Intelligent control system for mechanical equipment

Abstract

The invention discloses an intelligent control system for mechanical equipment, and relates to the technical field of mechanical equipment control, which comprises the steps of generating a state change index of the mechanical equipment according to a characteristic value of operation state information, and describing an operation state change condition of the mechanical equipment through the state change index, thereby dynamically setting or adjusting a control period. And a reliable basis is provided for subsequent intelligent control. The attribute of the execution mechanism is configured according to the related information of the execution mechanism, the related parameters of the control algorithm of the mechanical equipment are adjusted according to the attribute of the execution mechanism, and the related parameters of the control algorithm are initialized according to the attribute condition of the execution mechanism, so that the control algorithm is more adaptive to the execution mechanism of the mechanical equipment, and the control adaptability is improved. The mechanical equipment is subjected to feedback regulation according to the result of the control process, the control process is continuously monitored, and the control algorithm is perfected according to the control period, so that the control precision is improved, and the intelligent control effect of the mechanical equipment is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment control, and in particular to an intelligent control system for mechanical equipment. Background Art

[0002] Originating from the rapid development of technologies such as industrial automation, artificial intelligence, the Internet of Things, and big data, and with the continuous maturity and integration of these technologies, mechanical equipment is undergoing a transformation from traditional mechanical operation to intelligent control. This transformation not only improves the efficiency and safety of engineering operations, but also promotes the intelligent upgrade of the construction machinery industry. By integrating sensors, controllers, and actuators, intelligent control solutions can collect and analyze the operating data of mechanical equipment in real time, and automatically adjust the equipment status based on preset algorithms or learning modes to achieve precise control and optimized management. In addition, the application of big data and cloud computing technologies provides powerful data processing capabilities for intelligent control, further improving control accuracy and response speed. These technical backgrounds provide a solid foundation and broad development space for the implementation of intelligent control solutions for mechanical equipment.

[0003] In the prior art, the intelligent control cycle of mechanical equipment is often fixed according to the equipment's own conditions. However, the operating conditions of some mechanical equipment are relatively complex, and the fixed control cycle cannot meet the changing control requirements, resulting in poor adaptability and low precision of intelligent control of mechanical equipment.

[0004] Therefore, how to improve the adaptability and accuracy of intelligent control of mechanical equipment is a technical problem that needs to be solved. Summary of the invention

[0005] The purpose of the present invention is to solve the problems of poor adaptability and low precision of intelligent control of mechanical equipment in the prior art, and to propose an intelligent control system for mechanical equipment, which includes:

[0006] An integration module is used to obtain the operation status information of the mechanical equipment within a current period of time, divide the operation status information, calculate the characteristic values ​​corresponding to each of the divided operation status information, and generate the state change index of the mechanical equipment according to the characteristic values ​​of the operation status information;

[0007] A configuration module is used to set the control cycle of the mechanical equipment based on the state change index of the mechanical equipment, and to dynamically adjust the control cycle by monitoring the state change index, obtain relevant information of the internal actuator of the mechanical equipment, and configure the properties of the actuator according to the relevant information of the actuator;

[0008] A control module is used to determine the control target information of the mechanical equipment, adjust the relevant parameters of the control algorithm of the mechanical equipment according to the properties of the actuator, and control the mechanical equipment through the control cycle, control target information and control algorithm;

[0009] The feedback module is used to monitor the control process of the mechanical equipment and perform feedback adjustment on the mechanical equipment according to the results of the control process, so as to improve the input information of the next control cycle.

[0010] In some embodiments of the present application, the integration module is used to divide the operation status information, which is specifically:

[0011] Obtain the previous fault maintenance records and operating status information of the mechanical equipment, match the operating status information with each record in the fault maintenance record, quantify the fault severity corresponding to each record through the operating status information, classify the records in the fault maintenance record, and define the fault level of the mechanical equipment by combining each type of fault maintenance record;

[0012]

[0013] Among them, F is the fault level of the mechanical equipment, n is the number of fault types in the fault maintenance record, α i is the impact weight corresponding to the i-th fault type in the fault maintenance record, Q i is the average fault severity corresponding to the i-th fault type in the fault maintenance record, t i is the total fault time corresponding to the i-th fault type in the fault maintenance record, f i is the occurrence frequency corresponding to the i-th fault type in the fault maintenance record, k is a preset constant, and [] is a rounding symbol;

[0014] If the fault level of the mechanical equipment is lower than the preset level, the current operating state information is divided into operating state information with a low-order change rate;

[0015] If the fault level of the mechanical equipment is not lower than the preset level, the current operation status information is divided into operation status information of a low-order change rate and operation status information of a high-order change rate;

[0016] The running status information of the low-order change rate is the running status information of the first-order change rate, and the running status information of the high-order change rate is the running status information of the second-order change rate and above.

[0017] In some embodiments of the present application, the integration module is used to calculate the characteristic values ​​corresponding to the divided operation status information, which are specifically:

[0018] The characteristic values ​​corresponding to the running status information of the low-order change rate include the mean value of the change rate and the standard deviation of the change rate, and the characteristic values ​​corresponding to the running status information of the high-order change rate include the extreme value, the zero-crossing rate and the energy;

[0019] The mean value, standard deviation, extreme value and zero-crossing rate of the rate of change are calculated by statistical methods, and the energy is obtained by integrating the high-order rate of change.

[0020] In some embodiments of the present application, the integration module is used to generate a state change index of the mechanical equipment according to the characteristic value of the operating state information, which is specifically:

[0021] The state change index of the mechanical equipment is generated by combining the change rate mean and change rate standard deviation corresponding to the operation state information of the low-order change rate and the extreme value, zero-crossing rate and energy corresponding to the operation state information of the high-order change rate;

[0022]

[0023] Among them, S is the state change index of the mechanical equipment, β1 and β2 are the conversion coefficients of the operation state information of the low-order change rate and the high-order change rate, respectively, m1 and m2 are the number of operation state information of the low-order change rate and the high-order change rate, respectively. are the mean and standard deviation of the low-order change rate of the j1th operating status information, z1 is the preset constant of the low-order change rate, are the energy, extreme value difference, and zero-crossing rate of the j2th operating state information high-order change rate, respectively. The extreme value includes the maximum value and the minimum value. The extreme value difference is the difference between the maximum value and the minimum value. z2 is the constant corresponding to the high-order change rate. Indicates the zero-crossing rate of the high-order change rate of the j2th operating status information The constant z2 obtained by mapping.

[0024] In some embodiments of the present application, the configuration module is used to set the control period of the mechanical device by means of the state change index of the mechanical device, and to monitor the state change index to dynamically adjust the control period, which is specifically:

[0025] Different mechanical equipment has different control cycles corresponding to the state change index size, so as to set the control cycle of the mechanical equipment;

[0026] Under subsequent monitoring, a threshold of the state change index is set, and an adjustment coefficient is generated by comparing the relationship between the state change index and the threshold of the state change index. The control period of the mechanical equipment is dynamically adjusted through the adjustment coefficient.

[0027] In some embodiments of the present application, the configuration module is used to configure the properties of the actuator according to the relevant information of the actuator, which is specifically:

[0028] The actuator related information includes motion records and vibration information, and the actuator properties include response speed, stability and hysteresis;

[0029] Analyze the action records of the actuator, determine the response speed by the time when the control command is issued and the time when the actuator starts to act, and determine the hysteresis by the time when the actuator receives the control command and the time when it meets the state required by the command;

[0030] A vibration curve of vibration data changing over time is established based on the vibration information of the actuator, the jitter drift phenomenon is identified in the vibration curve, and the first stability of the jitter drift phenomenon is quantified. The vibration curve is analyzed to obtain the second stability, and the stability of the actuator is determined by combining the first stability and the second stability.

[0031] In some embodiments of the present application, the control module is used to adjust the relevant parameters of the control algorithm of the mechanical equipment according to the properties of the actuator, which are specifically:

[0032] The relevant parameters of the control algorithm are associated with the properties of the actuator, and the response speed, smoothness and hysteresis of the actuator are evaluated one by one to identify the weak properties of the actuator, and the relevant parameters of the control algorithm are adjusted according to the weak properties.

[0033] In some embodiments of the present application, the feedback module is used to monitor the control process of the mechanical equipment and perform feedback adjustment on the mechanical equipment according to the result of the control process, which is specifically:

[0034] Monitor the realization of control target information during the control process of mechanical equipment. The realization status includes realization time, realization maintenance time and realization deviation. Generate the deviation result of the control process according to the realization time, realization maintenance time and realization deviation. Adjust the control algorithm through the deviation result, and then perform feedback adjustment.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. Generate the state change index of the mechanical equipment according to the characteristic value of the operating state information, and describe the change of the operating state of the mechanical equipment through the state change index, so as to dynamically set or adjust the control cycle and provide a reliable basis for subsequent intelligent control. Configure the properties of the actuator according to the relevant information of the actuator, adjust the relevant parameters of the control algorithm of the mechanical equipment according to the properties of the actuator, and initialize the relevant parameters of the control algorithm based on the properties of the actuator, so that the control algorithm is more compatible with the actuator of the mechanical equipment, and improve the adaptability of the control.

[0037] 2. Feedback and adjust the mechanical equipment according to the results of the control process, continuously monitor the control process, and improve the control algorithm according to the control cycle to improve the control accuracy, ensure the effect of intelligent control of mechanical equipment, and ensure the safe and stable operation of mechanical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a structural schematic diagram of an intelligent control system for mechanical equipment proposed by the present invention. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0040] Reference Figure 1 , a mechanical equipment intelligent control system, including the following modules:

[0041] The integration module is used to obtain the operating status information of the mechanical equipment in the current period of time, divide the operating status information, calculate the characteristic values ​​corresponding to each of the divided operating status information, and generate the state change index of the mechanical equipment according to the characteristic values ​​of the operating status information.

[0042] In this embodiment, the mechanical equipment includes CNC machine tools, robots, printing equipment, intelligent industrial equipment, etc. The operating state information is various operating state parameters of the mechanical equipment, including temperature, vibration, pressure, speed, etc. These parameters can reflect the real-time working state of the mechanical equipment and provide data support for subsequent state analysis and control strategy formulation. The operating state information is divided, and the division here is to divide the operating state information of low and high order change rates according to the fault conditions of the mechanical equipment. First-order change rate state information: usually involves relatively stable physical quantities, such as temperature, vibration, pressure, speed, etc. The changes of these physical quantities are relatively slow and will not fluctuate violently in a short time. The first-order change rate, also known as the instantaneous change rate or derivative, describes the instantaneous change speed of the data sequence at a certain moment. For discrete time series data, the first-order change rate is usually obtained by calculating the ratio of the difference between two adjacent data points to the time interval between them. High-order change rate state information: usually involves physical quantities that change more violently, such as acceleration, deceleration, and the rate of change of vibration acceleration. The changes in these physical quantities may fluctuate significantly in a short period of time, so more sophisticated monitoring and analysis are required. Higher-order rates of change involve taking multiple derivatives (or differences) of the data series to reveal deeper trends. For example, the second-order rate of change is the rate of change of the first-order rate of change, which reflects the speed of change of the speed of change of the data series, that is, the acceleration. Similarly, higher-order rates of change such as the third-order and fourth-order can be calculated to further analyze the complex dynamic characteristics of the data series. In practical applications, higher-order rates of change may be used to capture more subtle features such as inflection points, fluctuations, or trend changes in data series. However, as the order increases, the computational complexity also increases, and higher-order rates of change may be more susceptible to noise and data irregularities.

[0043] In some embodiments of the present application, the integration module is used to divide the operation status information, which is specifically:

[0044] Obtain the previous fault maintenance records and operating status information of the mechanical equipment, match the operating status information with each record in the fault maintenance record, quantify the fault severity corresponding to each record through the operating status information, classify the records in the fault maintenance record, and define the fault level of the mechanical equipment by combining each type of fault maintenance record;

[0045]

[0046] Among them, F is the fault level of the mechanical equipment, n is the number of fault types in the fault maintenance record, α i is the impact weight corresponding to the i-th fault type in the fault maintenance record, Q i is the average fault severity corresponding to the i-th fault type in the fault maintenance record, t i is the total fault time corresponding to the i-th fault type in the fault maintenance record, f i is the occurrence frequency corresponding to the i-th fault type in the fault maintenance record, k is a preset constant, and [] is a rounding symbol;

[0047] If the fault level of the mechanical equipment is lower than the preset level, the current operating state information is divided into operating state information with a low-order change rate;

[0048] If the fault level of the mechanical equipment is not lower than the preset level, the current operation status information is divided into operation status information of a low-order change rate and operation status information of a high-order change rate;

[0049] The running status information of the low-order change rate is the running status information of the first-order change rate, and the running status information of the high-order change rate is the running status information of the second-order change rate and above.

[0050] In this embodiment, the fault impact of the mechanical equipment is integrated through each type of fault condition (fault severity, time, frequency), so as to determine the fault level. Fault records: By analyzing the past fault records of the mechanical equipment, the frequency, type, cause and location of equipment failure can be understood. The accumulation of this information helps to identify the failure mode of the equipment, that is, whether certain faults occur repeatedly, or whether certain components are more prone to failure. Maintenance records: Maintenance records provide the repair status of the equipment after failure, including maintenance time, maintenance content, replaced parts, etc. By comparing maintenance records with fault records, the effectiveness of maintenance measures and whether there are repeated repairs can be evaluated, which helps to identify potential fault risk points. The severity of the fault corresponding to each record is quantified through operating status information (abnormal values, change size, etc.).

[0051] In this embodiment, the fault level (characterized by the previous faults of the mechanical equipment) describes the severity of the fault of the mechanical equipment. If the fault is more serious, it means that there are more fault risk points in the equipment. In this case, it is necessary to strengthen monitoring, especially deep monitoring. Here, the high-order rate of change can better reflect the deep risk potential of the mechanical equipment, so as to timely discover and deal with the fault, prevent the fault from escalating or causing more serious consequences. If the fault of the mechanical equipment is not serious, the operating status of the mechanical equipment can be directly reflected by the low-order rate of change, reducing the amount of data calculation, thereby improving the reliability of control.

[0052] In some embodiments of the present application, the integration module is used to calculate the characteristic values ​​corresponding to the divided operation status information, which are specifically:

[0053] The characteristic values ​​corresponding to the running status information of the low-order change rate include the mean value of the change rate and the standard deviation of the change rate, and the characteristic values ​​corresponding to the running status information of the high-order change rate include the extreme value, the zero-crossing rate and the energy;

[0054] The mean value, standard deviation, extreme value and zero-crossing rate of the rate of change are calculated by statistical methods, and the energy is obtained by integrating the high-order rate of change.

[0055] In this embodiment, the meanings of the characteristic values ​​of the running status information of the low-order change rate and the high-order change rate are explained as follows:

[0056] Mean rate of change

[0057] Reflection: The mean change rate reflects the average speed at which the device status information changes.

[0058] Calculation method: First calculate the first-order rate of change between adjacent data points, and then average these rates of change.

[0059] Standard deviation of rate of change

[0060] Reflection: The standard deviation of the rate of change measures the degree of fluctuation in the speed of change of device status information.

[0061] Calculation method: Similar to the calculation method of standard deviation, but here the standard deviation is calculated for the first-order rate of change.

[0062] extremum

[0063] Reflection situation: Extreme values ​​(including maximum and minimum values) reflect the extreme changes in device status information at high-order change rates.

[0064] Calculation method: Find the maximum and minimum values ​​of the higher-order rate of change within a period of time.

[0065] Zero crossing rate

[0066] Reflection: The zero-crossing rate reflects the frequency of changes in the device status information. The more times the high-order change rate crosses the zero point, the more frequently the status information changes.

[0067] Calculation method: Count the number of times the higher-order rate of change crosses the zero point over a period of time.

[0068] energy

[0069] Reflects the situation: Energy reflects the total energy or intensity of changes in device status information.

[0070] Calculation method: Integrate the high-order rate of change, and the integral value is the energy. In practical applications, it may be necessary to integrate the absolute value of the high-order rate of change to avoid the influence of negative values.

[0071] It should be noted that the standard deviation of the rate of change, extreme value, and zero-crossing rate all reflect the fluctuation of the respective data.

[0072] In some embodiments of the present application, the integration module is used to generate a state change index of the mechanical equipment according to the characteristic value of the operating state information, which is specifically:

[0073] The state change index of the mechanical equipment is generated by combining the change rate mean and change rate standard deviation corresponding to the operation state information of the low-order change rate and the extreme value, zero-crossing rate and energy corresponding to the operation state information of the high-order change rate;

[0074]

[0075] Among them, S is the state change index of the mechanical equipment, β1 and β2 are the conversion coefficients of the operation state information of the low-order change rate and the high-order change rate, respectively, m1 and m2 are the number of operation state information of the low-order change rate and the high-order change rate, respectively. are the mean and standard deviation of the low-order change rate of the j1th operating status information, z1 is the preset constant of the low-order change rate, are the energy, extreme value difference, and zero-crossing rate of the j2th operating state information high-order change rate, respectively. The extreme value includes the maximum value and the minimum value. The extreme value difference is the difference between the maximum value and the minimum value. z2 is the constant corresponding to the high-order change rate. Indicates the zero-crossing rate of the high-order change rate of the j2th operating status information The constant z2 obtained by mapping.

[0076] In this embodiment, It represents the correction of the standard deviation of the rate of change to the mean of the rate of change. It means that the degree of correction is determined by the difference between extreme values ​​and the zero-crossing rate, and the energy is corrected by the difference between extreme values ​​and the zero-crossing rate. Finally, the two types of characteristic values ​​of the operating status information of the low-order change rate and the high-order change rate are combined to determine the state change index of the mechanical equipment.

[0077] It can be understood that if the operating status information only has operating status information with a low-order change rate, then Used to represent the state change index of mechanical equipment, the state change index of mechanical equipment is generated only based on the operating state information of low-order change rate.

[0078] The configuration module is used to set the control cycle of the mechanical equipment based on the state change index of the mechanical equipment, and to dynamically adjust the control cycle by monitoring the state change index, obtain relevant information of the internal actuator of the mechanical equipment, and configure the properties of the actuator according to the relevant information of the actuator.

[0079] In this embodiment, different sizes of state change indicators correspond to different control cycles of mechanical equipment. According to the state change indicators, we can set the control cycle of the mechanical equipment. The control cycle refers to the time interval for the control system to monitor and adjust the state of the mechanical equipment. A reasonable control cycle can ensure that the mechanical equipment operates in a stable state while reducing unnecessary control intervention. For mechanical equipment with relatively stable state changes, we can set a longer control cycle to reduce the amount of calculation and resource consumption. For mechanical equipment with more drastic state changes, we need to set a shorter control cycle to ensure timely response and adjustment of the control strategy.

[0080] In some embodiments of the present application, the configuration module is used to set the control period of the mechanical device by means of the state change index of the mechanical device, and to monitor the state change index to dynamically adjust the control period, which is specifically:

[0081] Different mechanical equipment has different control cycles corresponding to the state change index size, so as to set the control cycle of the mechanical equipment;

[0082] Under subsequent monitoring, a threshold of the state change index is set, and an adjustment coefficient is generated by comparing the relationship between the state change index and the threshold of the state change index. The control period of the mechanical equipment is dynamically adjusted through the adjustment coefficient.

[0083] In this embodiment, the control period of the mechanical equipment is dynamically adjusted by adjusting the coefficient, and the adjustment coefficient*original control period=adjusted control period.

[0084] In this embodiment, the actuator realizes the function of the mechanical device through its movement or change. For example, in a CNC machine tool, the motor acts as an actuator to drive the tool for cutting; in a hydraulic system, the hydraulic cylinder acts as an actuator to push the mechanical parts to move. The actuator is the interface between the control system and the mechanical device. The control system controls the operation of the mechanical device by sending instructions to the actuator. The accuracy and dynamic performance of the actuator directly affect the control effect of the control system on the mechanical device.

[0085] The dynamic performance attributes of an actuator refer to its ability to transition from the current state to a new state after receiving a control instruction, including response speed, stability, hysteresis and other aspects.

[0086] Response speed: The shorter the time from when the actuator receives the control command to when it starts to act, the faster its response speed is. Fast response speed can ensure that the mechanical equipment can adjust in time according to the control system's instructions.

[0087] Stability: The actuator should remain stable during the operation without jitter or drift. Actuators with good stability can improve the control accuracy and stability of mechanical equipment.

[0088] Hysteresis: The time delay between the actuator receiving the control command and the actuator fully reaching the state required by the command is called hysteresis. The smaller the hysteresis, the more timely the actuator responds to the control command.

[0089] In some embodiments of the present application, the configuration module is used to configure the properties of the actuator according to the relevant information of the actuator, which is specifically:

[0090] The actuator related information includes motion records and vibration information, and the actuator properties include response speed, stability and hysteresis;

[0091] Analyze the action records of the actuator, determine the response speed by the time when the control command is issued and the time when the actuator starts to act, and determine the hysteresis by the time when the actuator receives the control command and the time when it meets the state required by the command;

[0092] A vibration curve of vibration data changing over time is established based on the vibration information of the actuator, the jitter drift phenomenon is identified in the vibration curve, and the first stability of the jitter drift phenomenon is quantified. The vibration curve is analyzed to obtain the second stability, and the stability of the actuator is determined by combining the first stability and the second stability.

[0093] In this embodiment, the response speed analysis and hysteresis analysis are as follows:

[0094] The response speed mainly focuses on the time from when the actuator receives the control command to when it starts to act. To analyze this indicator, we need to:

[0095] Data recording: First, it is necessary to accurately record the time when the control command is issued and the time when the actuator starts to act. This can usually be achieved through high-precision timing equipment or the logging function of the control system.

[0096] Time calculation: Calculate the time difference from the issuance of the command to the action of the actuator. This time difference is the response speed. If possible, you can perform such a test multiple times and then take the average value to get a more accurate response speed.

[0097] Comparative analysis: Compare the response speed with the actuator design requirements or industry standards to evaluate whether its performance meets the standards.

[0098] Hysteresis Analysis

[0099] The hysteresis focuses on the time delay between the actuator receiving the control command and the state fully reaching the command requirement. To analyze the hysteresis, we can:

[0100] Condition monitoring: Use sensors or control systems to monitor the state changes of the actuator to ensure that the time point when it reaches the state required by the instruction can be accurately captured.

[0101] Time calculation: Calculate the time difference from the issuance of the instruction to the time when the actuator fully reaches the state required by the instruction. This time difference is the hysteresis. Similarly, multiple tests and taking the average value can get a more accurate hysteresis.

[0102] Hysteresis evaluation: Compare the obtained hysteresis with the design requirements or industry standards to evaluate whether its performance meets the standards. If the hysteresis is too large, it may be necessary to consider optimizing or adjusting the control algorithm.

[0103] Jitter phenomenon:

[0104] Symptoms: Jitter usually manifests itself as rapid, small reciprocating motion or vibration of the actuator during operation. This vibration may be periodic or non-periodic and may be accompanied by increased noise or sound.

[0105] Monitoring: The vibration of the actuator can be monitored in real time through instruments such as vibration sensors or accelerometers. These instruments can capture tiny vibration signals and convert them into electrical signals for further analysis.

[0106] Drift phenomenon:

[0107] Performance: Drift refers to the phenomenon that the output position or state of the actuator gradually deviates from the expected value when it runs for a long time or is subject to external interference. This deviation may be continuous and slow, and may gradually accumulate over time.

[0108] Monitoring: Drift can be detected by continuously monitoring the output position or state of the actuator. For example, a position sensor installed at the end of a robot arm can monitor its position changes in real time, thereby detecting drift.

[0109] In this embodiment, the two phenomena of jitter and drift are quantified to determine the first stability, and the vibration curve is analyzed (the amplitude, frequency and other parameters of the jitter are calculated. These parameters can reflect the stability of the actuator during the action process) to obtain the second stability, and the stability of the actuator is determined by combining the first stability and the second stability.

[0110] Jitter Identification:

[0111] Time domain analysis: Observe the time series graph of vibration data and look for fast, small reciprocating motion or vibration signals. These signals usually have short periods and high frequencies.

[0112] Frequency domain analysis: Perform spectral analysis on the vibration data to see if there are peaks or harmonic components at specific frequencies. These peaks or harmonics may correspond to the frequencies of jitter.

[0113] Drift Identification:

[0114] Trend analysis: Monitor the output position or status data of the actuator for a long time and draw a trend chart to observe whether the data gradually deviates from the expected value or shows a certain trend change.

[0115] Statistical analysis: Calculate the mean, standard deviation and other statistical indicators of the output data and observe whether these indicators change over time. If the standard deviation gradually increases or the mean deviates from the expected value, it may indicate drift.

[0116] The control module is used to determine the control target information of the mechanical equipment, adjust the relevant parameters of the control algorithm of the mechanical equipment according to the properties of the actuator, and control the mechanical equipment through the control cycle, control target information and control algorithm.

[0117] In this embodiment, target information: according to the actual needs and process requirements of the mechanical equipment, reasonable target information is set, such as temperature, pressure, speed, etc. According to the properties of the actuator, the relevant parameters of the control algorithm of the mechanical equipment are adjusted, the shortcomings in the properties of the actuator are determined, and the relevant parameters of the control algorithm are initialized according to the shortcomings.

[0118] In some embodiments of the present application, the control module is used to adjust the relevant parameters of the control algorithm of the mechanical equipment according to the properties of the actuator, which are specifically:

[0119] The relevant parameters of the control algorithm are associated with the properties of the actuator, and the response speed, smoothness and hysteresis of the actuator are evaluated one by one to identify the weak properties of the actuator, and the relevant parameters of the control algorithm are adjusted according to the weak properties.

[0120] In this embodiment, for example, when the PID control algorithm is adopted, the relevant parameters include the proportional coefficient Kp, the integral time Ti, the differential time Td, etc., for PID control. When the actuator responds slowly, the proportional coefficient Kp can be appropriately increased to speed up the response speed; at the same time, the integral time Ti can be reduced to avoid overshoot caused by excessive integral action. When the actuator has poor stability, the proportional coefficient Kp can be reduced to avoid vibration caused by too fast response; at the same time, the differential time Td can be increased to enhance the ability to predict changes, thereby reducing vibration. When the actuator has a large hysteresis, the differential time Td can be increased to predict its action trend in advance and make adjustments; at the same time, the integral time Ti can be adjusted to balance the response speed and stability.

[0121] It is understandable that the degree of adjustment of the relevant parameters of the control algorithm can be determined based on the difference between the short board attributes and the standard, so as to ensure the adaptation of the control algorithm and the actuator.

[0122] The feedback module is used to monitor the control process of the mechanical equipment and perform feedback adjustment on the mechanical equipment according to the results of the control process, so as to improve the input information of the next control cycle.

[0123] In some embodiments of the present application, the feedback module is used to monitor the control process of the mechanical equipment and perform feedback adjustment on the mechanical equipment according to the result of the control process, which is specifically:

[0124] Monitor the realization of control target information during the control process of mechanical equipment. The realization status includes realization time, realization maintenance time and realization deviation. Generate the deviation result of the control process according to the realization time, realization maintenance time and realization deviation. Adjust the control algorithm through the deviation result, and then perform feedback adjustment.

[0125] In this embodiment, the purpose of the control process is to keep the mechanical equipment in the state of control target information. Therefore, the time for achieving the control target information (how fast the target parameter value is reached), the maintenance time (the maintenance time for reaching the target parameter value) and the deviation (deviation except for reaching the target parameter value) jointly describe the effect of the control process and generate a deviation result. If the deviation result is small, the parameters of the control algorithm are not adjusted and feedback control is performed according to the algorithm. If the deviation result is large, some parameters of the control algorithm are adjusted to ensure the adaptability of the control algorithm.

[0126] Compared with the prior art, the present invention has the following beneficial effects:

[0127] 1. Generate the state change index of the mechanical equipment according to the characteristic value of the operating state information, and describe the change of the operating state of the mechanical equipment through the state change index, so as to dynamically set or adjust the control cycle and provide a reliable basis for subsequent intelligent control. Configure the properties of the actuator according to the relevant information of the actuator, adjust the relevant parameters of the control algorithm of the mechanical equipment according to the properties of the actuator, and initialize the relevant parameters of the control algorithm based on the properties of the actuator, so that the control algorithm is more compatible with the actuator of the mechanical equipment, and improve the adaptability of the control.

[0128] 2. Feedback and adjust the mechanical equipment according to the results of the control process, continuously monitor the control process, and improve the control algorithm according to the control cycle to improve the control accuracy, ensure the effect of intelligent control of mechanical equipment, and ensure the safe and stable operation of mechanical equipment.

[0129] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present invention can be implemented by hardware, or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present invention.

[0130] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present invention.

[0131] Those skilled in the art will appreciate that the modules in the system in the implementation scenario can be distributed in the system of the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more systems different from the implementation scenario. The modules in the above implementation scenario can be combined into one module, or can be further split into multiple submodules.

[0132] 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 technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A mechanical equipment intelligent control system, characterized in that: include, An integration module is used to obtain the operation status information of the mechanical equipment within a current period of time, divide the operation status information, calculate the characteristic values ​​corresponding to each of the divided operation status information, and generate the state change index of the mechanical equipment according to the characteristic values ​​of the operation status information; A configuration module is used to set the control cycle of the mechanical equipment based on the state change index of the mechanical equipment, and to dynamically adjust the control cycle by monitoring the state change index, obtain relevant information of the internal actuator of the mechanical equipment, and configure the properties of the actuator according to the relevant information of the actuator; A control module is used to determine the control target information of the mechanical equipment, adjust the relevant parameters of the control algorithm of the mechanical equipment according to the properties of the actuator, and control the mechanical equipment through the control cycle, control target information and control algorithm; The feedback module is used to monitor the control process of the mechanical equipment and perform feedback adjustment on the mechanical equipment according to the results of the control process, so as to improve the input information of the next control cycle.

2. The intelligent control system for mechanical equipment according to claim 1 is characterized in that: The integration module is used to divide the operation status information, which is specifically: Obtain the previous fault maintenance records and operating status information of the mechanical equipment, match the operating status information with each record in the fault maintenance record, quantify the fault severity corresponding to each record through the operating status information, classify the records in the fault maintenance record, and define the fault level of the mechanical equipment by combining each type of fault maintenance record; Among them, F is the fault level of the mechanical equipment, n is the number of fault types in the fault maintenance record, α i is the impact weight corresponding to the i-th fault type in the fault maintenance record, Q i is the average fault severity corresponding to the i-th fault type in the fault maintenance record, t i is the total fault time corresponding to the i-th fault type in the fault maintenance record, f i is the occurrence frequency corresponding to the i-th fault type in the fault maintenance record, k is a preset constant, and [] is a rounding symbol; If the fault level of the mechanical equipment is lower than the preset level, the current operating state information is divided into operating state information with a low-order change rate; If the fault level of the mechanical equipment is not lower than the preset level, the current operation status information is divided into operation status information of a low-order change rate and operation status information of a high-order change rate; The running status information of the low-order change rate is the running status information of the first-order change rate, and the running status information of the high-order change rate is the running status information of the second-order change rate and above.

3. The intelligent control system for mechanical equipment according to claim 2 is characterized in that: The integration module is used to calculate the characteristic values ​​corresponding to the divided operation status information, which are specifically: The characteristic values ​​corresponding to the running status information of the low-order change rate include the mean value of the change rate and the standard deviation of the change rate, and the characteristic values ​​corresponding to the running status information of the high-order change rate include the extreme value, the zero-crossing rate and the energy; The mean value, standard deviation, extreme value and zero-crossing rate of the rate of change are calculated by statistical methods, and the energy is obtained by integrating the high-order rate of change.

4. The intelligent control system for mechanical equipment according to claim 3 is characterized in that: The integration module is used to generate a state change index of the mechanical equipment according to the characteristic value of the operation state information, which is specifically: The state change index of the mechanical equipment is generated by combining the change rate mean and change rate standard deviation corresponding to the operation state information of the low-order change rate and the extreme value, zero-crossing rate and energy corresponding to the operation state information of the high-order change rate; Among them, S is the state change index of the mechanical equipment, β1 and β2 are the conversion coefficients of the operation state information of the low-order change rate and the high-order change rate, respectively, m1 and m2 are the number of operation state information of the low-order change rate and the high-order change rate, respectively. are the mean and standard deviation of the low-order change rate of the j1th operating status information, z1 is the preset constant of the low-order change rate, are the energy, extreme value difference, and zero-crossing rate of the j2th operating state information high-order change rate, respectively. The extreme value includes the maximum value and the minimum value. The extreme value difference is the difference between the maximum value and the minimum value. z2 is the constant corresponding to the high-order change rate. Indicates the zero-crossing rate of the j2th operating state information high-order change rate The constant z2 obtained by mapping.

5. The intelligent control system for mechanical equipment according to claim 1, characterized in that: The configuration module is used to set the control period of the mechanical equipment by means of the state change index of the mechanical equipment, and to dynamically adjust the control period by monitoring the state change index, which is specifically: Different mechanical equipment has different control cycles corresponding to the state change index size, so as to set the control cycle of the mechanical equipment; Under subsequent monitoring, a threshold of the state change index is set, and an adjustment coefficient is generated by comparing the relationship between the state change index and the threshold of the state change index. The control period of the mechanical equipment is dynamically adjusted through the adjustment coefficient.

6. The intelligent control system for mechanical equipment according to claim 1, characterized in that: The configuration module is used to configure the properties of the actuator according to the relevant information of the actuator, which is specifically: The actuator related information includes motion records and vibration information, and the actuator properties include response speed, stability and hysteresis; Analyze the action records of the actuator, determine the response speed by the time when the control command is issued and the time when the actuator starts to act, and determine the hysteresis by the time when the actuator receives the control command and the time when it meets the state required by the command; A vibration curve of vibration data changing over time is established based on the vibration information of the actuator, the jitter drift phenomenon is identified in the vibration curve, and the first stability of the jitter drift phenomenon is quantified. The vibration curve is analyzed to obtain the second stability, and the stability of the actuator is determined by combining the first stability and the second stability.

7. The intelligent control system for mechanical equipment according to claim 6, characterized in that: The control module is used to adjust the relevant parameters of the control algorithm of the mechanical equipment according to the properties of the actuator, which are specifically: The relevant parameters of the control algorithm are associated with the properties of the actuator, and the response speed, smoothness and hysteresis of the actuator are evaluated one by one to identify the weak properties of the actuator, and the relevant parameters of the control algorithm are adjusted according to the weak properties.

8. The intelligent control system for mechanical equipment according to claim 1, characterized in that: The feedback module is used to monitor the control process of the mechanical equipment and perform feedback adjustment on the mechanical equipment according to the results of the control process, which is specifically: Monitor the realization of control target information during the control process of mechanical equipment. The realization status includes realization time, realization maintenance time and realization deviation. Generate the deviation result of the control process according to the realization time, realization maintenance time and realization deviation. Adjust the control algorithm through the deviation result, and then perform feedback adjustment.

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