow is the target instruction of the current control cycle, TargetLast is the target instruction of the previous control cycle, and TimeLag is the time interval.

[0027] Based on the further improvement of the above method, the updating of the positive crossing overshoot value and the negative crossing overshoot value according to the target instruction change rate includes: if the target instruction change rate is greater than the instruction change boundary value or less than the negative number of the instruction change boundary value, the positive crossing overshoot value and the negative crossing overshoot value are set to the first crossing overshoot constant; otherwise, the positive crossing overshoot value and the negative crossing overshoot value remain unchanged.

[0028] Based on the further improvement of the above method, the first gain parameter, the second gain parameter and the control amount adjustment coefficient are limited to obtain the first gain parameter limit value, the second gain parameter limit value and the first control amount adjustment coefficient, including: if the first gain parameter is greater than the upper boundary of the first gain parameter adjustment coefficient, the upper boundary of the first gain parameter adjustment coefficient is used as the first gain parameter limit value; if the first gain parameter is less than the lower boundary of the first gain parameter adjustment coefficient, the lower boundary of the first gain parameter adjustment coefficient is used as the first gain parameter limit value; otherwise, the first gain parameter is directly used as the first gain parameter limit value; if the second gain parameter is greater than the upper boundary of the second gain parameter adjustment coefficient , then the upper boundary of the second gain parameter adjustment coefficient is used as the second gain parameter limiting value. If the second gain parameter is less than the lower boundary of the second gain parameter adjustment coefficient, then the lower boundary of the second gain parameter adjustment coefficient is used as the second gain parameter limiting value, otherwise the second gain parameter is directly used as the second gain parameter limiting value; if the control amount adjustment coefficient is greater than the upper boundary of the control amount adjustment coefficient, then 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, then 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 control amount adjustment coefficient.

[0029] Based on the further improvement of the above method, the first gain parameter obtained based on the control error, absolute value of the control error, differential and absolute value of the differential of the controlled quantity includes: obtaining a position error weight value for overshoot prediction based on the control error and the absolute value of the control error, obtaining a speed weight value for overshoot prediction based on the differential and the absolute value of the differential, obtaining an overshoot prediction quantity based on the position error weight value and the speed weight value, and obtaining the first gain parameter based on the overshoot prediction quantity.

[0030] Based on a further improvement of the above method, the position error weight value for overshoot prediction 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, setting the position error weight value to the first error constant:

[0031] Position Weight = BigError,

[0032] Wherein, PisitionWehght 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:

[0033]

[0034] 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:

[0035] Position Weight=SmallError;

[0036] The speed weighted value for overshoot prediction 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 weighted value is equal to the first speed prediction coefficient:

[0037] VelocityWeight = BiVC,

[0038] 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:

[0039]

[0040] 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:

[0041] VelocityWeight = SmallVC.

[0042] 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:

[0043] OvershootPrediction = PositionWeight * VelocityWeight + 0.01, otherwise, the overshoot prediction is a constant 1;

[0044] The obtaining of the first gain parameter based on the overshoot prediction amount includes: obtaining the gain parameter by taking the inverse of the overshoot prediction amount.

[0045] 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;

[0046] The method of calculating the control quantity adjustment coefficient based on the controlled quantity, the differential of the controlled quantity and the instruction limit value includes: when the controlled quantity is greater than the positive instruction limit value, first determine whether the output control constant is a positive number, if so, set the positive impact 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 positive impact cylinder control quantity adjustment coefficient to the second control quantity constant, if not, set the positive impact 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, then 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.

[0047] Based on a further improvement of the above method, obtaining the intermediate control gain parameter based on the first gain parameter limit value, the second gain parameter limit value and the gain constant includes: taking the product of the first gain parameter limit value, the second gain parameter limit value and the gain constant as the intermediate control gain parameter;

[0048] 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 a result as the intermediate control amount;

[0049] The obtaining of the target control amount based on the first control amount adjustment coefficient and the intermediate control amount includes: taking the product of the first control amount adjustment coefficient and the intermediate control amount as the target control amount.

[0050] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0051] 1. The present invention provides an adaptive control method for the stability of the time domain performance of an actuation control system. The first gain parameter is calculated by the predicted overshoot to suppress the overshoot, limiting the overshoot while achieving fast calculation; the second gain parameter reduces the secondary overshoot when returning to zero, and can eliminate continuous oscillation and improve system stability; the first control amount adjustment coefficient can reduce the forward control amount, enhance the pullback control amount, suppress the controlled amount from continuing to move toward the mechanical boundary, and avoid damage to the cylinder. Therefore, the target control amount finally output by the present invention can meet the nonlinear requirements of the actuation control system and ensure the stability of the current control cycle to the greatest extent.

[0052] 2. The present invention provides an adaptive control method for the stability of the time domain performance of an actuation control system. When calculating the first gain parameter, the second gain parameter and the control amount adjustment coefficient, it is necessary to compare the controlled amount and the target instruction and other parameters with the limiting conditions to obtain the results under different limiting conditions. By setting the limiting conditions for different situations, the characteristics of the adaptive calculation of the actuation control system are reflected. Therefore, the control method of the actuation control system proposed by the present invention can be applied to complex environments.

[0053] 3. The present invention provides an adaptive control method for the time domain performance stability of an actuator control system, which does not require complex control circuits and transmission structures, and has low cost, high speed, and high flexibility. 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.

[0054] 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

[0055] 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;

[0056] Figure 1 Schematic diagram of an adaptive control method for time-domain performance stability of an actuation control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present invention will be 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.

[0058] A specific embodiment of the present invention discloses an adaptive control method for the time domain performance stability of an actuation control system, such as Figure 1 As shown, including: in each control cycle, perform the following operations:

[0059] S1: Get target instructions and controlled quantities.

[0060] Exemplarily, the target instruction refers to a target position, and the controlled quantity refers to a current position.

[0061] S2: Based on the target command and the controlled quantity, the control error, the absolute value of the control error, the differential and the absolute value of the differential of the controlled quantity are calculated, including:

[0062] The control error of the controlled quantity is:

[0063] 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:

[0064] FabsTargetError=fabs(TargetErrorNow),

[0065] Among them, fabs() represents the absolute value function of floating point numbers.

[0066] The differential of the controlled quantity is:

[0067]

[0068] Among them, FeedbackLast is the controlled variable obtained in the previous control cycle, and TimeLag is the control cycle.

[0069] 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:

[0070]

[0071] Among them, MAXVelocity is the maximum velocity design value of the controlled variable.

[0072] The absolute value of the differential of the controlled quantity is:

[0073] FabsFeedbackVelocity=fabs(FeedbackVelocityNow).

[0074] 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.

[0075] S3: Obtaining a first gain parameter based on the control error, the absolute value of the control error, the differential and the absolute value of the differential of the controlled quantity, including:

[0076] A position error weight for overshoot prediction is obtained based on the control error and the absolute value of the control error, a speed weight for overshoot prediction is obtained based on the differential and the absolute value of the differential, an overshoot prediction amount is obtained based on the position error weight and the speed weight, and a first gain parameter is obtained based on the overshoot prediction amount.

[0077] Wherein, the position error weight value of overshoot prediction calculated based on the control error and the absolute value of the control error includes:

[0078] 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:

[0079] Position Weight = BigError,

[0080] Among them, PisitionWeight is the position error weight, BigError is the first error constant;

[0081] 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:

[0082]

[0083] 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;

[0084] If the absolute value of the control error is less than the second error constant, the position error weight is:

[0085] Position Weight=SmallError.

[0086] The speed weight value for overshoot prediction calculated based on the differential and the absolute value of the differential includes:

[0087] 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:

[0088] VelocityWeight = BiVC,

[0089] Among them, VelocityWeight is the velocity weight, and BigVC is the first velocity prediction coefficient;

[0090] 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:

[0091]

[0092] 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;

[0093] If the absolute value of the differential of the controlled variable is less than the second speed constant, the speed weight is:

[0094] VelocityWeight = SmallVC.

[0095] The obtaining of the overshoot prediction amount based on the position error weight and the speed weight comprises:

[0096] If the control error of the controlled quantity has the same sign as the differential, the overshoot prediction quantity is:

[0097] OvershootPrediction = PositionWeight*VelocityWeight+0.01, otherwise, the overshoot prediction value is a constant 1.

[0098] 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.

[0099] 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.

[0100] Exemplarily, the gain parameter GainFactor=1 / OvershootPrediction.

[0101] 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.

[0102] The present invention also considers the overshoot suppression and anti-oscillation control process in the actuation control system. When overshoot occurs, the sign relationship between the crossing overshoot value, the control error and the differential of the controlled quantity is used to distinguish the process of moving away from and returning to the positive position, and the control gain coefficient is adjusted to achieve overshoot suppression while reducing the secondary overshoot when returning to zero, eliminating continuous oscillation and improving system stability. The crossing overshoot value includes a positive crossing overshoot value and a negative crossing overshoot value.

[0103] Exemplarily, for the first forward crossing overshoot process, the control gain needs to be increased, and the negative crossing overshoot value is set as the second crossing overshoot constant; for the first forward crossing callback process, the control gain is reduced, and the negative crossing overshoot value is set as the third crossing overshoot constant; similar to the forward process, for the first reverse crossing overshoot process, the control gain needs to be increased, and the positive crossing overshoot value is set as the second crossing overshoot constant; for the first reverse crossing callback process, the control gain is reduced, and the positive crossing overshoot value is set as the third crossing overshoot constant. The specific calculation process is shown in step S4.

[0104] S4: Obtaining a second gain parameter based on the overshoot value, the control error and the differential of the controlled quantity, including:

[0105] S41: If the forward overshoot value is the first overshoot constant, the control error of the controlled variable is a negative number, and the differential of the controlled variable is a positive number, then the second control gain parameter is:

[0106] GainFactor2=1+a*FeedbackVelocityNow / MaxVelocity, where a is a constant and can be selected arbitrarily within (0, 10), MaxVelocity is the maximum velocity design value of the controlled variable, and the negative crossing overshoot value is set as the second crossing overshoot constant, and the process jumps to step S6; otherwise, the process executes step S2;

[0107] S42: If the forward overshoot value is the second overshoot constant, the control error of the controlled variable is a negative number, and the differential of the controlled variable is a negative number, the second control gain parameter is:

[0108] GainFactor2=1+b*FeedbackVelocityNow / MaxVelocity, wherein b is a constant and can be arbitrarily selected within (0, 1), and the negative overshoot value is set to the third overshoot constant, and the process jumps to step S6; otherwise, the process executes step S3;

[0109] S43: If the negative crossing overshoot value is the first crossing overshoot constant and the control error of the controlled variable is a positive number and the differential of the controlled variable is a negative number, the second control gain parameter is:

[0110] GainFactor2=1-c*FeedbackVelocityNow / MaxVelocity, where c is a constant and can be arbitrarily selected within (0, 10), and the forward overshoot value is set to the second overshoot constant, and the process jumps to step S6; otherwise, the process executes step S4;

[0111] S44: If the negative crossing overshoot value is the second crossing overshoot constant and the control error of the controlled variable is a positive number and the differential of the controlled variable is a positive number, the second control gain parameter is:

[0112] GainFactor2=1-d*FeedbackVelocityNow / MaxVelocity, where d is a constant and can be arbitrarily selected within (0, 1), and the forward overshoot value is set to the third overshoot constant, and the process jumps to step S6; otherwise, the process executes step S5;

[0113] S45: The second control gain parameter is: GainFactor2=1;

[0114] S46: Update the positive overshoot value and the negative overshoot value according to the target instruction change rate, including: if the target instruction change rate is greater than the instruction change boundary value or less than the negative of the instruction change boundary value, then set the positive overshoot value and the negative overshoot value to the first overshoot constant; otherwise, the positive overshoot value and the negative overshoot value remain unchanged.

[0115] Exemplarily, the target instruction change rate is:

[0116] TargetVelocityNow=(TargetNow-TargetLast) / TimeLag, TargetNow is the target instruction of the current control cycle, TargetLast is the target instruction of the previous control cycle, and TimeLag is the time interval. The overshoot value is set according to the change rate of the target instruction:

[0117]

[0118] Among them, TargetVaryBound is the instruction change boundary value, ForwardCrossingSign is the positive crossing overshoot value, and BackwardCrossingSign is the negative crossing overshoot value.

[0119] Preferably, the first crossing overshoot constant is set to 0x55, indicating the first response process, that is, the first crossing; the second crossing overshoot constant is set to 0xA5, indicating the first crossing callback; the third crossing overshoot constant is set to 0xAA, indicating the second crossing.

[0120] Exemplarily, initially, both the positive overshoot value and the negative overshoot value are set to the first overshoot constant; initially, the value of TargetLast is equal to TargetNow.

[0121] Preferably, the constants are set to a=10, b=0.9, c=10, and d=0.9.

[0122] 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 S5.

[0123] S5: Calculating a control amount adjustment coefficient based on the controlled amount, the differential of the controlled amount and the command limit value, including:

[0124] 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.

[0125] 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:

[0126]

[0127] Among them, ForwardTargetLimit is the forward command limit value, and OutputFactor is the control amount adjustment coefficient.

[0128] 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.

[0129] For example, the reverse impact cylinder process can also be expressed as:

[0130]

[0131] Among them, BackwardTargetLimit is the negative command limit value.

[0132] 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.

[0133] 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.

[0134] S6: performing a limiting process on the first gain parameter, the second gain parameter and the control amount adjustment coefficient to obtain a first gain parameter limiting value, a second gain parameter limiting value and a first control amount adjustment coefficient, including:

[0135] If the first gain parameter is greater than the upper boundary of the first gain parameter adjustment coefficient, the upper boundary of the first gain parameter adjustment coefficient is used as the first gain parameter limiting value; if the first gain parameter is less than the lower boundary of the first gain parameter adjustment coefficient, the lower boundary of the first gain parameter adjustment coefficient is used as the first gain parameter limiting value; otherwise, the first gain parameter is directly used as the first gain parameter limiting value.

[0136] Exemplarily, the above process can be expressed as:

[0137]

[0138] Among them, UpBoundGainFactor1 is the upper boundary of the first gain parameter adjustment coefficient, and DownBoundGainFactor1 is the lower boundary of the first gain parameter adjustment coefficient.

[0139] If the above conditions are not met, the gain parameter is directly used as the first gain parameter limit value.

[0140] If the second gain parameter is greater than the upper limit of the second gain parameter adjustment coefficient, the upper limit of the second gain parameter adjustment coefficient is used as the second gain parameter limiting value; if the second gain parameter is less than the lower limit of the second gain parameter adjustment coefficient, the lower limit of the second gain parameter adjustment coefficient is used as the second gain parameter limiting value; otherwise, the second gain parameter is directly used as the second gain parameter limiting value.

[0141] Exemplarily, the above process can be expressed as:

[0142]

[0143] Among them, UpBoundGainFactor2 is the upper boundary of the second gain parameter adjustment coefficient, and DownBoundGainFactor2 is the lower boundary of the second gain parameter adjustment coefficient.

[0144] If the above conditions are not met, the gain parameter is directly used as the second gain parameter limit value.

[0145] 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.

[0146] Exemplarily, the above process can be expressed as:

[0147]

[0148] 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.

[0149] If the above conditions are not met, the control amount adjustment coefficient is directly used as the first increase control amount adjustment coefficient.

[0150] 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.

[0151] S7: obtaining an intermediate control gain parameter based on the first gain parameter limit value, the second gain parameter limit value and a 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:

[0152] The obtaining of the intermediate control gain parameter based on the first gain parameter limit value, the second gain parameter limit value and the gain constant comprises:

[0153] The product of the first gain parameter limit value, the second gain parameter limit value and the gain constant is used as the intermediate control gain parameter.

[0154] The obtaining of the intermediate control amount based on the intermediate control gain parameter includes: inputting the intermediate control gain parameter into the actuation control system to obtain a result as the intermediate control amount.

[0155] The obtaining of the target control amount based on the first control amount adjustment coefficient and the intermediate control amount includes: taking the product of the first control amount adjustment coefficient and the intermediate control amount as the target control amount.

[0156] 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 limit value, the second gain parameter limit value and the controller gain P.

[0157] Compared with the prior art, the present embodiment provides an adaptive control method for the stability of the time-domain performance of an actuation control system. The first gain parameter is calculated through the predicted overshoot to suppress the overshoot, which limits the overshoot while achieving fast calculation; the second gain parameter reduces the secondary overshoot when returning to zero, and can eliminate continuous oscillations, thereby improving system stability; the first control quantity adjustment coefficient can reduce the forward control quantity, enhance the pullback control quantity, suppress the controlled quantity from continuing to move toward the mechanical boundary, avoid damage to the cylinder, and ensure the stability of the current control cycle to the greatest extent. By setting limiting conditions for different situations, the characteristics of adaptive calculation of the actuation control system are reflected, and it can be applied to complex environments. There is no need for complex control circuits and transmission structures, and it has low cost, high speed, and high flexibility; and starting from the time domain characteristics, the changes in the controlled quantity in each control cycle are studied, and the output results can achieve approximate trapezoidal time domain characteristics.

[0158] 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.

[0159] 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 time domain performance stability of an actuation control system, characterized in that: The method comprises: performing the following operations in each control cycle: Obtain target instructions and controlled quantities; Based on the target command and the controlled quantity, a control error, an absolute value of the control error, a differential and an absolute value of the differential of the controlled quantity are calculated; Obtaining a first gain parameter based on a control error, an absolute value of the control error, a differential, and an absolute value of the differential of a controlled quantity; Obtaining a second gain parameter based on the crossing overshoot value, the control error and the differential of the controlled quantity; Calculating a 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 first gain parameter, the second gain parameter and the control amount adjustment coefficient to obtain a first gain parameter limiting value, a second gain parameter limiting value and a first control amount adjustment coefficient; An intermediate control gain parameter is obtained based on the first gain parameter limiting value, the second gain parameter limiting value and a 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 an output result of the current control cycle.

2. The adaptive control method for time domain performance stability of an actuation control system according to claim 1, characterized in that: The crossing overshoot value includes a positive crossing overshoot value and a negative crossing overshoot value; The second gain parameter is obtained based on the overshoot value, the control error and the differential of the controlled quantity, including: S1: If the forward overshoot value is the first overshoot constant, the control error of the controlled variable is a negative number, and the differential of the controlled variable is a positive number, then the second control gain parameter is: GainFactor2=1+10*FeedbackVelocityNow / MaxVelocity, wherein MaxVelocity is the maximum velocity design value of the controlled variable, and the negative crossing overshoot value is set as the second crossing overshoot constant, and the process jumps to step S6; otherwise, the process executes step S2; S2: If the forward overshoot value is the second overshoot constant, the control error of the controlled variable is a negative number, and the differential of the controlled variable is a negative number, the second control gain parameter is: GainFactor2=1+0.9*FeedbackVelocityNow / MaxVelocity, and set the negative crossing overshoot value as the third crossing overshoot constant, and jump to step S6; otherwise, execute step S3; S3: If the negative crossing overshoot value is the first crossing overshoot constant and the control error of the controlled variable is a positive number and the differential of the controlled variable is a negative number, the second control gain parameter is: GainFactor2=1-10*FeedbackVelocityNow / MaxVelocity, and set the forward overshoot value to the second overshoot constant, and jump to step S6; otherwise, execute step S4; S4: If the negative crossing overshoot value is the second crossing overshoot constant and the control error of the controlled variable is a positive number and the differential of the controlled variable is a positive number, the second control gain parameter is: GainFactor2=1-0.9*FeedbackVelocityNow / MaxVelocity, and set the forward overshoot value to the third overshoot constant, and jump to step S6; otherwise, execute step S5; S5: The second control gain parameter is: GainFactor2=1; S6: Update the positive overshoot value and the negative overshoot value according to the target command change rate.

3. The adaptive control method for time domain performance stability of an actuation control system according to claim 2, characterized in that: The target instruction change rate is: TargetVelocityNow=(TargetNow-TargetLast) / TimeLag, wherein TargetNow is the target instruction of the current control cycle, TargetLast is the target instruction of the previous control cycle, and TimeLag is the time interval.

4. The adaptive control method for time domain performance stability of an actuation control system according to claim 3, characterized in that: The updating of the positive crossing overshoot value and the negative crossing overshoot value according to the target instruction change rate includes: If the target instruction change rate is greater than the instruction change boundary value or less than the negative of the instruction change boundary value, the positive overshoot value and the negative overshoot value are set to the first overshoot constant; otherwise, the positive overshoot value and the negative overshoot value remain unchanged.

5. The adaptive control method for time domain performance stability of an actuation control system according to claim 4, characterized in that: The first gain parameter, the second gain parameter and the control amount adjustment coefficient are subjected to a limiting process to obtain a first gain parameter limiting value, a second gain parameter limiting value and a first control amount adjustment coefficient, including: If the first gain parameter is greater than the upper boundary of the first gain parameter adjustment coefficient, the upper boundary of the first gain parameter adjustment coefficient is used as the first gain parameter amplitude limit value; if the first gain parameter is less than the lower boundary of the first gain parameter adjustment coefficient, the lower boundary of the first gain parameter adjustment coefficient is used as the first gain parameter amplitude limit value; otherwise, the first gain parameter is directly used as the first gain parameter amplitude limit value; If the second gain parameter is greater than the upper boundary of the second gain parameter adjustment coefficient, the upper boundary of the second gain parameter adjustment coefficient is used as the second gain parameter amplitude limit value; if the second gain parameter is less than the lower boundary of the second gain parameter adjustment coefficient, the lower boundary of the second gain parameter adjustment coefficient is used as the second gain parameter amplitude limit value; otherwise, the second gain parameter is directly used as the second gain parameter amplitude limit value; 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.

6. The adaptive control method for time domain performance stability of an actuation control system according to claim 1, characterized in that: The first gain parameter obtained based on the control error, the absolute value of the control error, the differential and the absolute value of the differential of the controlled quantity includes: A position error weight for overshoot prediction is obtained based on the control error and the absolute value of the control error, a speed weight for overshoot prediction is obtained based on the differential and the absolute value of the differential, an overshoot prediction amount is obtained based on the position error weight and the speed weight, and a first gain parameter is obtained based on the overshoot prediction amount.

7. The adaptive control method for time domain performance stability of an actuation control system according to claim 6, characterized in that: The method of obtaining the position error weight value of overshoot prediction 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, setting the position error weight value to the first error constant: Position Weight = BigError, Wherein, PisitionWehght 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; The speed weighted value for overshoot prediction 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 weighted value is equal to the first speed prediction coefficient: VelocityWeight = BigVC, 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: 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: VelocityWeight = SmallVC.

8. The adaptive control method for time-domain performance stability of an actuation control system according to claim 7, characterized in that: 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: OvershootPrediction=PositionWeight*VelocityWeight+0.01, Otherwise, the overshoot prediction amount is a constant of 1; The obtaining of the first gain parameter based on the overshoot prediction amount includes: obtaining the gain parameter by taking the inverse of the overshoot prediction amount.

9. The adaptive control method for time domain performance stability of an actuation control system according to claim 8, 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 calculation of the control amount adjustment coefficient 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.

10. The adaptive control method for time domain performance stability of an actuation control system according to claim 9, characterized in that: The obtaining of the intermediate control gain parameter based on the first gain parameter limit value, the second gain parameter limit value and the gain constant comprises: The product of the first gain parameter limit value, the second gain parameter limit value and the gain constant is used as an intermediate control gain parameter; 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 a result as the intermediate control amount; The obtaining of the target control amount based on the first control amount adjustment coefficient and the intermediate control amount includes: taking the product of the first control amount adjustment coefficient and the intermediate control amount as the target control amount.

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