PID (Proportion Integration Differentiation) control method and system for suppressing overshoot oscillation

Abstract

The invention provides a PID control method and system for suppressing overshoot oscillation in the technical field of PI D control, and the method comprises the following steps: S1, setting a target value, controlling a controlled object to work based on the target value, and collecting an output value of the controlled object through an ADC sampling module; s2, calculating a difference value between the target value and the output value, and calculating a PID gain coefficient based on the difference value; s3, updating a PID control algorithm based on the PI D gain coefficient to suppress overshoot oscillation generated in the working process of the controlled object, and controlling the controlled object to work through a PWM driving module based on the PI D control algorithm; and S4, recording a running log of the controlled object in real time, encrypting the running log to obtain an encrypted log, and storing and backing up the encrypted log. The method has the advantages that the overshoot oscillation is suppressed, and the PI D control precision is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of PID control, and in particular to a PID control method and system for suppressing overshoot oscillation. Background Art

[0002] In the field of industrial control, PID control algorithm (proportional integral differential control algorithm) is a commonly used control algorithm, which is widely used in temperature control, motor control, robot control, etc. With the continuous development of digital control technology, digital PID control has gradually replaced traditional analog PID control.

[0003] The PID control algorithm is based on adjusting the feedback error. It consists of three parts: proportional (P), integral (I) and differential (D). The control output is obtained by weighted summation of the deviation signal. The proportional part determines the response speed, the integral part eliminates the static error, and the differential part suppresses oscillation to improve stability. It is widely used due to its simple structure, intuitive parameter adjustment, wide applicability and good stability.

[0004] However, under certain conditions and application environments, the traditional PID control algorithm has a large overshoot in the system step response and is sensitive to changes in system parameters, that is, there is overshoot oscillation under environmental interference, which in turn affects the control accuracy.

[0005] Therefore, how to provide a PID control method and system for suppressing overshoot oscillation to suppress overshoot oscillation and improve PID control accuracy has become a technical problem that needs to be solved urgently. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a PID control method and system for suppressing overshoot oscillation, so as to suppress overshoot oscillation and improve PID control accuracy.

[0007] In a first aspect, the present invention provides a PID control method for suppressing overshoot oscillation, comprising the following steps:

[0008] Step S1, setting a target value, controlling the controlled object to work based on the target value, and collecting the output value of the controlled object through an ADC sampling module;

[0009] Step S2, calculating the difference between the target value and the output value, and calculating the PID gain coefficient based on the difference;

[0010] Step S3, updating the PID control algorithm based on the PID gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object, and controlling the controlled object to operate through a PWM drive module based on the PID control algorithm;

[0011] Step S4: record the operation log of the controlled object in real time, encrypt the operation log to obtain an encrypted log, and store and back up the encrypted log.

[0012] Furthermore, the step S1 further includes:

[0013] The ADC sampling module converts the collected output value from an analog signal into a digital signal.

[0014] Furthermore, in step S2, the PID gain coefficient includes a proportional gain coefficient, an integral gain coefficient and a differential gain coefficient.

[0015] Furthermore, the step S3 is specifically as follows:

[0016] The PID control algorithm is updated based on the gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object. The control signal output by the PID control algorithm is input into a PWM drive module. The PWM drive module converts the input control signal into a PWM signal, and controls the controlled object to work through the PWM signal.

[0017] Furthermore, the step S4 is specifically as follows:

[0018] The operation log of the controlled object is recorded in real time, a pair of public keys and private keys are created through the ECDH algorithm, the public key is mapped through a preset mapping rule to obtain a first key, the first key is encrypted through the RC6 algorithm to obtain a second key, the operation log is hashed to obtain a hash value, the operation log and the hash value are encrypted through the private key to obtain primary encrypted data, the primary encrypted data and the second key are encrypted through the 3DES algorithm to obtain secondary encrypted data, each character of the secondary encrypted data is shifted to the left by a preset first displacement to obtain third-level encrypted data, the third-level encrypted data is encrypted through the ECDSA algorithm to obtain fourth-level encrypted data, each character of the fourth-level encrypted data is shifted to the right by a preset second displacement to obtain fifth-level encrypted data, the fifth-level encrypted data is encrypted through the XTEA algorithm to obtain an encrypted log, and the encrypted log is stored and distributedly backed up.

[0019] In a second aspect, the present invention provides a PID control system for suppressing overshoot oscillation, comprising the following modules:

[0020] An output value acquisition module is used to set a target value, control the controlled object to work based on the target value, and acquire the output value of the controlled object through the ADC sampling module;

[0021] A PID gain coefficient calculation module, used to calculate the difference between the target value and the output value, and calculate the PID gain coefficient based on the difference;

[0022] A PID control algorithm updating module, used for updating the PID control algorithm based on the PID gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object, and controlling the controlled object to work through the PWM driving module based on the PID control algorithm;

[0023] The operation log management module is used to record the operation log of the controlled object in real time, encrypt the operation log to obtain an encrypted log, and store and back up the encrypted log.

[0024] Furthermore, the output value acquisition module is also used for:

[0025] The ADC sampling module converts the collected output value from an analog signal into a digital signal.

[0026] Furthermore, in the PID gain coefficient calculation module, the PID gain coefficient includes a proportional gain coefficient, an integral gain coefficient and a differential gain coefficient.

[0027] Furthermore, the PID control algorithm update module is specifically used for:

[0028] The PID control algorithm is updated based on the gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object. The control signal output by the PID control algorithm is input into a PWM drive module. The PWM drive module converts the input control signal into a PWM signal, and controls the controlled object to work through the PWM signal.

[0029] Furthermore, the operation log management module is specifically used for:

[0030] The operation log of the controlled object is recorded in real time, a pair of public keys and private keys are created through the ECDH algorithm, the public key is mapped through a preset mapping rule to obtain a first key, the first key is encrypted through the RC6 algorithm to obtain a second key, the operation log is hashed to obtain a hash value, the operation log and the hash value are encrypted through the private key to obtain primary encrypted data, the primary encrypted data and the second key are encrypted through the 3DES algorithm to obtain secondary encrypted data, each character of the secondary encrypted data is shifted to the left by a preset first displacement to obtain third-level encrypted data, the third-level encrypted data is encrypted through the ECDSA algorithm to obtain fourth-level encrypted data, each character of the fourth-level encrypted data is shifted to the right by a preset second displacement to obtain fifth-level encrypted data, the fifth-level encrypted data is encrypted through the XTEA algorithm to obtain an encrypted log, and the encrypted log is stored and distributedly backed up.

[0031] The advantages of the present invention are:

[0032] 1. The controlled object is controlled to work through the set target value, the output value of the controlled object is collected through the ADC sampling module, the difference between the target value and the output value is calculated, the PID gain coefficient is calculated based on the difference, and then the PID control algorithm is updated based on the PID gain coefficient to suppress the overshoot oscillation generated during the working process of the controlled object. Based on the PID control algorithm, the controlled object is controlled to work through the PWM drive module, and the operation log of the controlled object is recorded in real time, the operation log is encrypted to obtain an encrypted log, and the encrypted log is stored and backed up; that is, the PID control algorithm is updated based on the PID gain coefficient calculated based on the difference between the target value and the output value to suppress the overshoot oscillation generated during the working process of the controlled object, thereby greatly improving the PID control accuracy.

[0033] 2. Record the operation log of the controlled object in real time, encrypt the operation log to obtain an encrypted log, and store and back up the encrypted log to facilitate later tracing.

[0034] 3. Create a pair of public and private keys through the ECDH algorithm, map the public key through the mapping rule to obtain the first key, encrypt the first key through the RC6 algorithm to obtain the second key, perform hash calculation on the operation log to obtain the hash value, encrypt the operation log and the hash value through the private key to obtain the first-level encrypted data, encrypt the first-level encrypted data and the second key through the 3DES algorithm to obtain the second-level encrypted data, shift each character of the second-level encrypted data to the left by the first displacement to obtain the third-level encrypted data, encrypt the third-level encrypted data through the ECDSA algorithm to obtain the fourth-level encrypted data, and shift each character of the fourth-level encrypted data to the right by the second displacement to obtain the fifth-level encrypted data According to the data, the five-level encrypted data is encrypted through the XTEA algorithm to obtain the encrypted log, and the encrypted log is stored and distributedly backed up; since the data encrypted by the private key can only be decrypted by the public key, and the operation log and the public key are encrypted at multiple levels, the hash value can be used for integrity verification later. If the corresponding encryption algorithm or data transformation rule is not known, the encrypted log cannot be cracked. At least 12 security measures are taken before and after (ECDH algorithm, public and private keys, mapping rules, RC6 algorithm, hash calculation, 3DES algorithm, first displacement, displacement direction, ECDSA algorithm, second displacement, XTEA algorithm, distributed backup), which greatly improves the security of operation log storage and backup. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0036] Figure 1 The present invention is a flowchart of a PID control method for suppressing overshoot oscillation.

[0037] Figure 2 It is a structural schematic diagram of a PID control system for suppressing overshoot oscillation according to the present invention. DETAILED DESCRIPTION

[0038] The technical solution in the embodiments of the present application has the following overall idea: the PID gain coefficient calculated based on the difference between the target value and the output value updates the PID control algorithm to suppress the overshoot oscillation generated during the operation of the controlled object, thereby improving the PID control accuracy.

[0039] Please refer to Figure 1 to Figure 2 As shown, a preferred embodiment of a PID control method for suppressing overshoot oscillation of the present invention comprises the following steps:

[0040] Step S1, setting a target value, controlling the controlled object to work based on the target value, and collecting the output value of the controlled object through an ADC sampling module;

[0041] Step S2, calculating the difference between the target value and the output value, and calculating the PID gain coefficient based on the difference;

[0042] Step S3, updating the PID control algorithm based on the PID gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object, and controlling the controlled object to operate through a PWM drive module based on the PID control algorithm;

[0043] Step S4: Record the operation log of the controlled object in real time, encrypt the operation log to obtain an encrypted log, and store and back up the encrypted log. By recording the operation log of the controlled object in real time, encrypting the operation log to obtain an encrypted log, and storing and backing up the encrypted log, it is convenient for later tracing.

[0044] The step S1 further comprises:

[0045] The ADC sampling module converts the collected output value from an analog signal into a digital signal.

[0046] In the step S2, the PID gain coefficient includes a proportional gain coefficient, an integral gain coefficient and a differential gain coefficient.

[0047] The step S3 is specifically as follows:

[0048] The PID control algorithm is updated based on the gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object. The control signal output by the PID control algorithm is input into a PWM drive module. The PWM drive module converts the input control signal into a PWM signal, and controls the controlled object to work through the PWM signal.

[0049] The step S4 is specifically as follows:

[0050] The operation log of the controlled object is recorded in real time, a pair of public keys and private keys are created through the ECDH algorithm, the public key is mapped through a preset mapping rule to obtain a first key, the first key is encrypted through the RC6 algorithm to obtain a second key, the operation log is hashed to obtain a hash value, the operation log and the hash value are encrypted through the private key to obtain primary encrypted data, the primary encrypted data and the second key are encrypted through the 3DES algorithm to obtain secondary encrypted data, each character of the secondary encrypted data is shifted to the left by a preset first displacement to obtain third-level encrypted data, the third-level encrypted data is encrypted through the ECDSA algorithm to obtain fourth-level encrypted data, each character of the fourth-level encrypted data is shifted to the right by a preset second displacement to obtain fifth-level encrypted data, the fifth-level encrypted data is encrypted through the XTEA algorithm to obtain an encrypted log, and the encrypted log is stored and distributedly backed up.

[0051] A pair of public keys and private keys are created through the ECDH algorithm, the public key is mapped through the mapping rule to obtain the first key, the first key is encrypted through the RC6 algorithm to obtain the second key, the operation log is hashed to obtain the hash value, the operation log and the hash value are encrypted through the private key to obtain the first-level encrypted data, the first-level encrypted data and the second key are encrypted through the 3DES algorithm to obtain the second-level encrypted data, each character of the second-level encrypted data is shifted to the left by the first displacement to obtain the third-level encrypted data, the third-level encrypted data is encrypted through the ECDSA algorithm to obtain the fourth-level encrypted data, and each character of the fourth-level encrypted data is shifted to the right by the second displacement to obtain the fifth-level encrypted data , the five-level encrypted data is encrypted by the XTEA algorithm to obtain an encrypted log, and the encrypted log is stored and distributedly backed up; since the data encrypted by the private key can only be decrypted by the public key, and the operation log and the public key are both encrypted at multiple levels, the hash value can be used for integrity verification later. If the corresponding encryption algorithm or data transformation rule is not known, the encrypted log cannot be cracked. At least 12 security measures are taken before and after (ECDH algorithm, public and private keys, mapping rules, RC6 algorithm, hash calculation, 3DES algorithm, first displacement, displacement direction, ECDSA algorithm, second displacement, XTEA algorithm, distributed backup), which greatly improves the security of operation log storage and backup.

[0052] The decryption process of the encrypted log is as follows: decrypting the encrypted log by the XTEA algorithm to obtain level-five encrypted data, shifting each character of the level-five encrypted data to the left by a preset second displacement to obtain level-four encrypted data, decrypting the level-four encrypted data by the ECDSA algorithm to obtain level-three encrypted data, shifting each character of the level-three encrypted data to the right and left by a preset first displacement to obtain level-two encrypted data, decrypting the level-two encrypted data by the 3DES algorithm to obtain level-one encrypted data and a second key, decrypting the second key by the RC6 algorithm to obtain a first key, mapping the first key by a preset mapping rule to obtain a public key, decrypting the level-one encrypted data by the public key to obtain a running log and a hash value, and performing integrity verification on the running log by the hash value.

[0053] A preferred embodiment of a PID control system for suppressing overshoot oscillation of the present invention comprises the following modules:

[0054] An output value acquisition module is used to set a target value, control the controlled object to work based on the target value, and acquire the output value of the controlled object through the ADC sampling module;

[0055] A PID gain coefficient calculation module, used to calculate the difference between the target value and the output value, and calculate the PID gain coefficient based on the difference;

[0056] A PID control algorithm updating module, used for updating the PID control algorithm based on the PID gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object, and controlling the controlled object to work through the PWM driving module based on the PID control algorithm;

[0057] The operation log management module is used to record the operation log of the controlled object in real time, encrypt the operation log to obtain an encrypted log, and store and back up the encrypted log. By recording the operation log of the controlled object in real time, encrypting the operation log to obtain an encrypted log, and storing and backing up the encrypted log, it is convenient for later tracing.

[0058] The output value acquisition module is also used for:

[0059] The ADC sampling module converts the collected output value from an analog signal into a digital signal.

[0060] In the PID gain coefficient calculation module, the PID gain coefficient includes a proportional gain coefficient, an integral gain coefficient and a differential gain coefficient.

[0061] The PID control algorithm update module is specifically used for:

[0062] The PID control algorithm is updated based on the gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object. The control signal output by the PID control algorithm is input into a PWM drive module. The PWM drive module converts the input control signal into a PWM signal, and controls the controlled object to work through the PWM signal.

[0063] The operation log management module is specifically used for:

[0064] The operation log of the controlled object is recorded in real time, a pair of public keys and private keys are created through the ECDH algorithm, the public key is mapped through a preset mapping rule to obtain a first key, the first key is encrypted through the RC6 algorithm to obtain a second key, the operation log is hashed to obtain a hash value, the operation log and the hash value are encrypted through the private key to obtain primary encrypted data, the primary encrypted data and the second key are encrypted through the 3DES algorithm to obtain secondary encrypted data, each character of the secondary encrypted data is shifted to the left by a preset first displacement to obtain third-level encrypted data, the third-level encrypted data is encrypted through the ECDSA algorithm to obtain fourth-level encrypted data, each character of the fourth-level encrypted data is shifted to the right by a preset second displacement to obtain fifth-level encrypted data, the fifth-level encrypted data is encrypted through the XTEA algorithm to obtain an encrypted log, and the encrypted log is stored and distributedly backed up.

[0065] A pair of public keys and private keys are created through the ECDH algorithm, the public key is mapped through the mapping rule to obtain the first key, the first key is encrypted through the RC6 algorithm to obtain the second key, the operation log is hashed to obtain the hash value, the operation log and the hash value are encrypted through the private key to obtain the first-level encrypted data, the first-level encrypted data and the second key are encrypted through the 3DES algorithm to obtain the second-level encrypted data, each character of the second-level encrypted data is shifted to the left by the first displacement to obtain the third-level encrypted data, the third-level encrypted data is encrypted through the ECDSA algorithm to obtain the fourth-level encrypted data, and each character of the fourth-level encrypted data is shifted to the right by the second displacement to obtain the fifth-level encrypted data , the five-level encrypted data is encrypted by the XTEA algorithm to obtain an encrypted log, and the encrypted log is stored and distributedly backed up; since the data encrypted by the private key can only be decrypted by the public key, and the operation log and the public key are both encrypted at multiple levels, the hash value can be used for integrity verification later. If the corresponding encryption algorithm or data transformation rule is not known, the encrypted log cannot be cracked. At least 12 security measures are taken before and after (ECDH algorithm, public and private keys, mapping rules, RC6 algorithm, hash calculation, 3DES algorithm, first displacement, displacement direction, ECDSA algorithm, second displacement, XTEA algorithm, distributed backup), which greatly improves the security of operation log storage and backup.

[0066] The decryption process of the encrypted log is as follows: decrypting the encrypted log by the XTEA algorithm to obtain level-five encrypted data, shifting each character of the level-five encrypted data to the left by a preset second displacement to obtain level-four encrypted data, decrypting the level-four encrypted data by the ECDSA algorithm to obtain level-three encrypted data, shifting each character of the level-three encrypted data to the right and left by a preset first displacement to obtain level-two encrypted data, decrypting the level-two encrypted data by the 3DES algorithm to obtain level-one encrypted data and a second key, decrypting the second key by the RC6 algorithm to obtain a first key, mapping the first key by a preset mapping rule to obtain a public key, decrypting the level-one encrypted data by the public key to obtain a running log and a hash value, and performing integrity verification on the running log by the hash value.

[0067] In summary, the advantages of the present invention are:

[0068] 1. The controlled object is controlled to work through the set target value, the output value of the controlled object is collected through the ADC sampling module, the difference between the target value and the output value is calculated, the PID gain coefficient is calculated based on the difference, and then the PID control algorithm is updated based on the PID gain coefficient to suppress the overshoot oscillation generated during the working process of the controlled object. Based on the PID control algorithm, the controlled object is controlled to work through the PWM drive module, and the operation log of the controlled object is recorded in real time, the operation log is encrypted to obtain an encrypted log, and the encrypted log is stored and backed up; that is, the PID control algorithm is updated based on the PID gain coefficient calculated based on the difference between the target value and the output value to suppress the overshoot oscillation generated during the working process of the controlled object, thereby greatly improving the PID control accuracy.

[0069] 2. Record the operation log of the controlled object in real time, encrypt the operation log to obtain an encrypted log, and store and back up the encrypted log to facilitate later tracing.

[0070] 3. Create a pair of public and private keys through the ECDH algorithm, map the public key through the mapping rule to obtain the first key, encrypt the first key through the RC6 algorithm to obtain the second key, perform hash calculation on the operation log to obtain the hash value, encrypt the operation log and the hash value through the private key to obtain the first-level encrypted data, encrypt the first-level encrypted data and the second key through the 3DES algorithm to obtain the second-level encrypted data, shift each character of the second-level encrypted data to the left by the first displacement to obtain the third-level encrypted data, encrypt the third-level encrypted data through the ECDSA algorithm to obtain the fourth-level encrypted data, and shift each character of the fourth-level encrypted data to the right by the second displacement to obtain the fifth-level encrypted data According to the data, the five-level encrypted data is encrypted through the XTEA algorithm to obtain the encrypted log, and the encrypted log is stored and distributedly backed up; since the data encrypted by the private key can only be decrypted by the public key, and the operation log and the public key are encrypted at multiple levels, the hash value can be used for integrity verification later. If the corresponding encryption algorithm or data transformation rule is not known, the encrypted log cannot be cracked. At least 12 security measures are taken before and after (ECDH algorithm, public and private keys, mapping rules, RC6 algorithm, hash calculation, 3DES algorithm, first displacement, displacement direction, ECDSA algorithm, second displacement, XTEA algorithm, distributed backup), which greatly improves the security of operation log storage and backup.

[0071] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A PID control method for suppressing overshoot oscillation, characterized in that: The steps include: Step S1, setting a target value, controlling the controlled object to work based on the target value, and collecting the output value of the controlled object through an ADC sampling module; Step S2, calculating the difference between the target value and the output value, and calculating the PID gain coefficient based on the difference; Step S3, updating the PID control algorithm based on the PID gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object, and controlling the controlled object to operate through a PWM drive module based on the PID control algorithm; Step S4: record the operation log of the controlled object in real time, encrypt the operation log to obtain an encrypted log, and store and back up the encrypted log.

2. A PID control method for suppressing overshoot oscillation according to claim 1, characterized in that: The step S1 further comprises: The ADC sampling module converts the collected output value from an analog signal into a digital signal.

3. A PID control method for suppressing overshoot oscillation as claimed in claim 1, characterized in that: In step S2, the PID gain coefficient includes a proportional gain coefficient, an integral gain coefficient and a differential gain coefficient.

4. A PID control method for suppressing overshoot oscillation as claimed in claim 1, characterized in that: The step S3 is specifically as follows: The PID control algorithm is updated based on the gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object. The control signal output by the PID control algorithm is input into the PWM drive module. The PWM drive module converts the input control signal into a PWM signal, and controls the controlled object to work through the PWM signal.

5. A PID control method for suppressing overshoot oscillation as claimed in claim 1, characterized in that: The step S4 is specifically as follows: The operation log of the controlled object is recorded in real time, a pair of public keys and private keys are created through the ECDH algorithm, the public key is mapped through a preset mapping rule to obtain a first key, the first key is encrypted through the RC6 algorithm to obtain a second key, the operation log is hashed to obtain a hash value, the operation log and the hash value are encrypted through the private key to obtain primary encrypted data, the primary encrypted data and the second key are encrypted through the 3DES algorithm to obtain secondary encrypted data, each character of the secondary encrypted data is shifted to the left by a preset first displacement to obtain third-level encrypted data, the third-level encrypted data is encrypted through the ECDSA algorithm to obtain fourth-level encrypted data, each character of the fourth-level encrypted data is shifted to the right by a preset second displacement to obtain fifth-level encrypted data, the fifth-level encrypted data is encrypted through the XTEA algorithm to obtain an encrypted log, and the encrypted log is stored and distributedly backed up.

6. A PID control system for suppressing overshoot oscillation, characterized in that: Includes the following modules: An output value acquisition module is used to set a target value, control the controlled object to work based on the target value, and acquire the output value of the controlled object through the ADC sampling module; A PID gain coefficient calculation module, used to calculate the difference between the target value and the output value, and calculate the PID gain coefficient based on the difference; A PID control algorithm updating module, used for updating the PID control algorithm based on the PID gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object, and controlling the controlled object to operate through a PWM driving module based on the PID control algorithm; The operation log management module is used to record the operation log of the controlled object in real time, encrypt the operation log to obtain an encrypted log, and store and back up the encrypted log.

7. A PID control system for suppressing overshoot oscillation as claimed in claim 6, characterized in that: The output value acquisition module is also used for: The ADC sampling module converts the collected output value from an analog signal into a digital signal.

8. A PID control system for suppressing overshoot oscillation as claimed in claim 6, characterized in that: In the PID gain coefficient calculation module, the PID gain coefficient includes a proportional gain coefficient, an integral gain coefficient and a differential gain coefficient.

9. A PID control system for suppressing overshoot oscillation as claimed in claim 6, characterized in that: The PID control algorithm update module is specifically used for: The PID control algorithm is updated based on the gain coefficient to suppress overshoot oscillation generated during the operation of the controlled object. The control signal output by the PID control algorithm is input into the PWM drive module. The PWM drive module converts the input control signal into a PWM signal, and controls the controlled object to work through the PWM signal.

10. A PID control system for suppressing overshoot oscillation as claimed in claim 6, characterized in that: The operation log management module is specifically used for: The operation log of the controlled object is recorded in real time, a pair of public keys and private keys are created through the ECDH algorithm, the public key is mapped through a preset mapping rule to obtain a first key, the first key is encrypted through the RC6 algorithm to obtain a second key, the operation log is hashed to obtain a hash value, the operation log and the hash value are encrypted through the private key to obtain primary encrypted data, the primary encrypted data and the second key are encrypted through the 3DES algorithm to obtain secondary encrypted data, each character of the secondary encrypted data is shifted to the left by a preset first displacement to obtain third-level encrypted data, the third-level encrypted data is encrypted through the ECDSA algorithm to obtain fourth-level encrypted data, each character of the fourth-level encrypted data is shifted to the right by a preset second displacement to obtain fifth-level encrypted data, the fifth-level encrypted data is encrypted through the XTEA algorithm to obtain an encrypted log, and the encrypted log is stored and distributedly backed up.

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